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ACC-9WN_____________________________PMAC

1. 14 Window Meni etica ii a aa E E E a E E 14 A noa AE E EN AE EE E EEE ES 14 BASIC CONCEPTS ssescsiccosescsnsssusasssscsesenssensesccadassoosstvsst SO In 17 Termmal ana a A tema eae HOC 17 Accessing Previously Type Commands ccsccseceseescetsessesecsseescuseecsseescesecacescsecasesecsceescsaseasaecaeesecaeeseesaseeesaecateaesaeeaeeneeees 17 Terminal Status BAI Pm 17 Changing the Appearance of the Terminal eese eese neen testen tren eene en nenne tene tree 17 Edit Em 17 Downloading Files to PMAC cusco ere ect ated t tas pt er e b e eR LL Er ade d aber ee etate 17 Using Macros in the Editor eer etie eerie ire ith iinsnansescied oapnsrnictsniagsseradenanepeduouecshsnusnaseadeascbudeaees 18 POSER A liada 20 The Multi File DOWnLOddeT 0 0 cecccessceeesecessceenseceescecsneceeccecssecesacecsseceeaeecaeceeacecaeeeeaaecseeesaeecsseeeeaeeceaeeseaaecseeeeaaeceeeeeenees 22 Uploading Files and Variables from PMAC 00 ccecessseseeseeeecsseeesesecstesccueesccnaeeecsaecosssecaeesecnaeeesaecaesaecaeesesneeseenaeeesaeeates 22 Uploading Motion or PLC Programs eite senses tege etie sua ete io eese veuve Y Ee eee ehe e sedo aede sapi ised 23 Uploading PMAG Variables dd Dea pex Ie aen eret e pet ais Tek Meere cnecuseedgeaces 23 Position WINdOW M H 23 Watch WI OW sei cis ec
2. 63 Open Loop Magnitude 906 sese eese eee enint eterne trennt teint teet e tnen ne enee trennt teste tese enee trennen etre nr enne trenes 64 Open Loop Time INS Rr E M 64 Open Loop Zero Time MS RETE EEUU 64 Number Of Repetido ti n 64 IIS CAU A O Ei 64 PAULO TUNE A a A a ii ae 64 WII E EE 64 Lomo m 65 II M ias 65 Performance Auto TUNING RR 65 ES AA BU ELE 67 Maximum Excitation Magnitude eese eene entes teinte nete tne tene tree te ente et tenter eter et rene ennetrne tenere 67 EX CUGH OM THING T 67 Number OF TCV ALON tT 67 Maximum Motor Travel 67 Minimum Motor Travel en 67 bruni A RAN 67 Damping RAMO ii E 68 AUto S lect Bandwidth ep A A e a NE EE tas adi s 68 Auto SelectiSample Perdi ii citarse iii des 68 Table of Contents lii Accessory 9WN Include L w Pass Filler iiec see cia tates ique vete heit lense Ungua ia aii aiii 68 Velocity Feed Forward Gain ida 68 Acceleration Feed Forward Gain need etie tete Ede hae rese a Ende based det aE Eee bd deed es dee ues 68 Integral ACHON rM E 69 Pause between Iterations eese e a aas RAR RRA RAR r RAR NARRAR
3. M 24 Watch Menta A ii dia E E cs adidas 25 Adding Entries to the Watch Window sscsssscssssssesecsseeseuseeseseescssseescesecacesecseecesaeecessecaeesecseesessaseeesaeenesaecaseseseaeees 25 Watch Window Macro Definitions eese esee eee eene nete a teet teen teste eterne enne enne enne te nenne tree 26 TUNG Macros e ML ME ILLNM LEE 26 Formatting Watch Entries eee eese esee eene ene enn RR then teet tesn tret nr eter RR DOOR RO emet ene tene tene tese trente entren ense 27 Jog arr PPS LEE 27 Jog Ribbon E o 28 MA OL gm teresa a ssaaeasd sagen sbescadesggssee guasshessacucdeusisceassagde lapuene aeeueasesaau gssacnacdiganetaeas 28 Setup SOR Parameter Sasiain 28 Jog Window Related LI Variables di a 29 NA A NON 29 JOS MANUS BS A a a do 29 Table of Contents i Accessory 9WN O ei 29 Home co a oasis 29 ADOrEADj ette aaea a Bia ie tee Ee a its 29 Vea E A EE O 29 Reed Overaller Em 30 Status S CHESMS ecean aa E EE E iii 30 Motion Program Information cd 30 PLC PEGG Program Information sidonia ee ei iii 31 Mot y Setup SUMMAY sosem E 31 Motor Status sicrnies AN 32 Coordinate Systems Status ccccccsccscssccssssccsesseeseessesecseesscsesscsscsseeccssesseesecscesecsaeeaesaeeseesesaeeseceaenaecsaesessaseeeeaseeeeaeeaeeaeenaeees 33 Global STATUS EE
4. s 34 Connector STATUS EEUU 35 PMAC CONFIGURATION MODIFICATION UTILITIES seeeeeeseroeseseeescesoroeseseseeoesoseseeoeeoroeseseceeoesoroesesesoeseroeoesee 39 IB ata De PEDE 39 I Variables by Category nests ei roe ies Doe sushi i eieaa ea a EE EA tebe uto uet spe et anc AEREA 39 TE Variables Dy NUMD EE M svete 42 M Variables o ee eet eee a en ao e iii densa ete e 43 P amp O Variables 55 acts coy eese ep eedem oi deno edited eA En IE 44 Encoder Tables wn 44 IV A AO 45 EA aca 45 GATA ME EET 45 NES UE TEE 45 A D IN D ia E N E E E E T O E E E N E E E E 46 Parallel with and without Filter eese enitn enne ener etre ener nette nnne tren nnne nenne entren entren ee 46 LIME BOSE D 47 Iripgered Time Basi ata Doo usd estie tvi Gier Gestor Dive idet dote glad pidas 47 RAIL AR A 47 Inc without Parallel EXE m 47 Conversion Type ac ti Aa a RA a raid 48 IA RR RR 48 Bits Enabled MASK iciaceisccvasseceieciecacastesidstsscceaesedesaanysateesanedindasasscesataesacesaseadsaacusddedaasey dusaddesdvassasacest seagacasdeaieaadueteniasasseets 48 Max Chant erena EE 48 View All Entries Of Table aia 48 Download E A iaa 48 A NN 48 Conversion Shifting of Parallel Data esee esee eene enne eee Renan nene i rennen tnt enne nnne 46 Coordinate Systems oneri etate ee e rte a ia 48
5. eese teet neret E E ones ee enean notre teen 74 Doing the Step CR CMT sons ionsounisnseseep ia sasteodesadbeahdegresjedsansiandsupeventoessd ged i sores a a ai a aaiae 73 Feedforward Tuning with a Profiled Parabolic Response eese eene eene nennen enne ennt 79 Doing the Parabolic MOVE as 80 Open Loop Amplifier TUI A uaa ve dye E 83 Zune 84 Digital Current Loop Auto Tuning 2 ntt tetti ete reti tree Un E iE TUE CL taaan ati 85 PMACEDITOR E 87 Start PMA CEI OM P nre 87 How Menus Work siii id ads 87 File Men iiti p eid tb eR DIE e Ri d e tei oe det ie e dass 88 le 89 Download EC U 90 WIDOW 91 Mouse Right Click Menta comets 91 APPENDIX A UNDERSTANDING PMAC S WATCHDOG TIMER cscsssssssscsssssssssssesessssnssnssssssesscsnssesonses 93 PMAC s Watchdog l imer t tete tret rte t CURL H ERE RE et EES ERR ERR Sepe Ro CER ee ERES PER ER HR SERE e ER Ee CE ERR ER REESE ER SER 93 How the Watchdog Timer Works ivi ali iii R EE IUE ERE EAE EREE E EISE 93 What to Look for When the Timer TTIpS 2 decer lie 94 APPENDIX B PEWIN32 BUG LIST eere ee esee eene en testen sensa sine ta senatu sees suse tasse ta sens ta sesta
6. EEE EENEN EEE 58 PON OVER LO 25 S Save confi guta OM E 58 102 Index Accessory 9WN SHOW FOLLOWING ERROR susurra ida oi OS 24 SHOW POS VEL PE traida ea ti 24 SHOW POSITION aia E nis ead ead Urb EE R dept ELE SiS adu 24 SHOW VELOCITY dc 24 STATUS 225 one O O 13 T Technical Support TH iS 8 The Multi Eile Downloader ertt Ier teur rentre een eese e sio dae ee ia tete es etae ea Teu eee date e iaa asas 23 FEUILLE 48 Triggered Time DE RR 48 ninnc n P 63 V VELOCI oire aa 24 Verity PMAC ContigurattOti oder e reta dd tad e E ENA A e spe ee Lie eee AEE ERR 58 W Eire t E E E T E O E A 26 Watch O TERT 28 watchdog CMe re E 103 Index 103
7. FFE9 5th ACC 14 Port A J7 FFFO 5th ACC 14 Port B J15 FFFI 6th ACC 14 Port A 37 FFF8 6th ACC 14 Port B J15 FFF9 Parallel feedback conversion requires a double for non filtered or triple for filtered entry in the conversion table The second entry filtered or non filtered specifies the size of the feedback word 46 PMAC Configuration Modification Utilities Accessory 9WN used The entry is a 24 bit word in which each bit actually used for the parallel feedback is a one the unused bits above are zeros parallel feedback should always be connected starting at bit 0 of the data word For a 12 bit absolute encoder this entry would be 000FFF hex for 14 bits it would be 003FFF hex The maximum entry permitted is for 19 bits 07FFFF hex The count can be software extended by PMAC permitting rollover If more than 19 bits of true absolute position are needed the power on position can be read to full range using 1x09 and Ix10 from then on position is kept through rollover using the conversion table The converted data from the parallel word is put in the X data word matching the last 2nd or 3rd setup word for the entry This is the address that should be used by the motor I variable that picks up position 1x03 Ix04 or Ix05 For instance if the first setup entry address Y 720 in the conversion table were 30FFDO hex filtered parallel data the size entry would be in Y 721 and the maximum change entry
8. Note Context sensitive help is currently under construction The help menu though should function just fine You access help in PEWIN32 just like all other Windows programs 1 Press lt ALT H gt or select the help option on the main menu to bring up the Help menu 2 Press FI to display the Help index directly without going through the Help menu In addition to standard Windows Help PEWIN32 provides context sensitive Help There are two ways to access this feature If you want to know more about a menu item you ve selected press F7 to directly access Help for that item Press the Help button located in the Window or Dialog box to display help on that particular area of the program All of the PMAC manuals are available on line Tools window Help Contents Using help Executive Program Software Reference Hardware Reference Why is my Motor Not Moving Why Is My Program Not Running About WHY AM I NOT MOVING and WHy IS MY PROGRAM NOT RUNNING are the two diagnostic functions in the Help menu These are only available if you are communicating with a PMAC These will probably save you many hours of searching and frustration in tracking down problems associated with running a motor or part program especially if you are new to PMAC You may run into a condition where a motor simply will not run despite being sure that all the parameters have been set properly These functions will look at your co
9. Variables by Category Selecting the by Category list option will present the I variables broken down into six categories General Motor specific variables Coordinate system specific variables Global Gate Array variables Hardware channel n variables and Global Gate Array 2 variables PMAC I Variable Configuration Category General Y General Motor Coordinate System Global Gate Array Hardware Channel n Global Gate Array 2 if we open each one indepently the windows will look like PMAC Configuration Modification Utilities 39 Accessory 9WN ME Motor 7 Command Dutpul Ack AAA A Mix 1 Vey Akie CONSTE dS MEO Mtr Meses Folk Erte CN CE X No Pon Ba Ma Moke Vioci Scala Facio TH Motor Poeran Serea Postion dies 40 PMAC Configuration Modification Utilities Accessory 9WN Motor specific I variables determine each motors characteristics PNR I Caer sadness a Dr Speen sod To E dior sie Deen ie eT a E IE RS 182 C51 Mowe Blend Disable E es haa 05 1 Tine Bare Siem Finds tiia Em SS he 05 1 Cie Em mi tg pensi 88 CE 1 Mesum Fede 18 Pesada Ranga 85 en uon Bank Disi ia D Cour Coordinate System specific I variables specify how motors assigned to a coordinate system respond Colega Global Gabe Aiea Liplcad Ta Eiz an MasPhene end Pu 14 Frequency Coet mo f OOO OSOS Br femke OOOO NET
10. aE E EI poo con XE PuM Dada Pr 5 Pulsa dt Contd E EE Barge LAR Lits Piihi ar Ci emptus Deli ST PMAC Configuration Modification Utilities 41 Accessory 9WN Global Gate Array I variables used for general card setup E PAM 1 Varsabile Configura ah sepe Hadat Chani n Caral 31 eed TaE dear I A MM wp qeemWenemUnmd E m oa hese mI sa e m Opa PFH Dieschice Signal invest Conte CN Rewetifamly Riper OE Uniti reni Cau Y Hardware channel N I variables used for encoder I variables Variables by Number Selecting the by Number option will present the entire list of I variables in order from 0 to 1023 PMAC2 I Variable Configuration Bl x Upload To Editor E CN CO cra tala SSCS aran SSCS 9 a SSCS m fone o m pome e powera ran are 1 Range 0 15 Units none Default 0 42 PMAC Configuration Modification Utilities Accessory 9WN To move through the list use the two arrow buttons on either side of the window or use the Go To button to jump to a specific variable M Variables This variable window functions th
11. The following figures are taken from the actual tuning procedure for a motor using this program They were done on a small DC laboratory motor with virtually no load so the response is faster than it would be in almost any real world application The actual times are not important however the shapes of the response curves are This system has a current controlled amplifier with no tachometer The goals of this system are critically damped step response the quick elimination of steady state errors at rest and the minimization of following errors Initial step move response 75 Accessory 9WN E Plot untitled plo Step Move 2500 3000 3500 4000 4500 5000 5500 6000 0 00 10 20 50 40 50 60 70 80 91 01 1 ines sec The screen on the previous page shows the step response with very little damping added derivative gain Kd 500 The large amount of ringing is obviously unacceptable therefore some more Kd is needed The next figure shows the response with an increased Kd of 1100 The ringing is largely eliminated there is an overshoot of 60 and a rise time of 24 msec Let us see if we can make the response quicker which means a stiffer system Modified step response with higher Kd 1x31 El Plot untitled plo Step Move 2600 3000 3200 3400 3600 3800 4000 4200 4400 4600 4800 5000 5200 5400 00 0 13 030 0 0 4 4 1 mes sec 76 Motor and System Tuning with PEWIN32 Acces
12. Select this entry and press ENTER or click on the down arrow to the right of this field to view a list of common conversion types You can select a conversion type from this list using a mouse or the keyboard arrow keys If you need to use a conversion type not shown in this list you will have to enter the data manually from the terminal Refer to the section entitled Encoder Conversion Table in the Pmac User Manual for help with this process Inc with 1 T Ext Short for incremental with 1 T extension For incremental encoders the source address must be one of the DSP GATE encoder counters selected from the following list ENCI C000 ENC9 C020 ENC2 C004 ENCIO C024 ENC3 C008 ENC11 C028 ENC4 C00C ENCI2 C02C ENCS5 C010 ENCI3 C030 PMAC Configuration Modification Utilities 45 Accessory 9WN ENC6 C014 ENCI4 C034 ENC7 C018 ENCIS5 C038 ENC8 C01C ENCI6 C03C Most applications will use the 1 T extension conversion method which uses timers associated with each counter to estimate fractional resolution Those who have set up to use the parallel sub count interpolation must use a source address of one of the odd numbered encoders A typical setup address in this case would be C010 hex which provides parallel extension of the encoder 5 counter using encoder 6 s flags A D Register This conversion choice picks up data from the top 16 bits of a 24 bit word It is intended for use with the A D convert
13. Terminal Preferences Terminal Preferences Selecting the Terminal Preferences menu item allows the user to change the colors for the various text messages displayed in the terminal as well as the font So as to finish press done at the preferences window PEWIN32 Software Configuration 55 Accessory 9WN Preferences 56 PEWIN32 Software Configuration Accessory 9WN PEWIN32 HELP FACILITY PMAC Users Guide and Software Manual This manual as well as the PMAC software manual are available on line You can retrieve on line information about PMAC the Executive program and the various help functions This information is available alphabetically or by subject Hardware Manuals All four of the main PMAC hardware manuals are accessible on line These include the PMAC PC PMAC VME PMAC Lite and the PMAC STD Why Am I Not Moving This menu choice will probably save you many hours of searching and frustration in tracking down problems associated with running a motor especially if you are new to PMAC You may run into the condition where a motor simply will not run despite being sure that all the parameters have been set properly What this menu option will do is look at your configuration and cite possible warnings or definite faults causes of problems preventing you from running your motor s To use this self diagnostic feature you must specify a particular motor Why is my Progra
