PMAC 初学者培训.ppt

Delta Tau Data SystemsPMAC Training Course Instructors: Brad Pedersen Lucien Chianella PMAC stands for Programmable Multi-Axis Controller Commands up to eight axes for simultaneous motion Uses the power of a Digital Signal Processor (DSP) PMAC’s CPU is either Motorola DSP56001 or DSP56002 and it handles the calculations for all eight axes Turbo PMAC uses the Motorola DSP5630x to handle calculations for 32 axes PMAC can serve in a wide variety of applications, from those requiring sub-micro inch precision to those needing power of hundreds of kilowatts or horsepower robotics food processing machine tools printing paper and lumber processing packaging assembly lines material handling camera control silicon wafer processing automatic welding laser cutting PMAC Versions PMAC PC PMAC-Lite PMAC VME PMAC STD Have identical on-board firmware Run as standalone controller Commanded by a host computer over a serial or a bus port Form Factor Bus Interface Availability of certain I/O ports Other PMAC Products: Preparing the Card PMAC1 E-point jumpers PMAC2 E-Point jumpers software Card Number (daisy-chaining PMAC’s) Communication Baud Rate PC Bus Address Servo-Clock Frequency Encoder Settings (differential/single ended) Analog Power and ground (isolated/non-isolated) Re-Initialization PMAC Configuration for a Task writing of motion and PLC programs choice of the hardware set (through option and accessories) completely associated together for 1 coordinated motion completely separated for 8 independent motions grouped into any intermediate arrangement of the above ganged together with 15 other PMAC’s axes resulting complete synchronization of 128 axis Configuration for a Task (continued) What PMAC Does What PMAC Does (continued) What PMAC Does (continued) PMAC Feedback Capabilities DEMO BOX Run, Step, Feedhold, and Abort motion programs Jog and Home Motors Reset PMAC and power -on or off motors FOCUS Programming Environment Project oriented