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PMAC User Manual
Figures
Figure 1 PMAC Motion Controller Custom Gate Array IC ..................................................................................... 6-2
Figure 2 PMAC Encoder Input Circuitry ................................................................................................................. 6-3
Figure 3 Encoder Digital Delay Filter ...................................................................................................................... 6-5
Figure 4 Using the PMAC Control Panel Analog (Wiper) Input............................................................................ 6-13
Figure 5 PMAC Pulse and Direction Output ............................................................................................................ 7-3
Figure 6 PMAC 1/T Extension ................................................................................................................................. 7-6
Figure 7 Interpolated Encoder Feedback .................................................................................................................. 7-7
Figure 8 Encoder Conversion Table Process .......................................................................................................... 7-13
Figure 9 Configure Encoder Conversion Table Editing Screen.............................................................................. 7-14
Figure 10 PMAC Encoder Conversion Table Principle.......................................................................................... 7-15
Figure 11 Conversion Table Example for Time-Base Entry .................................................................................. 7-23
Figure 12 PMAC Position Processing .................................................................................................................... 7-28
Figure 13 PMA Compensation Tables.................................................................................................................... 7-31
Figure 14 Two Dimensional Compensation Table ................................................................................................. 7-31
Figure 15 PMAC Commutation................................................................................................................................ 8-2
Figure 16 Hall Effect Waveform Diagram ............................................................................................................... 8-9
Figure 17 PMAC/PMAC2 Direct Microstepping System ...................................................................................... 8-14
Figure 18 PMAC PID and NOTCH Servo Filter...................................................................................................... 9-5
Figure 19 PMAC PID Servo Loop Modifiers........................................................................................................... 9-6
Figure 20 Extended Control Alogorithm Block Diagram....................................................................................... 9-10
Figure 21 Motor x Motion Variables...................................................................................................................... 11-4
Figure 22 Homing Search Move Trajectory ........................................................................................................... 11-6
Figure 23 PMAC Coordinate Definition ................................................................................................................ 12-5
Figure 24 PMAC Multitasking Example ................................................................................................................ 13-4
Figure 25 PMAC Memory Mapping ...................................................................................................................... 13-7
Figure 26 Coordinate System Variables ................................................................................................................. 14-4
Figure 27 Automatic S Curve Acceleration............................................................................................................ 14-5
Figure 28 Linear Mode Trajectories (Sheet 1 of 4) ................................................................................................ 14-7
Figure 29 Linear Mode Trajectories (Sheet 2 of 4) ................................................................................................ 14-8
Figure 30 Linear Mode Trajectories (Sheet 3 of 4) ................................................................................................ 14-9
Figure 31 Linear Mode Trajectories (Sheet 4 of 4) .............................................................................................. 14-10
Figure 32 PMAC Circular Interpolation................................................................................................................ 14-16
Figure 33 PVT Mode Contouring (Hermite Spline) ............................................................................................. 14-18
Figure 34 PVT Segment Shapes ........................................................................................................................... 14-19
Figure 35 Splined Moves (All segments at same time) ........................................................................................ 14-19
Figure 36 Cubic Spline Trajectories ..................................................................................................................... 14-20
Figure 37 PMAC Transition Point Moves (PVT Mode, Parabolic Velocity) ....................................................... 14-20
Figure 38 Compensation – Inside Corner ............................................................................................................. 14-24
Figure 39 Compensation Outside Corner ............................................................................................................. 14-25
Figure 40 Inside Cutter Compensation ................................................................................................................ 14-26
Figure 41 Outside Corner Cutter Compensation Sharp Angle.............................................................................. 14-27
Figure 42 Outside Corner Cutter Compensation – Shallow Angle....................................................................... 14-27
Figure 42 Reversal in Cutter Compensation......................................................................................................... 14-28
Figure 44 Failure When Compensation Extends Full Circle ................................................................................ 14-29
Figure 45 Cutter Compensation in Change of Direction ...................................................................................... 14-30
Figure 46 Cutter Compensation Change of Direction – No Intersection ............................................................. 14-30
Figure 47 Removing Compensation – Inside Corner............................................................................................ 14-31
Figure 48 Removing Compensation – Outside Corner......................................................................................... 14-32
Figure 49 Failures in Cutter Compensation .......................................................................................................... 14-33
Figure 50 PMAC Motion Program Recalculation ................................................................................................ 14-55
Figure 51 PMAC Motion Program Recalculation .................................................................................................. 15-2
Figure 52 Position Following Parameters............................................................................................................... 15-4
Figure 53 PMAC-PC/VME Customer Gate Array (DSPGATE) Encoder Functions........................................... 15-15
Table of Figures
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