14. 8 amp 7 amp 6 amp 5 amp 4 amp 3 amp 2 amp 1 1 gt 2 gt 43 I19 120 121 122 123 124 125 126 127 128 129 I30 131 132 133 134 135 136 137 138 1395 140 141 142 143 144 M101 101 101 101 102 102 102 102 102 102 102 vUN ESS SESS 2000X 2000X 2000X 1 7 800028 80002B 400045 0 800067 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 6 gt D 080B 7 gt D 002B 8 gt X 3A 4 20 9 gt X 3 19 0 gt X 3 18 1 gt X 3D 13 2 gt X 7F1 24 3 gt X S7F0 24 1 112 94116633 2 50 3 12288000 3 Motor and System Tuning with PEWIN32 Accessory 9WN P400 1431655766 MO gt X S0 24 M85 gt X 7F0 24 M86 gt X 7F1 24 M90 gt Y 38 24 S M95 gt X 3E 8 16 S M164 gt X 33 24 S OPEN PLC 30 CLEAR CLOSE OPEN PLC 31 CLEAR CLOSE OPEN PROG 999 CLEAR CLOSE Use this sample file as a reference to indicate which P variable M variable I variables are modified when you perform tuning This file automatically is restored when you exit tuning by either exiting the tuning dialog box or when you select the EXIT TUNING button which appears at top right of the main menu What to Plot This area in the dialog box lists five check box selections allowing you to select which plots to view during the tuning process Up to two items can be plotted at
15. Coordinate System to Modify Monitor eese eee teenne treten tnetn RR RR ne enne trente eren nee 49 Current Axis Definitions Rm 49 EAE 49 REMOVE sz E EE E E E E E E T 49 Available Motors eeano eara En E eaan P ea E E N EE EEA E E EEEN RE aaia 49 A e at 49 View all Coordinate Systems cccsccccccsscessseesceesceescuseceseconecanecseeeseeseessesscessecsecesecesecaecaaecsaecasecseeeseeeeeseceeeeeasenaeenasenaeenaeeas 49 jpg EE 49 PLOTTING AND DATA GATHERING eeeeeeee eene enses tnnt tn tuse ta sins tn sto tassa suse tasse ta nn co nooo sesto seen tasas enses snae 51 Iunpddi d D Emm 51 CONFIGURATION FILES T 53 Backup Restore PMAC Configuration Files oooncnccninnnonccnocnnnconcnononcnononnon cnn cn nonono nennen enne enne tre teen nr innere nete neret nene 53 SAVE CONfL QULALON RR na 53 Restore IT A O 54 Vent PMAC Conlara id 54 ii Table of Contents Accessory 9WN PEWIN32 SOFTWARE CONFIGURATION sscsssscsscssssscssesessssnsscsssssessesssssescsssnessssneesessssosssssnessssnessesscssnsnesseses 55 Options MENU ME 55 Preferences arado E cil apio 55 Termin l Preferences RR Ei 55 PEWIN32 HELP DP OL BI Vb cr 57 PMAC Users Guide and Software Manual esee eene nennen enne treten teen entr
16. Hilite Background Color Hilite Text Color ADD WATCH use this to add new watch entries to the watch table DELETE ITEM this will delete the currently highlighted item If there are no entries in the watch table this item is disabled EDIT ITEM allows the user to change the format in which return values are displayed The available options are decimal hex and binary See the Formatting Watch Entries section below CLEAR ALL ITEMS clears deletes all items in the watch table If there are no entries in the watch table this item is disabled OPEN MACRO TABLE use this to open a MACRO definition table EDIT MACRO TABLE use this to edit a MACRO definition table BACKGROUND COLOR Color used for the background of the watch window TEXT COLOR Color of text used in watch window HiLITE BACKGROUND COLOR Selected watch window item s background color HILITE TEXT COLOR Selected watch window item s text color Adding Entries to the Watch Window When the Watch window is highlighted pressing the lt NSERT gt key or selecting ADD WATCH from the Watch menu brings up the Add Watch dialog interface Basic Concepts 25 Accessory 9WN CT gt r Current Watch T able C Program Files Delta Tau PEWIN32 macro tbl r PMAC Command Variable or Macro Simply type in the PMAC command you wish to watch the status of and press the Add button The entered command will then be displayed in the watch window Add as many
17. In the background PMAC executes one scan through an individual PLC program then checks to see if there are any complete commands responding if there are then executes the housekeeping functions This cycle is repeatedly endlessly Most of the housekeeping functions are safety checks such as following error limits and overtravel limits When it is done with these checks PMAC sets the 12 bit watchdog timer register back to its maximum value As long as this occurs regularly at least every 512 RTI cycles the watchdog timer will not trip Appendix A 93 Accessory 9WN The purpose of this two part control of the timer is to make sure all aspects of the PMAC software are being executed both in foreground interrupt driven and background If anything keeps either type of routine from executing the watchdog will fail quickly What to Look for When the Timer Trips The things that can trip the watchdog timer can be divided into four basic classes constant or quickly repeatable hardware problems intermittent hardware problems constant or quickly repeatable software problems or intermittent software problems The following procedure should help you determine which type of problem it is If you think the watchdog timer has tripped this is usually suspected when the outputs all turn off and communications to the host is lost check the LEDs on PMAC If both the red and green LEDs are on the watchdog timer has tripped If both L
18. MODIFY SCALING AND UNITS allows the user to set scaling and unit parameters for the display see below SHOW POSITION shows the current position of all 8 motors SHOW VELOCITY shows the current velocity of all 8 motors SHOW FOLLOWING ERROR shows the current following error for all 8 motors SHOW POS VEL FE show position velocity and following error for a specific motor Use the lt PAGEUP gt and lt PAGEDOWN gt keys to change motors LABEL COLOR Color of motor labels used in position window FOREGROUND COLOR Color of text used to display position BACKGROUND COLOR Color of background of position window dialog box By pressing the lt CTRL F7 gt key combination the display will cycle through the different display modes Pressing the F2 key will bring up the Scaling and Units dialog interface This interface allows the user to set scale factors unit labels and other display parameters To change the scale factor for displayed information enter the appropriate number of encoder counts per user units i e if you want to have 10 000 CTS 1 inch enter 10000 Next specify a name for your user units 1 e inch deg rev Select your velocity units i e per ms per second or per minute Enter in a value for optional rollover i e 360 if your user units are degrees A value of 0 for rollover indicates no rollover Lastly specify how many decimal places to the right of the decimal
19. Macros or Compiled PLCs This needs to be selected if file you are downloading contains PLCC s or uses the include or define statements 1 Create Log File If you wish to generate a log file of the download process select this box This is good for debugging a large program Create Map File A map file tells you what symbols are matched to which definitions Just Compile Have PEWIN32 process the files downloaded to a compiled format output file has a 56K file extension but don t download to PMAC Display Every Download If this box is checked the download options dialog is displayed every time you download a file Do not Show if No Errors If this box is selected the download status window is removed if there aren t any errors or warnings Basic Concepts 21 Accessory 9WN The Multi File Downloader The Multi File Downloader allows the user to specify groups of files to be downloaded at the same time This is primarily for PLCC s since these all need to be download at once that is a single file with all PLCC s need s to created for a one time download the Executive takes care of this for you Multi File Download The user specifies different groups and then adds files to the individual groups This shows all registered entries in the Multi File download interface Uploading Files and Variables from PMAC PEWIN32 gives you the ability to retrieve programs and variable values straight into an e
20. Overview Accessory 9WN Tools Window Help Contents Using help Executive Program Software Reference Hardware Reference Why is my Motor Not Moving Why Is My Program Not Running About CONTENTS displays the contents of the PEWIN32 help system USING HELP a brief introduction to using the PEWIN32 help system EXECUTIVE PROGRAM this manual SOFTWARE REFERENCE the PMAC Software Manual and PMAC Users Guide in help format HARDWARE REFERENCE each of the PMAC hardware manuals in help format WHY AMI NOT MOVING a diagnostic routine to help determine why a motor is not responding Way Is My PROGRAM NOT RUNNING a diagnostic routine to help determine why a program is not running ABOUT displays information about your version of PEWIN32 including the version number the copyright legal and licensing notices Menu Overview 15 Accessory 9WN 16 Menu Overview Accessory 9WN BASIC CONCEPTS Terminal The Terminal represents a direct connection to a PMAC This is the basic mode of operation for the Executive Program Any characters you type at the keyboard are sent to PMAC after pressing lt ENTER gt Any characters that are sent from PMAC to the PC are displayed on the screen in a color corresponding to the current communications mode If any command is rejected by PMAC an error code will be shown as well as its description and possible remedies displayed in re
21. PREVIEW works just like other windows programs and shows you what the terminal would look like if you were to print it PRINT allows you to print the terminals contents PRINT SETUP configures your printer UPLOAD MOTION PROGRAM will upload the specified PMC program into an editor window UPLOAD PLC PROGRAM will upload the specified PLC program into an editor windows UPLOAD VARIABLES will allow you to upload a range of LP Q or M variables into an editor window DOWNLOAD FILE allows you to download any file with valid PMAC commands MULTIDOWNLOAD FILE allows the user to manage and download files sets CLEAR TERMINAL this will clear any text in the terminal window EXIT closes the program Configure Menu The CONFIGURE menu lets you view and change current variable definitions and PMAC feature parameters In some of the options that allow you to change a value or definition the change is sent to PMAC immediately after the value is changed This allows you to automatically verify that the change in the input field has also occurred in PMAC It also protects against faulty entries since out of range numbers will not be accepted 10 Menu Overview Accessory 9WN P Variables Q Variables M Variables MACRO Station I Variables PID Loop Tuning Notch Filter Low Pass Filter Encoder Conversion Table Coordinate Systems Communications PHAR Gab GTI Interrupt Communications v Interrupt Beep I VAR
22. Print Preview Prints Print sebum Upload Motion Program Upload PLC Program Upload variables Download File MultiDownload Files Clear Terminal Exit Alt F4 How Menus Work PMACEditor uses a static menuing system However most of the menus are highlighted during an active file The standard menu displayed when the editor has focus looks like this PMACEditor File Edit Download Window Help Meal xus gt Macios PLeCs Log Map Compie Ori 63 OOOO Most of the PMACEditor menus are similar to editors one with about the same attributes There is also a menu bar beneath the Editor bar that has quick buttons for the PMACEditor compiler lr button compiles and downloads the file MACRO PLC to the PMAC PMACEditor 87 Accessory 9WN File Menu The File menu handles the transfer of files or programs to and from PMACEdtor as well as printing of these files fi PMACEditor BA will allow you to create a new PMC or PLC file OPEN will open a PMC PLC CFG file CLOSE will close the highlighted file window Bl will save the highlighted window AVE AS will save the current window to a new file Eh n allows you to print the editors contents PRINT SETUP configures your printer PRINT LINE NUMBERS numbers the lines at the print out EXIT closes the program and is followed by a list of saved in the histroy file 88 PMACEditor Acc
23. Ran RESE S enne 69 I Aerei m 69 Select DTTTAMAT 69 Number of Iterations iii iia 70 un EE 70 Begin PID Auto Tuning eese esses eene nen Ran Rene RRA RARE RARA intent RRA intent tnnt ei testen sen RR RR tnter tentent ei RR nr an rra tentent en 71 A O 71 ordi ccc M see 71 DTE THEATRES 71 Auto Calculate Frequency Specifications esee eene nnne trennen eren rennen enne ne trennen tree tren nenne 71 Lightly Damped Zero Frequency eee eese eese nee enne nennen nete trente REN RRA nr enee trennt trennen nn nana nre enne 71 Lightly Damped Zero Frequency Damping Ratio eese on neon nora conan enn rra cnn anna anar nera trennen enne 72 Heavily Damped Pole Frequentes 72 Heavily Damped Pole Frequency Damping Ratio eese eee eene ener nete trennen nennen ennt ennt enne 72 REMOVE Noteh Filter A 72 Calculate TT RET 0SSSSR M 72 Implement Notch Filter eee esee eese eene aaa RR tenete sn RR RR O RR eret RTE EE tree E Eiaa testen reete ne en 72 Low ACRI auna ereed E ee nE SEKTORE E ECEE EK TEENAA E S EEE EES EOE OE RV EEEO EEES 72 Culo ET CQUeTICY A a A 73 Ist Orde A A 73 a A RON 73 Remove Low PAS FU e dd i 73 Calculate LOW RASS Ett aia 73 Implement Low Pass Etre ENS Eee En 73 Feedback Tuning with Step Response
24. and integral gains 1x33 accordingly The parabolic move usually performed after a step move commands the motor to move in a closed loop parabolic profile This is used to tune the velocity and acceleration Feedforward gains 1x32 and Ix35 For velocity loop systems if your amplifier is using a tachometer it is considered a velocity loop system the open loop move is usually done first before a step or parabolic move This test writes positive and negative values to the motors DAC output This can be used to calibrate 1 e adjust offset in the amplifier tachometer etc For more information on PMAC s digital filter see How the PID Works and The PID Algorithm in the PMAC User Manual 59 Accessory 9WN When the PMAC Executive performs these tuning moves it is necessary for the Executive to download a small motion program PROG 999 and two PLC programs PLC 30 and PLC 31 to PMAC It is also necessary to modify a few I variable P variables and M variables in PMAC and the coordinate system definitions Since these parameters may be used in your application the Executive will automatically backup this items to a file called TUNE DAT before downloading the necessary tuning programs and variables Here is a typical TUNE DAT file which is automatically generated when you begin tuning This CLS file was created by the PMAC Executive during a tuning session UND EFINE ALL DELE H E GATHER
