User's Manual

Turbo PMAC User Manual
Table of Contents v
Inner Loop General Setup.................................................................................................................................164
Outer Loop General Setup ................................................................................................................................164
Joining the Loops..............................................................................................................................................165
Tuning the Outer Loop......................................................................................................................................166
Programming the Outer Loop Motor................................................................................................................166
Setup Example...................................................................................................................................................167
Changing the Mode of Control .........................................................................................................................167
Special Instructions for Extended Single-Loop Setup.......................................................................................168
User-Written Servo Algorithms ............................................................................................................................169
Open Servo Compiled Algorithms.....................................................................................................................169
Assembled User-Written Servo Algorithms.......................................................................................................181
MOTOR COMPENSATION TABLES AND CONSTANTS ..............................................................................183
Position Compensation Tables ..............................................................................................................................183
Source, Target, and Assigned Motors...............................................................................................................183
Dimension of the Table .....................................................................................................................................184
Using Desired vs. Actual Position ....................................................................................................................185
Multiple Tables per Motor ................................................................................................................................185
Table Range ......................................................................................................................................................186
Determining Compensation Values ..................................................................................................................186
Entering Tables.................................................................................................................................................186
Enabling and Disabling Tables ........................................................................................................................188
Active Calculation of Corrections.....................................................................................................................189
Reporting Table Information ............................................................................................................................189
Deleting Tables.................................................................................................................................................189
Backlash Compensation ........................................................................................................................................190
Constant Backlash Parameter ..........................................................................................................................190
Backlash Take-Up Rate.....................................................................................................................................190
Backlash Hysteresis ..........................................................................................................................................190
Backlash Compensation Tables ........................................................................................................................190
Enabling and Disabling Backlash.....................................................................................................................191
Backlash Table Example...................................................................................................................................192
Torque Compensation Tables................................................................................................................................193
Entering Tables.................................................................................................................................................193
Reporting Table Information ............................................................................................................................194
Enabling and Disabling Tables ........................................................................................................................194
Active Calculation of Corrections.....................................................................................................................194
Deleting Tables.................................................................................................................................................194
TURBO PMAC GENERAL PURPOSE I/O USE ................................................................................................195
Turbo PMAC General-Purpose I/O (JOPTO) Port................................................................................................195
Hardware Characteristics ................................................................................................................................195
Software Access ................................................................................................................................................195
Turbo PMAC Multiplexed I/O (JTHW) Port ........................................................................................................196
Turbo PMAC Control Panel Port ..........................................................................................................................196
Control-Panel Inputs ........................................................................................................................................196
Control-Panel Outputs......................................................................................................................................196
Turbo PMAC2 General-Purpose I/O (JIO) Port....................................................................................................197
Hardware Characteristics ................................................................................................................................197
Suggested M-Variables .....................................................................................................................................197
Direction Control..............................................................................................................................................197
Inversion Control..............................................................................................................................................198
Alternate Uses...................................................................................................................................................198
Turbo PMAC2 Multiplexed I/O Port (JTHW) ......................................................................................................198
Multiplexer Port Accessories............................................................................................................................199
Hardware Characteristics ................................................................................................................................199
Suggested M-Variables .....................................................................................................................................199