
PMAC2 User Manual
Introduction 3
Manual Layout
This manual provides a quick step-by-step guide for the beginner setting up a typical system, as well as
explaining how to use the various features available on PMAC2. It is organized by subject (safety, I/O,
servos, trajectories, etc.) to allow quick access by the area of concern. The subjects are ordered by the
typical sequence of events a user will go through to set up a system.
The manual organizes the commands in alphabetical order, and the variables, registers, jumpers and
connectors in numerical order. There is extensive cross-referencing between the chapters. Any variable,
command, register, jumper, or connector mentioned in chapter 2 is covered in more detail in the
appropriate reference chapters.
As you read through the chapters, you may well find topics or depth of coverage that you do not need at
the time. Simply skip these chapters and proceed to a chapter that is of more immediate use to you.
This manual assumes the system integrator who is responsible for this installation knows the basics of
working in a Microsoft
®
Windows environment and has more than a basic understanding of electronics,
machine tool technology, and the PMAC2 motion control board. If any questions about a particular
aspect of the installation arise, do not attempt the task until a thorough understanding is gained. Feel free
to contact Delta Tau Data Systems, Inc. technical support at any time during installation. Refer to the
Technical Support section below for information on contacting our technical support department.
Organization
Introduction: This section gives a brief explanation of what PMAC2 does, the layout of the manual,
general safety recommendations, related technical documentation, and product support information
Basic Motor Setup on PMAC2: This section provides hardware and software configuration to specify a
specific mode of operation
Setting Up PMAC2 for Direct PWM Control: This section details how to perform digital current loop
closure to manually set up hardware and software features properly.
Setting Up PMAC2 for Sine-Wave Output Control: This section provides information on how to set
up the commutation scheme if PMAC2 is performing the commutation for a motor, but not the digital
current loop.
Setting Up PMAC2 Commutation (Direct PWM or Sine Wave): This section details how to confirm
the results of the synchronous motor polarity match tested in previous sections, as well as how to test the
polarity for asynchronous induction motors.
Setting Up PMAC2 For Velocity or Torque Control: This section explains velocity or torque
commands, typically encoded as an analog signal voltage level, required when PMAC2 is not performing
the commutation for a motor.
Setting Up PMAC2 For Pulse-and-Direction Control: This section details the procedures for
commanding stepper-motor drives that require pulse-and-direction format input, or stepper-replacement
servo drives either in open-loop or in closed-loop fashion.
Using PMAC2 with MACRO Interface: This section describes the MACRO (Motion and Control Ring
Optical) ring interface between PMAC2 and drives and I/O modules, and how it can greatly simplify the
wiring of a motion control or I/O system.
Setting Up PMAC2 for MLDT Feedback: This section details providing direct interface to
magnetostrictive linear displacement transducers (MLDTs), to provide absolute position information in
rugged environments.
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