25. box checked After you view the suggested gains observe the selected value for the bandwidth Uncheck this box and key in a higher bandwidth and perform the auto tune test again repeating until a satisfactory response is achieved Auto Select Sample Period PMAC allows you to set different servo update rates for each motor using the x60 variable If auto selection of the servo update rate for a motor is desired check this box This option is extremely useful if you are not sure what type of servo update rate will produce the performance you need The servo update rate selection is based upon the results of the auto tune tests and the bandwidth Include Low Pass Filter If auto selection of a low pass filter is desired check this box This option has the auto tuner configure a notch filter as a low pass filter within your servo loop This is useful if your servo loop appears noisy jittery at the desired gain values The filter s configuration is based upon the results of the auto tune test and the bandwidth Velocity Feed Forward Gain This box should be checked if velocity feed forward control action 1x32 is required desired The auto tuner will automatically determine its magnitude based upon the test results and the user s input on bandwidth and damping ratio In general the velocity feed forward action is needed to overcome following errors proportional motor velocity resulting from back emf viscous damping and velocity feedback If s
26. define reserve_memory_for_gather DEFINE GAT define start_gathering_data M8 8 1M89 1 define stop_gathering_data M8 9 0 define motorl_is_axis 41 define select coordinate system amp define clear coordinate system UNDEFINE define move X to position X define move Y to position Y define move Z to position 7 define sit_there_for DWELL define repeat_as_long_as WHILE define end_of_loop ENDWHILE define increment_repetition_count P1 P1 1 define repetition_count define repetition_limit define begin_program OPEN PROG define end_program CLOSE Basic Concepts 19 Accessory 9WN Now let s use our new macro definitions free_up_memory_space setup_gather_pointer select_coordinate_systeml clear_coordinate_system motorl_is_axis 2000X begin_program 2 clear feedrate_time_units 1000 msec set_acc_time_of 200 msec set S curve time of 50 msec repetition count 0 set feedrate of 1 revs sec start gathering data repeat as long as repetition count repetition limit move X to position 2 sit there for 300 msec move X to position O0 sit there for 400 msec increment repetition count end of loop stop gathering data end program reserve memory for gather Download Options There are several options associated with the downloading of files These are accessed through the Options Preferences Terminal screens Download Options Iv L 20 Basic Concepts Accessory 9WN
27. e e EI DLE m P E ALL 61 THOME c NUT TT 33 I variables asia sii IUE EU DONIS 39 MEW MU vq H 46 Index 101 Accessory 9WN Ine vaeiclldipiqm P liane 49 Ine W o wicllalpqm EE 49 INS TAN ENIM 3 INTERRUPT oro 13 INTERRUPT COMMUNICATIONS cccccccccssssscecesssscecesseeeceesececsesseeecsesseeecsesseeecsesseeeceesseeecseneeecserseeecsenseeeeees 13 J JOS dra 29 TA RN 32 L LICENS E uranio al db blas besa aa ii I dg uc 22 Low Pass Filtet via BM RRMRB mT 83 M MacOS venia nro aae aer tee 18 Macros or Compiled PL s rre etat tdt 22 Map Pale C 22 hU DER SCALING AND UNITS P C 24 Motion Program Information cecinere erret e deb pleb dis Ple ehe Ple ELE SEL ep babe RR ERE RE et nE 33 IMeVarl ADIES T 43 P PP SCO BEES 44 Parallel with nd w o Faltet o ere ON 47 PLC Program Information iii ceci ete te tue ee ba ced Hep beis 34 PMAC ma als enie ANA 7 PMAC MOMOLY P S 33 lad gm dada db dad AA dia diia 11 PRINT PREVIEW T M 11 R Restore configurati m
28. items as you want then select the Done button to return to the Watch window You can also select any defined macros from the macro drop down list click the arrow button on the right Watch Window Macro Definitions PEWIN s Watch window has a built in macro management facility You are able to load and save macro files like those produced by the downloader as well as add edit and delete entries in those files Once these macros are setup instead of typing variables into the Add Watch dialog you can select them from the macro list and view their status in the Watch window Simply select the entry you wish to watch and select the Add button Editing Macros PEWIN s watch table contains a full macro configuration utility This will allow you to create edit and delete macros as well as save and load macro tables to disk These can then be selected from the list in the Add Watch Item dialog box File Name C Program Files Delta T au PEWIN32 macro tbl Macro Value C AXIS ADR Y DDF0 8 4 U C AXIS M M82 C CLNT ADR DDF1 4 4 U C CODRD M M88 Selected Entry E dit Delete Save Load Done Helge Selecting the Add or Edit buttons will allow you to assign or change a Macro 26 Basic Concepts Accessory 9WN Edit a Macro x PMAC Command Macro Name Address or Variable BEN 3 9 Cancel Help Specify a macro name and it s corresponding PMAC command or variable Pressing the OK butt
29. or C you may be already familiar with the use of macros and appreciate their powerful usefulness By using macros you can code PMAC programs to read in English making it much easier to interpret what a motion or PLC program is doing without having to look up every command in the PMAC user s manual A macro definition is nothing more than a substitution name that you invent which is used in place of any valid PMAC command like GATHER or DWELL command phrase like OPEN PROG 1 or M1 gt Y FFC2 8 1 or variable like P1 M22 Q342 etc At the beginning of your program file or at least before you actually use your macro definitions you declare your macro definitions using the define command which can be lower or upper case Examples of using this command are define pressure Pl define turn on pump M1 1 define collect data GATHER define seconds NULL ote The File Contains Macros box in the Download Options dialog Ve must be checked for the program to properly process define and include statements When the PMAC Executive Program is downloading your file from the text editor if the define command is encountered and if the File Contains Macros or PLCC s box is checked in Download Options dialog box the definition is stored in PC memory nothing is actually sent to PMAC When the macro name is encountered later on the file the PMAC Executive Program will send the actual PMAC command phrase vari
30. point you wish to have displayed for inches you may want to use a value of 3 so inches are displayed as 2 002 inches These parameters only affect the way information is displayed in the position window They have no connection to PMAC itself Removing or unselecting the Show check box associated with a motor will This is nice for systems ae Jor Sy cause the position window to not display information about that motor with less than 8 motors e This information is saved in your PEWIN CNF file Watch Window 24 Basic Concepts Accessory 9WN The watch window allows you to watch the response to any valid PMAC command address or variable you wish to observe in real time You may also select defined macro names from the tbl files created when plcs and pmcs are downloaded to PMAC or define macros of your own Bemaco wach Ed es M11 Each entry is divided into three sections The first is the Name or Identifier the second in parenthesis is the actual PMAC command used and the third is the value returned from PMAC When visible the Watch window updates its information as often as your computer and PMAC will allow Watch Menu When the Watch window is highlighted the main menu changes to File Watch Window Help Add Watch Insert Delete Item Del Edit Item Ctrl F Clear All Items Open Macro Table Edit Macro Table Background Color Text Color
31. senses eta sens ta sens enses snae 97 una JC M 97 GLOSSARY OF TERMS 99 Online Command an An EE e aaa SEEKOR E ERS edo oc Senate 99 Static Status SCreenS iii ist 99 OUD ies EL HH RI ME 99 Gans st np en MEL DILE LEM EM MI E 99 iy Table of Contents Accessory 9WN DD OCULI E 99 DPRAM Loaded tie ias 99 I MSN DI D EEA E casssescuaseuscscnas tpncsesstecassedenasskcsssessschesosunss sbncsessbsetsdcoensscuasssesedctesoseusssesccess sechescsessssucesecastsseesseds 101 Table of Contents v Accessory 9WN vi Table of Contents Accessory 9WN INTRODUCTION Overview Welcome to PEWIN32 Delta Tau s PMAC Executive Software for Microsoft Windows PEWIN32 enables you to configure control and trouble shoot your PMAC s PEWIN32 is designed as a development tool for creating and managing PMAC implementations It provides a terminal interface to the PMAC and a text editor for writing and editing PMAC motion programs and PLC programs Additionally PEWIN32 contains a suite of tools for configuring and working with PMAC and its accessories including interfaces for jogging motors extensive system utilities screens for viewing various PMAC variables and status registers Features This Windows version of the PMAC Executive software is based on the previous versions but has been enh
32. the bottom of the screen Use the FILE menu options to save or print this information C ol x Copy To Editor Done PLC s 1 31 can be enabled PLC Address Length Active 1 180F 24 words YES Total of 1 PLCs Occupying 24 Words In PMAC s Memory Motor Setup Summary This will display the configuration of the specified motor This option reads key PMAC memory locations and then does any necessary intepretations The main parameter settings for the motor are displayed This screen can be helpful in determining problems when trying to servo a motor To select a particular motor use the lt PAGEUP gt or lt PAGEDOWN gt keys Use the FILE menu options to save or print this information Basic Concepts 31 Accessory 9WN Setup Summary for Motor 1 Motor Status Active Not commutated by PMAC Output directed to an UNKNOWN DAC invalid address Feedback from Encoder Table Entry 2 using incremental with 1 T ext conversion from an UNKNOWN Encoder and UNDEFINED decoding with digital delay Handwheel position from Encoder Table Entry 17 using incremental with 1 T ext conversion from an UNKNOWN Encoder and x4 quadrature CCW decoding with digital delay filtering OFF and position following OFF Uses UNKNOWN Set of Limit Home Fault flags with position capture under software control Amplifier Enable Line is enabled Default Limit switch inputs have been disabled Amp Fault has been disabled Action on fault K
33. the same time To select or deselect an item for plotting press the space bar or click the mouse to toggle the selection Position A check mark placed here selects the actual position to be plotted on the screen Velocity A check mark placed here selects the actual velocity to be plotted on the screen Acceleration A check mark placed here selects the actual acceleration to be plotted on the screen Following Error A check mark placed here selects the following error to be plotted on the screen DAC Output A check mark placed here selects the DAC output to be plotted on the screen Step Size cts Here you specify the magnitude maximum travel in one direction of the step move The units are in encoder counts 61 Accessory 9WN Step Time ms The move time specifies the time for each half of the step move The units are in milliseconds Move Size cts Here you specify the magnitude maximum travel in one direction of the parabolic move The units are in encoder counts Move Time ms The move time specifies the time for each half of the parabolic move The units are in milliseconds 1x30 Proportional Gain This I variable provides a control output proportional to the position error commanded position minus actual position of motor x It acts effectively as an electronic spring The higher 1x30 is the stiffer the spring is Ix31 Derivative Gain This I variable subtracts an amount from the control outpu
34. the tuning screen and measure this frequency from looking at the plot of the step response Auto Calculate Frequency Specifications This checkbox allows you to let the Executive determine the necessary other frequencies and their respective damping ratios in order to calculate the notch filter coefficients In most cases you will want this option selected Lightly Damped Zero Frequency In practice this frequency is typically a value 90 of the resonant frequency Remember that this value is calculated for you if you have the Auto Calculate Frequency Specifications checkbox selected 71 Accessory 9WN Lightly Damped Zero Frequency Damping Ratio In practice this damping ratio is typically a value of 0 2 Remember that this value is calculated for you if you have the Auto Calculate Frequency Specifications checkbox selected Heavily Damped Pole Frequency In practice this frequency is typically a value 145 of the resonant frequency Remember that this value is calculated for you if you have the Auto Calculate Frequency Specifications checkbox selected Heavily Damped Pole Frequency Damping Ratio In practice this damping ratio is typically a value of 0 8 Remember that this value is calculated for you if you have the Auto Calculate Frequency Specifications checkbox selected Remove Notch Filter This button removes the notch filter for the selected motor by zeroing out the coefficients 1x36 1x39 and restoring x30 to its near ori
35. the watchdog timer you have an intermittent problem in either hardware or software As we all know from trying to show a car s problem to a mechanic intermittent problems can be much more difficult to track down The key in finding an intermittent problem is identifying the pattern of failure One of the key questions to ask yourself is What has changed since the system worked Try changing things back to the way they were before you were getting the failure Many of the possible causes of intermittent watchdog failure are fundamentally the same as the constant problem causes listed above but only occurring on occasion For example a power supply may provide inadequate voltage only when other components draw a heavy load An important electrical contact may fail intermittently A PMAC program may take too much time only when it is in a particular section or logical branch If a failure occurs repeatedly in the same section of operation of the system the cause is probably a software time problem unless this section cuts the supply voltage by drawing increased load Find out what is special about the software at this point For instance maybe PLC 0 had been disabled and the watchdog tripped when PLC 0 was enabled Alternately maybe PLC 0 had been passing over most of its calculations because of the conditional branch it was taking but the card failed when the condition changed Appendix A 95 Accessory 9WN Although it is ver
36. to 10 volts The factory default for Ix69 is 20480 which is about 6 3 volts but many users reset this to the full 32767 The open loop time specifies the time duration of the on state when a positive or negative value is written to the DAC output for the open loop move The Open loop zero time specifies the time duration of the off state when a value of zero 0 is written to the DAC output for the open loop move No of reps specifies the number of repetitions for the open loop move cycle A value of zero 0 indicates infinite repetitions until the space bar is pressed When the open loop program is executed the moving motor s velocity will be limited to the velocity limit as specified by Ix16 This is intended to protect the system by preventing it from ever moving too fast This feature depends on having proper encoder feedback to the card of course The open loop program is terminated if the velocity limit is exceeded in either the positive or the negative direction In addition if either the hardware or the software position limits are exceeded the open loop program will stop The hardware limits are the external limit switches connected to PMAC The software limits are defined by Ix13 and Ix14 for the positive and negative position limits respectively 83 Accessory 9WN Open Loop Move Plot untitled plo Open Loop Move 200000 150000 100000 100000 150000 200000 Time sec htr 1 DAC Output Au
37. value T0 SN BSA NE Whal displayed in the Watch window number set the mask to FFFF If the Use Separator check box is selected the display will be broken up by separators Binary numbers will have comas every four bits nibble decimal numbers will have commas every 3 decimal places left of the decimal point hex numbers are separated by spaces every four places Jog Interface Basic Concepts 27 Accessory 9WN PEWIN32 includes an interface for jogging motors This is called the Jog Ribbon and is accessed through the JOG RIBBON menu item in the VIEW menu BB PMAC Executive This interface only allows you to jog one motor at a time but gives you push button access The motor will start jog as soon as the J Plus or J Minus button is pressed Motor Selects a motor for jogging The motor number and its coordinate system definition are displayed in the window s title bar Setup Jog Parameters Pressing this button will bring you to the Configure Jogging Parameters for Motor x dialog box where pertinent I variables jog key definitions and relative step sizes may be changed 28 Basic Concepts Accessory 9WN Configure Jogging Parameters for Motor 1 J 100 000 Within this dialog box you may customize the jog dialog box and alter jog related I variables for any motor Pressing the up or down arrow buttons will scroll you to the next or previous motor number respectively Upon enterin
38. we can allow more than a 32K limit The value of 1x69 that should be used for this micro stepping is 524 287 219 1 1x60 Servo Cycle Period Extension This parameter permits an extension of the servo update time for motor x beyond the servo interrupt period which is controlled by hardware E3 E6 E29 E33 E98 and master clock The servo loop will be closed every Ix60 1 servo interrupts With the default value of zero the loop will be closed every servo interrupt Other update times including trajectory update and phase update are not affected by 1x60 110 does not need to be changed with Ix60 Ix68 Friction FF Gain This parameter add a bias term to the servo loop output of motor x that is proportional to the sign of the commanded velocity That is if the commanded velocity is positive x68 is added to the output If the commanded velocity is negative Ix68 is subtracted from the output If the commanded velocity is zero no value is added to or subtracted from the output This parameter is intended primarily to help overcome errors due to mechanical friction Indeed it can be thought of as a Friction Feedforward term Because it is a Feedforward term that does not utilize and feedback information it has no direct effect on system stability It can be used to correct the error resulting from friction especially on turnaround without the time constant and potential stability problems of integral gain If PMAC is commutating th
39. would be in Y 722 hex The converted data would be placed in X 722 hex If this were the position feedback for motor 1 1x03 would be set to 722 hex 1826 decimal Note The parallel data word from a laser interferometer is not true absolute position information because the interferometer is fundamentally an incremental sensor For this arrangement there is no need to wire more than 19 bits of data to the ACC 14 in fact 16 bits is sufficient Position reference is established by a homing procedure and full range is achieved by using rollover to extend the range of the count in software Filter Max change The parallel data word filter simply sets a maximum amount the data word is permitted to change in a single servo cycle This value should be entered in the filter box in hex If PMAC sees a change larger than this in the source data word the converted data only changes by the maximum amount There is no permanent loss of position information if the filter kicks in This filtering permits protection against spurious changes on high order data lines while not delaying legitimate changes at all This maximum amount is the third setup entry for the encoder in the Y memory portion of the conversion table It should be set slightly greater than the maximum actual velocity expected on the sensor Time Base A time base conversion is a scaled digital differentiation Every servo cycle it calculates the difference between the value of t
40. 0000 1138 Notch Coef D2 0 000000000 0 000000000 Implement Now Restore Gains Kill Motor s Done 66 Motor and System Tuning with PEWIN32 Accessory 9WN To examine the response of the motor under the new auto tune gains select Implement Now To compare the motor s behavior with your original gains and the new auto tune gains select Implement Later When you return the tuning dialog box select Toggle Gains to switch between your original gains and your new auto tune gains Use the step and the parabolic moves to test the behavior of the motor under the new set of gains If the response is unsatisfactory you may decide to either fine tune the gains manually or perform another auto tune session with different goal parameters Amplifier Type This selects the type of amplifier used The default value is for a current loop amplifier If either an analog tachometer loop is closed within the amplifier or the amplifier operates without current feedback in the voltage mode the Amplifier Type should be changed to velocity loop Also for stepper motors using PMAC s ACC 8D Opt 2 the choice should be velocity loop Maximum Excitation Magnitude This is the size of the largest DAC signal given as a percentage value of 10V For example if only two iterations are chosen for Number of Iterations and the Maximum Excitation Magnitude is 100 then in the first iteration the maximum DAC output will be 5V in the second itera
41. 1138 0 000000 Implement Low Pass Filter D2 1139 0 000000 ts fieo 0 000000 Remove Low Pss Fie ff cose 1st Order Filter C 2nd Order Filter First select a motor using lt PgUp gt or lt PgDn gt Next enter the cutoff frequency and select either a first order or second order filter Now all you need to do is select Implement Low Pass Filter The low pass filter coefficients 1x38 and 139 will automatically be calculated and displayed on the left and these new coefficients will be downloaded to PMAC Cutoff Frequency This value is the actual cutoff frequency in hertz you wish to use for the low pass filter in the servo loop To determine which frequency this is you may need to do a step move from the tuning screen and measure this frequency from looking at the plot of the step response 1st Order This checkbox allows you to specify a first order lowpass filter First order filters typically introduce little lag to your servo but do not exhibit a steep cutoff for the pass band 2nd Order This checkbox allows you to specify a second order lowpass filter Typically second order filters introduce more lag to your servo but do exhibit a good steep cutoff for the pass band Remove Low Pass Filter This button removes the low pass filter for the selected motor by zeroing out the coefficients 1x38 and 1x39 and restoring Ix30 to its near original value before the low pass filter was i
42. 500 Acceleration Following Error Do Step Do A Parabolic DAC Output Pict Response Original Gains 1130 Prop Gain fi 00000 r Gantry Auto Tuning Dual Motor 1131 Derivative Gain 2500 Activate Second Motor 1132 Velocity FF Gain 2500 Deon teen women 1133 Integral Gain fi 0000 Auto Tune 1134 Integration Mode fi 1135 Accel FF Gain o 1129 DAC Offset o 1169 DAC Limit 4000 Low Pass Filter 1160 Servo Cycle Per Ext o Kill Motor 1168 Friction FF Gain o Note Notch LP filter NOT installed Done Help When you change one of the I variables in the lower left fields of this dialog box 1x30 1x35 1x29 Ix60 and 1x69 you are actually changing the I variable value and consequently the characteristics of the servo loop in PMAC Don tforget to issuea SAVE command when finished tuning to make your changes permanent ogge Gans Notch Filter You have a choice of one of three predefined moves step parabolic and open loop These moves may be performed on any motor to select a motor for tuning while in the tuning screen press lt PgUp gt or lt PgDn gt The step move usually done first for current loop systems if your amplifier is not using a tachometer it is considered a current loop system commands the motor to do a closed loop step move allowing you to analyze the step response of the system and adjust the proportional Ix30 derivative 1x31
43. Accessory 9WN DELTA TAU NY Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or causing electri
44. EDs are off you have lost all 5V power to the card If the green LED is on and the red LED is off the watchdog timer has not tripped there is some other problem If the watchdog timer has tripped reset the card either by taking the INIT line on the control panel connector low then high or by cycling power If the red LED stays lit after the reset you have a constant problem if it goes off you have an intermittent problem Constant Problem If the red LED stays lit on reset you must determine whether the constant problem is in hardware or software The best way to determine this is to turn the power off change jumper E51 from its default state take OFF for PMAC STD put ON for all others then turn power back on This re initializes PMAC disabling all software settings and programs that could have tripped the timer If the red LED stays on you have a constant hardware problem if it goes off you have or at least had a constant software problem Note Re initializing the card works by installing the factory default I variable values instead of the values stored in EPROM You do not lose the values you have stored in EPROM unless you SAVE the default values you simply are not using them If you fix the hardware or jumper setting problem that was causing the watchdog trip you can recover your old values simply by powering up the card with E51 in its default state Constant Hardware Problem There are several possible causes of a c
45. IABLES there are two interfaces for listing and setting I variables by category or by numerical order P VARIABLES allows the user to set P variable values Q VARIABLES allows the user to set Q variable values M VARIABLES allows the user to set M variable definitions and values MACRO STATION I VARIABLES allows the user to set MI variable values ultralight P Mac family only PID LOOP TUNING allows the user to set the control parameters or gains of PMAC s PID filter NOTCH FILTER allows the user to set up a notch filter LOW PASS FILTER allows the user to set up a low pass filter ENCODER CONVERSION TABLE this menu choice allows you to alter update save or retrieve the entries of the encoder conversion table COORDINATE SYSTEMS this menu choice enables you to alter the currently defined coordinate systems or define new ones COMMUNICATIONS This will give instructions on changing communication settings DPRAM COMMUNICATIONS If your PMAC has the Dual Ported Ram option this will toggle the use of DPRAM for ASCII communications INTERRUPT COMMUNICATIONS If you have the PMAC setup for interrupts setting this option will display any interrupts generated INTERRUPT BEEP If selected a beep will sound every time your PMAC issues and interrupt Menu Overview 11 Accessory 9WN View Menu The VIEW menu contains interactive status displays and motor movement tools Bi PMAC Executive File Confi
46. RATION allows the user to save all or part of PMAC s configuration to a disk file RESTORE CONFIGURATION allows the user to restore all or part of PMAC s configuration from disk VERIFY CONFIGURATION verifies a specified configuration file Menu Overview 13 Accessory 9WN Tools Menu This menu is for managing the position and arrangement of any windows currently displayed PMAC Executive File Configure View Status Plot Options Backup Tools Window Help PMAC Editor PMAC1 Setup and Tuning PMAC2 Setup and Tuning Launch 1 Launch 2 Launch 3 Launch 4 Setup Launch 1 4 PMAC EDITOR will allow you to create a new PMC or PLC file PMACI SETUP AND TUNING starts the PMACI setup program if it is loaded PMAC 2 SETUP AND TUNING starts the PMAC2 setup program if it is loaded LAUNCH 1 2 3 4 special setup motor 1 2 3 4 SETUP LAUNCH 1 4 special setup motor 1 2 3 4 Window Menu This menu is for managing the position and arrangement of any windows currently displayed File Configure View Status Plot Options Backup Tools Window Help Cascade Tile Arrange Icons Close All v LPMAC OV1 16G 08 24 1999 PMAC Ultra light 2 PMAC O Watch 3 PMACIO Position Help Menu The HELP menu options allow you to retrieve on line information about PMAC the Executive program and the various help functions You also have access to the two diagnostic routines provided by PEWIN32 14 Menu
47. UPPORT MACRO s PLCC s when downloading parse file for Define statements and support MACRO s PLC s L 9 CREATE LOG FILE create a LOG file when downloading LOG e MAP FILE create a MAP file when downloading MAP Compie Onl COMPILE ONLY compiles the file only If you have selected the COMPILE ONLY mode when you DOWNLOAD the file the below screen will show up Select a Link List x 1 16G PMACUL ISA FLASH PID CLK X4 ABORT DOWNLOAD aborts the download ENABLE CHECKSUMS Serial only this controls how PMAC reacts to serial character errors parity and framing if found 90 PMACEditor Accessory 9WN Window Window related commands LPMACEditor CASCADE arrange open windows to overlap TILE arrange all open windows without overlap ARRANGE ICONS arrange all open window icons at bottom of the main window MINIMIZE ALL minimizes all windows CLOSE ALL closes all windows Mouse Right Click Menu Pressing the right button of the mouse at an active editor file a new menu window will open see below picture This menu is a summary of the most common actions at the PMACEditor PMACEditor 91 Accessory 9WN 92 PMACEditor Accessory 9WN APPENDIX A UNDERSTANDING PMAC S WATCHDOG TIMER PMAC s Watchdog Timer The PMAC motion control board has an on board watchdog timer sometimes called a dead man timer or a get lost timer c
48. able Setting this option to Additive in entry number 3 for instance would result in the summation of entry two and entry three at the address of location 3 This permits the servo feedback to sum of two sensors If the polarity of the sensors or their counters is opposite this provides the difference of the sensors This can be useful for Doppler type sensors where the reference wave and the shifted frequency wave are fed into different counters one counting up the other counting down summing the two counters provides position Source Address This the hex address where the raw data is located Bits Enabled Mask This field contains a scale factor used when the appropriate bit is enabled The most common use for the resulting value is for the time base feedrate override control which makes the speed of PMAC execution proportional to an external frequency usually the speed of a master device Max Change This limits the magnitude that the input value is allowed to change between scans View All Entries of Table This option opens a window containing a list of all the defined encoder conversion table entries in PMAC s memory This window can then be saved to disk or printed Download Entry This option sends your encoder conversion table configuration to PMAC s memory Every time you make changes to the table you need to download it via this button At this point the table will be actually be in use by PMAC An altered encoder conver
49. able for the particular macro so that PMAC only sees a valid PMAC command variable instead of sending pressure to PMAC P1 is sent for the above example The only exception to this when a macro is defined as a NULL In this case nothing is sent to PMAC it s merely available to provide units to numeric values for further macro elaboration see the sample program listing below for examples on how to use the NULL definition Remember that PMAC never sees the macro names when the downloaded program is listed you will see standard PMAC commands A few rules must be followed when declaring and using these macro definitions The macro name may contain any unique sequence of characters upper lower case letters numbers symbols etc but must be separated from the define command and the macro s definition by a space as seen in the above examples The macro name like gas_pressure turn_on_pump collect_data may not contain any spaces You may however use the underscore character _ to separate words for ease of reading The PMAC Executive Program will differentiate between upper and lower case for the macro names so take care when mixing upper and lower case letters If you try to use a macro definition that has not been previously defined properly because you misspelled it or the upper lower case letter sequence don t match i e pressure and Pressure the program will download that line as is and may and most probably will result in an error g
50. al Under the OPTIONS PREFERENCES menu item is a section for setting the terminal preferences You can set the font and display colors and enable or disable the terminal status bar update Editor PEWIN32 includes a simple Windows text editor With this interface you can create and edit program files and then download them to PMAC This interface includes all the features of a Notepad type of program You can cut copy delete and paste highlighted text You can use the Windows clipboard to copy text from one Windows program to another Basic search and replace functions are provided For a more robust editor we suggest you use your favorite code editor or word processor Downloading Files to PHAC Downloading allows you to transfer the contents of a file on disk to PMAC s memory This is handy for transferring new or modified PLC or motion programs and or variable values and definitions to PMAC It is highly suggested you suspend any plcs or motion programs during a download There are three different ways to transfer files from a hard or floppy disk to PMAC e Use the Download File menu item in the File menu e Download directly from an editor window Basic Concepts 17 Accessory 9WN e Use the Multi File Download menu item in the File menu Using Macros in the Editor While using any text editor window you have the ability to define your own commands by use of user defined macros If you program in Pascal
51. all PEWIN s configuration interfaces Covers manipulation of variables coordinate systems encoder tables etc Chapter 5 Plotting and Data Gathering Covers PEWIN s different methods for data gathering plotting and analysis Chapter 6 Configuration Files Discusses how to backup and restore all or part of PMAC32 s configuration Chapter 7 PEWIN32 Software Configuration Describes how to modify the appearance of PEWIN32 Chapter 8 PEWIN32 Help Facility Details PEWIN s help and diagnostic routines Chapter 9 Motor and System Tuning with PEWIN32 Detail descriptions of PEWIN s Tuning interfaces Appendix A Understanding PMAC s Watchdog Timer Discussion of the PMAC watch timer and its functions Appendix B Bug Report and Feature Request Procedure Forms to use to report program inconsistencies and feature requests 2 Introduction Accessory 9WN Hardware and Software Requirements The PMAC Executive for Windows software will run on any computer capable of running Windows 95 98 or NT TM 120MHz Pentium and up recommended Of course the faster the computer the better In addition you will need the following Microsoft Windows 95 98 or NT 4 x and up loaded on your computer At least eight MB of free disk space and 16 24 MB of RAM 16MB for Windows 95 98 or 24 MB for Windows NT A free serial communications port or USB port or PCI BUS slot or ISA BUS slot to talk to PMAC for on line processing Any mo
52. anced to take advantage of the Microsoft Windows 32 bit operating systems Multi threading of PEWIN32 of realtime displays Enhanced graphing in PmacPlot a new standalone plotting application Better management of memory A thread safe communications driver makes this version is also compatible with the 32 bit version of NC for Windows software and any application using PComm32 or PTalk Accessory 9PN or 9PT respectively PEWIN32 helps you overcome many of the obstacles encountered when developing a PMAC based application Typically the first thing a person wants to do with a PMAC is figure out how to talk to it reliably and in a Windows environment this basic step can be quite challenging PEWIN32 enables you to get your card up and running right out of the box Then the fun really begins You use PEWIN32 in the same manner as our other Executives setting up I parameters configuring and jogging motors writing and testing motion programs and general trouble shooting PEWIN32 provides basic tools to configure control and diagnose PMAC here is a partial list of PEWIN32 s features and capabilities A terminal Easy handling of PMAC s thousands of I P Q and M variables including macro support Watch window for real time system information and debugging Motor Coordinate System and Global status windows that display PMAC s status bits in real time Position window for displaying the position velocity and following error of a
53. and their axis definitions You cannot edit the coordinate system definitions in this window but you can print this information Done This closes the Configure Coordinate Systems window PMAC Configuration Modification Utilities 49 Accessory 9WN 50 PMAC Configuration Modification Utilities Accessory 9WN PLOTTING AND DATA GATHERING PmacPlot PEWIN32 now uses an independent application for Quick and Detailed plotting features PmacPlot has its own separate manual ES PMACPlot Yer 1 20 6 7 2000 PMAC Ultra Light 0 The Quick and Detailed plotting features allow the user to use PMAC s on board real time data gathering feature for diagnostics purposes Itis highly encouraged that everyone becomes familiar with this feature and its great debugging potential Plotting and Data Gathering 51 Accessory 9WN 52 Plotting and Data Gathering Accessory 9WN CONFIGURATION FILES Backup Restore PMAC Configuration Files The Backup options let you save restore and verify all or part of PMAC s configuration PMAC s configuration consists of all motion programs PLC programs I P Q and M variable values M variable definitions custom servo algorithms other important memory locations leadscrew compensation tables and coordinate system definitions To backup or restore all of PMACs parameters choose the Global Configuration menu item This allows the user to selective
54. bal status bits in real time This is done by continually sending command to PMAC Those conditions that are true are highlighted Pressing the lt PAGEUP gt or lt PAGEDOWN gt keys changes the motor being examined There are 2 modes for this window condensed and full Condensed mode only shows the most important status bits while full mode shows all the status bits 34 Basic Concepts Accessory 9WN PMAC 0 Global Status ol xj Connector Status This option allows you to monitor the status of PMAC s connectors Currently PEWIN32 supports the J2 JPAN JIGTHW JSJOPT J7 JMACH2 and J8 JMACH1 connectors PEWIN automaticaly selects which connectors may be monitored depending on the PMAC series Monitor E C J3JTHW Thumbwheal Pon C JSJOPT Input Outpt C JT JMACH2 Axis 5 8 C JeJMACHI jio 1 4 X Cancel PMACI series PMAC 2 series After making a selection from this dialog box and pressing the OK button the status window showing the connector and its respective pins will be displayed The colors of the pins change depending on the state of the pin TRUE or FALSE Pins which are inaccessible through software are marked with an Basic Concepts 35 Accessory 9WN PMAC 0 33 JTHW When a connector status window is highlighted the main menu changes to ES PMAC Executive Display CONDENSE EXPAND Places the status window into condensed mode In this mode only the pins and
55. ber of servo cycles The number of servo cycles is determined by variable I8 the RTI executes every I8 1 servo cycles At the default value of 2 this is every third servo cycle The servo cycle frequency is divided down from the master clock by an amount determined by the settings of jumpers E98 E29 E33 and E3 E6 At the default settings the servo frequency is 2 25 KHz so the default RTI frequency is 750 Hz If the RTI frequency were to drop below about 50 Hz it could not provide the 25 Hz square wave and the timer would trip With the default servo update rate an I8 value greater than about 30 will cause the timer to trip Every RTI PMAC reads the 12 bit watchdog timer register Y register 1F and decrements the value by 8 this toggles bit 3 If the resulting value is not less than zero it copies the result into a register that forces the bit 3 value onto the watchdog timer Repeated this process provides a square wave input to the watchdog timer If no other task intervened the RTI would stop toggling the watchdog input after 512 cycles 212 8 because the timer register would have counted down to zero The task that keeps this from happening is the housekeeping function in PMAC s background tasks The background tasks execute in the time available between higher priority tasks such as servo cycle updates and RTI tasks The three main background tasks are responding to host commands executing PLC programs 1 31 and housekeeping
56. cal shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation Accessory 9WN Table of Contents INTRODUCTION ee E E E 1 OVETVIEW oianean e EE E E EE NE EE E E E E ai 1 Features p Emm 1 Manual Layli DLE 2 Conventions Used in TIS Manr a EE 2 How this Manual is Organized id 2 Hardware and Software Requirements esee eene eee nne tnnt ne enne trennen entente enne e nne ne enne ennn nee 3 e DL MU ERU 0 5 Inst lhns PEWINS2 3 uuoboudesunu d I ed 5 Setting up Communications with PMA Cosina ii 5 Exiting PEWIN32 and Saving OPONE A A is 6 A A NU 7 ICAA 8 MENU OVER VIEW ptc L 9 How Menus WOPR qe 9 File Menu iii ai cine A a 10 Configure Menu dia leni aaa 10 Wie we Meith P MH 12 Mirum 12 A 13 Options Men Pe dd cL 13 hr emi Em 13 A e
57. ce of automatic selection of a safe bandwidth based upon the auto tune results Choice of automatic selection of a low pass filter Once the above selections are properly specified select the Begin Tuning button You will observe a series of forward and backward motions on the selected motor Note You may abort motion on the motors at any time by striking any key If the Pause between iterations option is checked you will be informed of the actual distance moved in each iteration If this box is not checked the auto tuner will continue testing the system non stop as many times as selected by the user in the Number of iterations input selection After the completion of the tests the auto tuner computes PMAC s PID gains 1x30 Ix31 Ix32 Ix33 and Ix35 It displays them on the screen together with the existing gains for the selected motor You may elect to either discard them or accept them If the gains appear acceptable you have the choice of down loading these gains to the PMAC card either immediately or later in the main tuning dialog box Auto Tuning Results Ed m Auto Tuner Results Present Gains Auto Tune Gains 1130 Prop Gain 600000 22788 1131 Derivative Gain 2500 11504 1132 Velocity FF Gain 2500 D 1133 Integral Gain 120000 0 1135 Accel FF Gain 12000 0 1160 Servo Cycle Per Ext D 1136 Notch Coef N1 0 000000000 0 000000000 1137 Notch Coef N2 o 000000000 0 000000000 1138 Notch Coef D1 0 000000000 0 00000
58. d text assuming I6 is set to 1 the default In addition as you use the various screens in the Executive you may notice some green text written to the terminal window This text comes from the Executive notifying you that a change has been made to PMAC such as an I variable change You should always read this text as it may affect your application The text colors described here are the default values These can be changed by using the Options Menu Terminal Preferences screen Accessing Previously Type Commands One of the features of the Terminal window is the ability to recall previously typed commands optionally edit them and re send them to PMAC without having to retype the entire command phrase This is especially useful when for example you constantly have to type in a lengthy command phrase such as RHYSCOOO 20 To access previously typed in commands simply press the up or down arrow keys and the current line will cycle through the list Simply make the necessary changes or corrections and press ENTER The command phrase will be sent to PMAC Terminal Status Bar Along the bottom of the Terminal window is a status bar containing the currently addressed motor the currently addressed coordinate system and its current feedrate override value NOTE For speed considerations this is updated once every 10 seconds This option can be disabled via the OPTIONS PREFERENCES menu item Changing the Appearance of the Termin
59. ditor window From there you can edit save and print the information From the File menu you can select e Upload Motion Program e Upload PLC Program e Upload Variables Note You can backup PLCC s and other pertinent information from the Backup Save Config menu item 22 Basic Concepts Accessory 9WN Uploading Motion or PLC Programs Selecting the upload motion or plc program prompts you for the program number If you are uploading a motion program there is no limit to the program number however if you are uploading a plc the program number must be between 0 and 31 EB PMAC Executive MATE IE IR pre Upload Motion Program Uploading PMAC Variables The upload variable menu item allows you to upload a range of variables Upload a Range of ariables Just specify the type of variables you wish and the range Position Window The position window displays motor position information You can toggle the window to display position velocity or following error for all eight motors simultaneously or you can display all of these parameters for a specific motor DISPLAY menu When the Position window is highlighted the menu changes to Basic Concepts 23 Accessory 9WN File Display Window Help Modify Scaling and Units F2 v Show Position Ctrl F7 Show Velocity Show Following Error Show Pos Vel FE Label Color Foreground Color Background Color
60. e background tasks for time Particularly if several coordinate systems are executing empty loops at the same time you can run into serious background time limitations which can be severe enough to trip the watchdog timer If there are a huge number of lines of intensive calculations e g 100 before any move or dwell is encountered there can be such a long time before background calculations are resumed more than 512 RTI cycles it is possible to trip the watchdog timer If this problem occurs the calculations should be split apart with short DWELL commands to give other tasks time to execute 96 Appendix A Accessory 9WN APPENDIX B PEWIN32 BUG LIST Bug Reports A text file BUGS TXT is located in the installation directory of PEWIN32 Here you find what fixes were made from one revision to the next as well as the few known bugs and annoyances that currently exist If you happen to find a bug not in the list please e mail the symptom to SOFTWARE DELTATAU COM Please note the following things in the message What operating system are you using What kind of PMAC 1 2 MACRO MINL Lite etc Is the problem repeatable or sporadic What leads up to the problem PAS Appendix B 97 Accessory 9WN 98 Appendix B Accessory 9WN GLOSSARY OF TERMS On line Commands Commands that immediately affect PMAC Static Status Screens PMAC information reports that are not updated in real t
61. e loop is closed immediately and the motor is commanded to jog back towards it original position The test will continue however until all the specified number of iterations are completed subject to the specified travel limit The default value is 4000 counts Minimum Motor Travel This entry allows you to see if in fact a detectable motion took place If the Max Excitation Magnitude is relatively low and the Number of Iterations is relatively high the first iteration s peak DAC output may become too small As a result no detectable motion may take place during the excitation time By selecting an acceptable number of counts for the Minimum Motor Travel you can safeguard against erroneous gain estimations The default value is 400 counts Bandwidth This entry indicates the desired closed loop system s speed of response and the servo stiffness In general the higher the value of the bandwidth the higher the computed proportional gain 1x30 Typical closed 67 Accessory 9WN loop bandwidths range from 5 Hz for very large motor load inertia systems to 100 Hz for very high gain amplifiers driving extremely light motor load inertia systems The default value is 20 Hz Please note that if the Auto select bandwidth option is selected the selected bandwidth after performing an auto tune procedure will appear in this input box Damping Ratio This indicates the desired closed loop system s rate of transient oscillation decay In general l
62. e lower priority tasks including watchdog update for time and shut down the clock At the default update rate of 2 25 KHZ it is possible 94 Appendix A Accessory 9WN to have all 8 motors active When the card is re initialized only motor 1 is left activated 1100 1 1200 1800 0 so the card can run successfully at any servo update rate If you suspect that this may be the problem check what your servo update rate is First calculate it from the master clock frequency and the settings of jumpers E98 E29 E33 and E3 E6 Second you can confirm the frequency setting by probing with an oscilloscope the SERVO clock signal on the serial port connector If it is true that the servo clock frequency is too fast for the number of activated motors you want you will need to slow down the servo clock by changing jumper settings before you can re activate all of your motors If the servo update frequency does not appear to be the problem a PLC program probably is Re initialization solves this problem by setting I5 to 0 not permitting any PLC programs to run PLC 0 which runs as an RTI task is the most likely culprit because it can starve the background tasks for time preventing the housekeeping routine from resetting the timer register If you suspect PLC 0 you can delete it now OPEN PLC 0 CLEAR CLOSE turn off power change E51 back to its default setting and turn power back on If the watchdog does not trip you have confirmed that t
63. e same as the I variable window above It enables you to view and easily change the value or definition of any of PMAC s 1024 M variables It is your responsibility to format the M variables pointer properly Refer to PMAC s memory map for addresses to point to A listing of suggested M variables pointers is given in the example program SETUP PMC included on the distribution disks 4 PMAC2 M Variable Configuration PMAC Configuration Modification Utilities 43 Accessory 9WN P amp Q Variables The windows for each of these options is the same as for the I variable window described above with the exception that more variables are displayed at one time a MAES GoTo go UpoadToEdto Chose lt lt 100 C Variable Number lt lt 100 P Variable Number of Encoder Tables This menu choice allows you to alter update save or retrieve the entries of the encoder conversion table You will need to alter this table in order to use various types of feedback other than the default T Conversion Each feedback device will have an encoder configuration In order for PMAC to interpret a particular feedback device correctly the raw data must be converted appropriately The choices within this dialog box enable the user to easily change the conversion process without getting into the necessar
64. ely in each cycle of the profiled move Mathematically speaking if two sets of data such as velocity and following error vary in complete proportion to each other they have a correlation of 1 0 perfect correlation If they vary completely independently of each other they have a correlation of 0 0 no correlation The more they vary in proportion to each other the closer their correlation will be to 1 0 In graphical terms the more two curves are shaped like each other the better they will be correlated Another important figure is the constant of proportionality between the two sets of data which is the average ratio between matching points in the sets Even if two sets of data are very well correlated the ratio may be so low that one of the sets is negligible in practical terms For each move done the program will calculate the correlation between velocity and following error and between acceleration and following error It will also calculate the average ratio between following error and both velocity and acceleration As a feedforward gain is increased the ratio of following error to that quantity will decrease linearly e g if a gain of O produces a ratio of 12 0 and a gain of 5000 produces a 79 Accessory 9WN ratio of 6 0 then a gain of 10 000 can be expected to drive the ratio to zero The ratio will decline even as the correlation stays high When the ratio gets small enough the correlation should decrease as some o
65. en ran ene te nennen teen 57 Hardware Manu ls 2 2 rra ene tbe ttt aii Ub e RR Ren 57 Why Am Ber dinum 57 Why 1s my Program Not Running siocaire aaa teres edible gie ie et ais 57 MOTOR AND SYSTEM TUNING WITH PEWIJN3D2 eeeeeee esses essen enata s tns enses tuse ta sns tn sensn sees suse tasse tasso sensn sense 59 PID Loop TUNNE TEE 59 ULSA 61 T OSWUTOTUA eode a e et REC NN 61 Mur I EE aA 61 Acc 61 FOUOWING THOT EUM 61 DAC Output 61 SLED SIZE CUS Re 61 Step Time MS ROO POIS OLOR a i eea ia E o a a ani oi i oanet eae 62 Move Size CIS horaina aa view a a cada 62 nva TREE E aid oi aiii adds 62 Ix30 Proportional GON iaa ER LO eee iii Dio edt Eden 62 IX D Detatve Olea teu nuc E deu E MM LT S 62 Ix32 Velocity FIGUR A qoe tecti don iege oues que E Leo deo arte dv ge ted Rd ido desa 62 IXSS Integral GAN E 62 T34 Integration MA iaa 62 Ix35 eua TS Gain A 62 IIVOEPETOSO LU T r 62 KOI DAC Limiti PA 62 Ix60 Servo Cycle Period Extension dt o 63 LOS ECHO SIEG 63 Doa g Um 63 DVO Parabolio AA OA 63 Open Loop A EE
66. enerated by PMAC Also remember not to use the same name twice for two different macro definitions You may also use macro definitions contained in other files on disk instead or in addition to existing definitions in the file you are downloading The command to do this is the include command include macro pmc include names include program def 18 Basic Concepts Accessory 9WN You may want to create a file which contains nothing but macro definitions and then have several motion programs include these definitions so that they can use the macros This can help keep the size of program files small when a large number of macro definitions are being used The rule to follow when using the include command is that the file name any legal DOS file name must be enclosed in quotes and must be separated from the include command with a space The same rules stated above for naming the macros also apply here including the amount of PC memory used To best illustrate the potential of using macros here is an example program using cleverly defined macro names define msec NULL define revs sec NULL define set_acc_time_of TA define set S curve time of TS define set feedrate of F define set_move_time_of TM define feedrate_time_units 1190 define setup_gather_pointer M88 gt X1 18 M89 gt X1 19 define free_up_memory_space DEL GAT DEL TRACE
67. er registers in the DSP gates which are fed by Accessory 23 or Accessory 28 A or B The source address specifies a word in the Y memory space and should be one of the following ADCI C006 ADC9 C026 ADC2 C007 ADCIO C027 ADC3 C00E ADCII CO2E ADC4 C00F ADCI2 C02F ADCS C016 ADCI3 C036 ADC6 C017 ADCI4 C037 ADC7 COIE ADCIS C03E ADC8 C01F ADCI6 C03F A typical address for an A D register would be C006 which provides the conversion of the ADC2 register With A D conversion there is no rollover software extension performed Parallel with and without Filter The four choices Parallel Y without Filter Parallel Y with Filter Parallel X without Filter and Parallel X with Filter differ only in the use of X or Y memory space and whether or not the filter is to be used If you are providing position information to PMAC as a parallel data word as from an absolute encoder or processed from a laser interferometer you will use this conversion method The parallel data word may come either from the X or Y memory space Usually this data is brought in on an ACC 14 board which is in the Y memory space When using ACC 14 to bring in the data the following source addresses would be used Ist ACC 14 Port A 37 EFDO Ist ACC 14 Port B J15 FFDI 2nd ACC 14 Port A 37 EFD8 2nd ACC 14 Port B 315 FFD9 3rd ACC 14 Port A J7 FFEO 3rd ACC 14 Port B J15 FFEI 4th ACC 14 Port A 37 FFES 4th ACC 14 Port B J15
68. ere the DAC bias voltage is known to be high the fact that the servo loop is open may lead to substantial motion during the Offset Calibration procedure Therefore make sure that the motor is free to rotate an unknown number of revolutions during the calibration Select Motor Type This radio button box allows you to select whether you are calibrating the offsets for a servo motor or a stepper motor If you select calibration for a servo motor only Ix29 will be calibrated If you select calibration for a stepper motor both 1x29 and 1x79 will be calibrated 69 Accessory 9WN Number of Iterations This is the number of backward and forward open loop motions in the testing cycle Value values are from 1 to 10 and the default value is four The calibration program automatically averages the results Calibrate Selecting this button begins the calibrating procedure Depending on the number of iterations you selected and your motor s friction and open loop deadband characteristics the time necessary to complete offset calibration will vary What the procedure does is increment the DAC in small positive steps until positive motion is detected The DAC is then decreased in small negative steps until negative motion is detected This completes one iteration After the test is complete the results of the calibration are presented showing the current and suggested values for x29 and for stepper motors 1x79 and the open loop deadband
69. esembles the velocity curve but in an inverted manner Modified parabolic move with too much Kvff Parabolic Move 27 m e 5000 10000 15000 20000 82 Motor and System Tuning with PEWIN32 Accessory 9WN Modified parabolic move with some Kaff Plot untitled plo Parabolic Move 20000 rot 4 15000 24 r r3 ra 1 2 10000 L4 5000 0 0 00 10 20 30 40 50 80 70 80 81 Ot 1 i sec Finally a bit of acceleration feedforward Kaff 1x35 gives us an almost perfectly tuned motor Open Loop Amplifier Tuning This section of the program allows you to program a repetitive sequence of open loop outputs from PMAC using its O command feature This is very useful for tuning amplifiers particularly those with tachometer feedback It can take the place of special hardware devices that perform the same purpose In addition it has safety features that no hardware device can have automatic shutdown on exceeding programmable velocity and position limits It also uses data gathering and plotting to display the results of the stimulation velocity position and acceleration versus time eliminating in many cases the need for an oscilloscope to do the tuning You will need to set the open loop magnitude which is expressed as a percentage 0 100 of the value stored in Ix69 1x69 holds the maximum allowable output magnitude in binary bits which can range from 0 to 32767 corresponding to 0
70. essory 9WN Edit Through the Edit menu the user can do all sorts of changes in the text as if it was a text file and using an editor f PMAcEditor File Edit Download Window Help poe 8E Macro s PLCC s Loa Map Compie Ort 3 Cut Copy Paste Select All Find Replace uno to undo your last action Mevr first select the text so you can move it to another location or delete it and then on the Edit menu click Cut IBl copy first select the text you want to paste it or copy in another location and then on the Edit menu click Copy paste first place the cursor where you want to paste the text that you have cut or copied and then on the Edit menu click Paste SELECT ALL You can select all text at once by clicking Edit menu and then clicking Select All IND On the Edit menu click Find and type the characters or words you want to find EL On the Edit menu click Replace and you can search for and replace words or characters with text that you specify CHANGE FONT first select the text that you want to change Then on the Format menu click Font and change the font PMACEditor 89 Accessory 9WN Download File Edit Download Window Help Download Ctrl D a Log M le O Ec MOE Create Log File Create Map File Compile Only Abort Download Ctrl F5 Enable Checksums Serial Only DOWNLOAD download the file MACRO or PLC to PMAC S
71. g the Configure Jog dialog box the current motor number will be the same as the last addressed i e last jogged motor Jog Window Related I Variables Ix13 Positive Software Position Limit set this motor s positive software position limit Ix14 Negative Software Position Limit set this motor s negative software position limit Ix19 Maximum Jog Acceleration set this motor s maximum jog acceleration rate 1x20 Jog Home Acceleration set this motor s jog to home acceleration rate Ix21 Jog Home S Curve Time set this motor s jog to home S curve time Ix22 Jog Speed set this motor s normal jog speed Jog To Pressing this button will move the specified motor to the position specified Jog Minus or Plus Pressing one of these buttons will start the jogging of the motor plus or minus depending on which butoon you press Stop Pressing this button wil stop the motor from jogging Home Pressing this button issues a HM command to the currently selected motor Abort All Pressing this button sends a A to PMAC stopping all motors Kill All Pressing this button sends a K to PMAC disabling all motors Basic Concepts 29 Accessory 9WN Feed Overate This changes the feed rate PMAC command for the coordinate system associated with the currently selected motor Note This will change the speed of all motors assigned to this coordinate system This interface is especially useful when testing new
72. ginal gains by selecting the Implement Later button Done Return to the main tuning dialog box by selecting the Close button Notch Filter PEWIN32 allows you to set up a notch filter very easily without the need to understand how a notch filter works Configure Notch Filter for Motor 1 x Select Motor 50 0 Motor 1 a Resonant Frequency HZ EA v Auto Calculate Frequency Specification Actual Filter Gains Frequency Specifications KP 1130 100000 000000 Lightly damped zero frequency 50 N1 H36 0 000000 8 Damping ratio for N2 137 0 000000 0 0 1L Heavily damped pole frequency 25 D1 138 0 000000 Damping ratio ad D2 138 0000000 TS 0 EA Calculate Notch Filter Remove Notch Filter Implement Notch Filter n Close First select a motor using lt PgUp gt or lt PgDn gt Next enter the frequency of the mechanical resonance that you wish to notch out If you have the Auto Calculate Frequency Specifications checkbox selected then all you need to do is select Implement Notch Filter The notch filter coefficients Ix36 1x39 will automatically be calculated and displayed on the left and these new coefficients will be downloaded to PMAC Resonant Frequency This value is the actual frequency in hertz you wish to notch out in the servo loop To determine which frequency this is you may need to do a step move from
73. ginal value before the notch filter was implemented Calculate Notch Filter This button calculates the coefficients for the notch filter for the selected motor and displays the values on the left side of the screen The new values are not downloaded to PMAC When you calculate a notch filter you will see the proportional gain 1x30 change to a higher value This is necessary to maintain the same DC gain with the new notch filter implemented The amount of how much 1x30 changes will depend on the values of the notch filter coefficients Implement Notch Filter This button calculates the coefficients for the notch filter for the selected motor and displays the values on the left side of the screen The new values are downloaded to PMAC When you implement a notch filter you will see the proportional gain Ix30 change to a higher value This is necessary to maintain the same DC gain with the new notch filter implemented The amount of how much 1x30 changes will depend on the values of the notch filter coefficients Low Pass Filter PEWIN32 allows you to set up a low pass filter very easily without the need to understand how a low pass filter works 72 Motor and System Tuning with PEWIN32 Accessory 9WN Configure Low Pass Filter for Motor 1 x Select Motor Cut Off Frequency Hz 50 0 Motor 1 mm Actual Filler Gains gt KP 1130 100000 000000 N1 1136 0 000000 Calculate Low Pass Filter N2 1137 0 000000 D1
74. gure View Status Plot Options Backup Tools Window Help Position Watch Jog Ribbon POSITION opens a position display window You can have multiple position windows open WATCH opens a watch display window You can have multiple watch windows open JOG RIBBON brings up a simplified motor movement interface Status Menu The STATUS menu allows you to view how programs motors coordinate systems global parameters and connectors are organized and functioning in PMAC Many of the options open windows which allow you to view how the parameters change in real time BI PMAC Executive File Configure View Status Plot Options Backup Tools Window Help Motion Program Information PLC Program Information Compiled PLC PLCC Program Information Motor Setup Summary Motor Status Coordinate System Status Global Status Connector Status MOTION PROGRAM INFORMATION displays the program number starting address and size of all programs in PMAC s memory PLC PROGRAM INFORMATION displays the PLC number starting address and size of all non compiled plcs in PMAC s memory COMPILED PLC PLCC PROGRAM INFORMATION displays the PLCC number starting address and size of all compiled ples in PMAC s memory MOTOR SETUP SUMMARY displays the configuration of a specified motor MOTOR STATUS displays the interpretation of status bits associated with a specified motor in real time COORDINATE SYSTEM STATUS displays the
75. h no or almost no derivative or integral gain and no feedforward The current values for Kp Ki and Kd are displayed on the screen See the figures on the following pages for sample values 2 Doastep move and observe the plotted response displayed on the screen along with the calculated statistics 3 Adjust probably increase Kp Proportional Gn to get the fastest rise time possible without a huge amount of overshoot Allow more overshoot here than you will in your final response 4 Once you have a fast response increase Kd Derivative Gn to bring down the overshoot to the desired value Note that this will also increase the rise time 5 You may need to do further tradeoffs between Kp and Kd to get the desired response Note You may wish to change the size and or the duration of the step to be able to observe the response better The default values are a 100 count step with a 500 millisecond dwell time 6 Once you have set Kp and Kd you have taken care of your dynamic step response provided you are using error integration only in position Now you will want to add integration to improve the static holding properties of the system As you increase Ki Integral Gn and observe the step response you will notice that it increases overshoot but comes back to the command position more quickly A good value for Ki is one that brings the response back down to the command position as quickly as possible without going back past it
76. he PLC 0 was the problem In general PLC 0 should be kept very short and usually the shorter the better PMAC will execute an enabled PLC 0 every RTI unless it has not finished the RTI tasks PLC 0 and motion program that it started in a previous RTI cycle If a given PLC 0 takes 95 of the time available for it in one RTI cycle all of the background tasks put together have to run in the remaining 5 which may not let them keep the watchdog timer happy Shortening the PLC 0 slightly so that it only takes 85 of available RTI time would allow background tasks to run 3 times faster because they would now have 15 of available time However lengthening the PLC 0 slightly so that it takes 105 of the time available in a single RTI cycle would cause it to execute only every other RTI cycle and leave the majority of the second cycle available for background time For a background PLC program PLC 1 to 31 to cause a watchdog failure it must be extremely long probably thousands of lines long unless it has virtually no time to execute in which case the real problem is a higher priority task In general however if you have a lot of PLC code it is better to split it up into several separate PLC programs because other background tasks such as communications response and safety checks will operate more often Intermittent Problems If simply resetting the card without re initializing it causes the card to operate without immediately tripping
77. he source register for this cycle and the value for the last cycle and multiplies the difference by the scale factor The scale factor can be entered under the Bit Enable Time Base input box The most common use for the resulting value is for the time base feedrate override control which makes the speed of PMAC execution proportional to an external frequency usually the speed of a master device Triggered Time Base This is very similar to the timebase conversion described above but with the added feature of synchronizing timebase following upon a hardware trigger Refer to the PMAC User s Manual for further reference Inc with Parallel Ext Short for Incremental Encoder with Parallel Extension Those who have set up to use the parallel sub count interpolation for incremental feedback would use this option In this case the source address must be one of the odd numbered encoders A typical source address would be C010 which provides parallel extension i e interpolation of encoder 5 counter using encoder 6 s flags Inc without Parallel Ext Short for Incremental Encoder without Parallel Extension Those who have set up to use the parallel incremental feedback without interpolation would use this option PMAC Configuration Modification Utilities 47 Accessory 9WN Conversion Type The result of choosing the add with previous entry option in the conversion will result in the sum of this entry and the previous entry in the t
78. hich is about 6 3V but this is usually reset to the full 32767 10V Open Loop Time ms The open loop time specifies the time duration of the on time when a positive or negative value is written to the DAC output for the open loop move Open Loop Zero Time ms This specifies the time duration of the off time when a value of zero is written to the DAC output for the open loop move Number of Repetitions This specifies the number of repetitions for the open loop move A value of zero indicates infinite repetitions until the space bar is pressed Plot Response This option lets you view the last response plot without redoing the move Auto Tune The purpose of this auto tune option is to provide you with the ability to rapidly select the PID gains and or calibrate the DAC offset s for any motor The auto tuner carries out this task by measuring the response of the motor load combination to a series of test excitation signals Based upon the test results and the user s input on the desired closed loop response bandwidth and damping the program provides suggestions for the PMAC gains Ix30 Ix31 Ix32 Ix33 and Ix35 The number of tests and the magnitude of the excitation signals as a percentage of DAC output are selected by the user The auto tuner is intended to be used for tuning systems with motor load combinations that are structurally stiff no structural resonance s at low frequencies relative to the selected bandw
79. idth Systems with low frequency structural resonance s e g motor load combinations with long and thin shaft couplings or with long chain belt drives may still require the manual tuning of the PID gains and the notch filter parameters For such systems if high gain control action is not an essential requirement the auto tuner may be able to provide reasonable results To do so the desired bandwidth should be selected at a frequency well below the dominant structural frequency of the mechanics Toggle Gains If you select the Implement Later button in the screen showing the suggested auto tune gains from an auto tuning session the new gains will be remembered for later comparison between these gains and your 64 Motor and System Tuning with PEWIN32 Accessory 9WN original gains Pressing this button will allow you to toggle between these two sets of gains so that you may perform step and or parabolic moves and compare the results Notch Filter The Executive allows you to set up a notch filter very simply without the need to understand how a notch filter works Refer to the description for the notch filter under the CONFIGURE menu for more details about the notch filter Done This option exits you from the main tuning dialog box and downloads the TUNE DAT file to PMAC restoring all programs and variables except for 1x30 through Ix69 modified by the tuning session Note When TUNE DAT is created because of doing an open l
80. ill all motors Default Amp Fault Polarity is low true low means fault Default Following error limit NOT ENABLED Max permitted velocity 100 000 cts msec Max prog acceleration 1 000 cts msec Max jog acceleration 1 000 cts msec This display shows the interpretation of the status bits of the specified motor in real time This is done by continually sending the command to PMAC Those conditions that are true are highlighted Pressing the lt PAGEUP gt or lt PAGEDOWN gt keys changes the motor being examined There are 2 modes for this window condensed and full Condensed mode only shows the most important status bits while full mode shows all the status bits 32 Basic Concepts Accessory 9WN PMAC 0 CS 1 Status PgUp fer ne Coordinate Systems Status Selecting this menu option displays the status of the specified coordinate system This option actually sends the double question mark command to PMAC and interprets the bits of the hexadecimal number returned by PMAC Those conditions that are true are highlighted Pressing the lt PAGEUP gt or lt PAGEDOWN gt keys changes the motor being examined There are 2 modes for this window condensed and full Condensed mode only shows the most important status bits while full mode shows all the status bits Basic Concepts 33 Accessory 9WN PMAC 0 CS 1 Status PglJp fer ne Global Status This display shows the interpretation of the glo
81. ime they are only updated if requested by the user These include the program status information screen plc program status information screen and others PID Proportional Integral Derivative Gains How much force is applied to the motor Run Away When a motor starts moving without a command being issued by the user DPRAM Dual Ported RAM Delta Tau Accessory xx Glossary of Terms 99 Accessory 9WN 100 Glossary of Terms Accessory 9WN INDEX Puls NN 18 1 ALE BI AAA A TO tadas 44 A PID ET E E E E EEE E E E E EEEE 46 Auto TUNNE aa NN 71 axis definitions 0 eee cece cece sees eccecccccessessacececcceceususeccecccecesuussaeceecececausuasseececesesuusescecececcceuuaaescecesecessuaeaeececeeeauas 51 C CLEAR TERMINAL cesisscccscescdivesueecbscedevaiesduvendoccescebsdsneexuceeedvabesdassncsegeeedbvessuse antes EEE TE EEEN EEE TEES 12 COMMEC COL SAS racial 35 CNA A O 49 D Ib Om I oia aia 78 Display Every Download 00 0 ceccceccsccessecsescecesceeesaecseaceceneecsaecseaaecseneecaeeeesaecseaaeceaceecsaeceeaaeceeneseeaeeeeaaeeseaeesseneess 22 Dowmnldad OptiONS comino 21 DPRAM COMMUNICATIONS ccccccccccccccssssssescssccscessssscssssccssseseeeessssccsesessccuessssscsseesecaeesssesceesesssasessseseeeees 13 E Il AC 7 F A NN 48 TOO VIE ELO POTETE DOT LED DILLO 24 G Global Config rati n 2 Late OS 57 H Hardware Man a Nene Lee LE LLLA
82. ime and the Minimum Travel Limit are set there will be no need to pause between iterations For more information about using the auto tuner refer to Appendix E Doing An Auto Tune Session later in this manual DAC Calibration The purpose of this option is to provide for the user the ability to determine the DAC bias value s DAC Offset Tuning for Motor 1 x m Type of Motor Servo Motor Number of test iterations 2 C Gtesper Motor Calibration step size volts 0 001 Begin Calibration Done Help For a standard DC motor or a brushless motor which is commutated externally not by PMAC this option provides an optimum value for 1x29 For a stepper motor driven through PMAC s Accessory 8D Option 2 the V F board this option provides optimum values for Ix29 and Ix79 When you begin calibration a small PLC program is downloaded and executed in PMAC After the tests are completed the optimum values for Ix29 and Ix79 if you specified a stepper motor are displayed Select Implement Now to implement these bias gains in PMAC Do not use this option if PMAC is commutating your selected motor See also the special application note included with PMAC ACC 8D Option 2 manual PMAC Setup for Stepper Motor Control Using ACC 8D Opt 2 the V F Converter Warning Regardless of the state of the selected motor s servo loop close or open it will be opened up by the Offset Calibration routines In a situation wh
83. initions tox Edit Remove gt gt View All Coordinate Systems l Coordinate System to Modify Monitor This field displays the number of the coordinate system within PMAC that is currently being viewed Use the and buttons or lt PgUp gt and lt PgDn gt to step through the coordinate systems Current Axis Definitions This window lists all motors and their corresponding axis definitions for the current coordinate system Edit This button opens a dialog box where you can edit the axis definition selected in the current axis definitions window If you want to undefine a motor definition use the Remove button Remove This button removes the motor selected in the current axis definitions window from the coordinate system Once you remove a motor from the current axis definition it will appear in the Available Motors window and is available again for axis assignment Available Motors This window lists all the PMAC motors which are available to be assigned to a coordinate system A motor is available if it is not already defined in any coordinate system Add This button adds the motor selected in the Available Motors window to the current axis definitions window When you press this button a dialog box will open where you can enter the axis definition for the motor before it is added to the coordinate system View all Coordinate Systems This option opens a window containing a list of all PMAC coordinate systems
84. ion that is accessible through your operating systems CONTROL PANEL Before running this application it is important that all applications that use PComm32 the Delta Tau 32 bit communication driver be shut down This includes PEWIN32 NC for Windows and any applications developed with PComm32 or PTalkDT Once you have the control panel open click on the icon shown below The following dialog box comes up Motion Controls x Motion control devices NC Setup Add Remove Setup see Note The Unload Load and Startup buttons only come up if you are running Windows NT Typically the Load and Unload are never used but in rare trouble shooting cases The Startup may be used to tell the operating system how to load PMAC communication driver PComm32 Getting Started 5 Accessory 9WN If this is your first time running the applet there will be no PMAC s listed in the Motion control devices list box This is because none have been Added to your operating system yet To add a PMAC press the Add button to get the following dialog box Add Motion Device x Add Device Number X Cancel vox OK This dialog box is prompting you for a device number to associate with the PMAC you are adding Always start with your first PMAC as Device 0 the second PMAC in your system as Device 1 and so on The applet will handle the enumerating for you Press OK to get the configuration dialog bo
85. ircuit whose job it is to detect a number of conditions that could result in dangerous misfunction and shut down the card to prevent a misfunction The philosophy behind the use of this circuit is that it is safer to have the system not operate at all than to have it operate improperly Because the watchdog timer wants to fail and many components of the board both hardware and software must be working properly to keep it from failing it may not be immediately obvious what the cause of a watchdog timer failure is This application note is a guide to examining the possible causes of watchdog failure How the Watchdog Timer Works The hardware circuit for the watchdog timer requires that two basic conditions be met to keep it from tripping First it must see a DC voltage greater than approximately 4 75V If the supply voltage is below this value the circuit s relay will trip This prevents corruption of registers due to insufficient voltage The second necessary condition is that the timer must see a square wave input provided by the PMAC software of a frequency greater than approximately 25 Hz If the card for whatever reason due either to hardware or software problems cannot set and clear this bit repeatedly at this frequency or higher the circuit s relay will trip In the PMAC software the task that actually writes to the watchdog timer is called the real time interrupt RTI This task is supposed to execute at a fixed num
86. is motor this correction is applied before the commutation algorithm and so will affect the magnitude of both analog outputs Note This direction sensitive bias term is independent of the constant bias introduced by 1x29 and Ix79 Do a Step Use this button to perform a step move and view a plot of the response The move and plot will conform to the parameters set in the tuning window Do a Parabolic Use this button to perform a Parabolic Move and view a plot of the response The move and plot will conform to the parameters set in the tuning window Open Loop Move This button opens a dialog box which allows you to perform a repetitive sequence of open loop moves according to the values set in Open Loop Mag Open Lp Time Open Lp Zero Time and Number of Reps The open loop move will be performed when you press the Open Loop Move button Select Close or press lt ESC gt to close this screen 63 Accessory 9WN Open Loop Move for Motor 1 x Open Loop Magnitude Open Loop Time ms 100 Open Loop Zero Time ms 1100 T Number of Repetitions Gees Open Loop Magnitude 96 Here you specify the magnitude maximum voltage in one direction for the open loop move This is expressed as a percentage 0 100 of the value stored in Ix69 which holds the maximum allowable output magnitude in DAC bits which can range from 0 to 32767 corresponding to 0 to 10V The factory default for Ix69 is 20480 w
87. ity feedforward equal to the derivative gain or slightly greater In a system using a tachometer the velocity feedforward should be greater than the derivative gain When you do the parabolic move without any feedforward you will probably see a very high correlation to velocity 1 0 and almost no correlation to acceleration 0 0 There is most likely a real correlation to acceleration but it is swamped out by the velocity correlation As you reduce the velocity correlation you should see increased acceleration correlation When you then reduce the acceleration correlation the correlation to velocity may increase again but the actual ratio and magnitude of the following error should be very small Parabolic moves were chosen for this procedure because their acceleration and velocity vary continually and are uncorrelated to each other making them ideal for this type of analysis For further examination of the move you may plot the velocity curve the acceleration curve or the following error curve These are automatically scaled to fill up the plot window for maximum resolution The move statistics are re displayed with these plots Doing the Parabolic Move 1 Doa parabolic move and observe the plotted response and the calculated statistics for the move 2 Presuming there is a high correlation between following error and velocity the velocity and following error curves have the same shape and a relatively high maximum following error a
88. l bit 16 of Ix02 is 1 this bias term is added after the absolute value function is performed For a PMAC commutated motor this is the value that is added onto the first phase output of the commutation algorithm 1x79 is added onto the second phase Ix69 DAC Limit This parameter defines the magnitude of the largest output that can be sent from the control loop If a larger value is calculated it is clipped to this number The analog outputs on PMAC are 16 bit DACs which map a numerical range of 32 768 to 32 767 into a voltage range of 10V to 10V relative to analog ground AGND If you are using differential outputs DAC and DAC the voltage between the two outputs is twice the voltage between an output and AGND If you wish to limit the voltage between DAC and DAC to 10V Ix69 should be 16 384 This parameter also provides a torque limit in systems with current loop amplifiers or a velocity limit with tachometer based amplifiers Note that if this limit kicks in for any amount of time the following 62 Motor and System Tuning with PEWIN32 Accessory 9WN error will start increasing When x69 is actually limiting the output the integrator in the PID loop will turn off for anti windup protection Note When using PMAC to do internal open loop micro stepping using its own commutation algorithms not external V F converters the servo loop is writing to an internal register not directly to the DACs In this case
89. l cts io Auto select Bandwidth Auto select Sample Period Include Low Pass Filter Pause between lterations Don t jog back to original position Gantry Auto Tuning Dual Motor Activate Second Motor Optional Items to Auto T une Velocity Feed Forward Acceleration Feed Forward Integral Action None C Soft C Hard DAC Calibration Begin PID Auto Tuning Help Done 65 Accessory 9WN The auto tuning session starts when you select the AUTO TUNE button in the tuning dialog box The auto tune dialog box then appears At this point you may elect to accept the default setup parameters or provide one or more of the following information e Type of amplifier used with the selected motor current mode or velocity mode e Maximum excitation magnitude as a percentage of the maximum DAC output 100 represents 32767 10 volts Excitation time in milliseconds Number of test iterations Design goals for bandwidth and damping The maximum and the minimum travel limits for the tests Choice of auto tuning feed forward gains either velocity or velocity plus acceleration feed forward this determines the values of Ix32 and Ix35 Choice of no integral action soft integral action or hard integral action determines the value of Ix33 Choice of reporting to the user the actual distance moved by the motor during each iteration cycle Choi
90. ll motors on the system Several ways to tune PMAC systems Simplified interface for data gathering and plotting Diagnostic routines for debugging motors and motion programs Real time status display of all PMAC s connectors The ability to talk to multiple PMACs on a single computer Cloning of one motor s parameters to another and many more PEWIN32 is full of tools to help both the novice and the advanced PMAC user get the most out of their PMAC Introduction 1 Accessory 9WN Manual Layout This manual explains how to use PEWIN32 to communicate and control your PMAC motion control card Knowledge of the basic use of the Windows operating system is assumed Conventions Used in this Manual The following typeface conventions are used throughout the manual lt ENTER gt Italic text inside arrows is used to represent keyboard lt CTRL F4 gt keys or key combinations OPEN PROGRAM Mono spaced used for code listings I VARIABLES Small Caps bold underlined for menu items Bus Address Italic text for dialog box items Special functions or information How this Manual is Organized Chapter 1 Getting Started Covers installing the software and establishing initial communications with PMAC Chapter 2 Menu Overview Gives a brief description of each of PEWIN32 s menus Chapter 3 Basic Concepts Discusses everyday use of the software Chapter 4 PMAC Configuration Modification Utilities Detail coverage of
91. ly choose which of PMACS parameter to save or restore To work with motor I variables only choose the Motor Configuration menu item Dialog for Global Configuration PMAC Configuration x Item Groups to Backup IV Variables v Important Memory Registers v P Variables v Motion Programs Iv Q Variables v PLC Programs v M Variable Definitions v Coordinate Systems User written Servos PLCC s Y Compensation Tables MACRO Configuration Option 16 Memory Registers 0x4000 0xBBFF Backup How Single Backup File C Use Include Files NOTE The Verify Configuration feature only works with Single Backup File Cancel Help Save Configuration This dialog box enables you to upload any combination of motion programs PLC programas I P Q and M variable values M variable definitions custom servo algorithms other important memory locations leadscrew compensation tables and coordinate system definitions and save them to disk The Setup button opens a dialog box where you select which parameters to save These are the items which will be written to an ASCII file when you select the OK button in the Save Full PMAC Configuration window This file serves as a backup and may be used to duplicate configurations on other PMAC cards EE P MAC Executive File Configure View Status Plot Options Backup Tools Window Help 5 CU Save Global Configuration Restore Configuration Save a Motor Verify Co
92. m Not Running This menu choice will also probably save you many hours of searching and frustration in tracking down problems associated with running a motor especially if you are new to PMAC You may run into the condition where a program simply will not run despite being sure that all the parameters have been set properly What this menu option will do is look at your configuration and cite possible warnings or definite faults causes of problems preventing you from running your motion program s To use this self diagnostic feature you must specify a particular coordinate system PEWIN32 Help Facility 57 Accessory 9WN 58 PEWIN32 Help Facility Accessory 9WN MOTOR AND SYSTEM TUNING WITH PEWIN32 PID Loop Tuning The Tuning interface is intended to assist you in setting the controls parameters or gains of PMAC s PID filter a process known as filter tuning and for adjusting your motor amplifier via amplifier tuning The goal here is to achieve a stable and well behaved system The process is interactive and iterative you try a setting see haw it performs make necessary adjustments and repeat until satisfactory results are obtained This procedure is set up so that no special control expertise is required PMAC 0 PID Tuning for Motor 1 PgUp for next Moter Step Parabolic What to Plot lV Position Step Size etsi 000 Move Size cts 4000 Velocity Step Time ms 500 Move Time ms
93. meter the tachometer is providing derivative gain and therefore damping within the amplifier itself If the amplifier has been well tuned you should not have to add any more derivative gain in the digital filter but you are free to do so if you wish On PMAC it is possible to have the error integration active at all times by setting x34 to 0 or to have it active only when the motion is stopped by setting Ix34 to 1 While the step response for these two cases will look essentially identical the behavior on real moves will be very different Error integration that is active at all times can reduce following error on an extended profiled move but at the cost of reduced system stability and of overshoot at the end of the move which makes up for the lag at the beginning of the move In a system without feedforward the close following may be worth these costs But the velocity and acceleration feedforward terms in PMAC can virtually eliminate following error without these drawbacks For this reason most PMAC customers use error integration only when motion is stopped where it can eliminate steady state errors due to static friction or net torque loads Because the proportional gain term Kp Ix30 is outside the brackets in the filter equation see previous page it also affects derivative and integral gains and is not strictly speaking a true proportional gain For this reason if you modify Kp when Ki 1x33 or Kd 1x31 is not equal to zero yo
94. mplemented Calculate Low Pass Filter This button calculates the coefficients for the low pass filter for the selected motor and displays the values on the left side of the screen The new values are not downloaded to PMAC When you calculate a low pass filter you will see the proportional gain 1x30 change to a lower value This is necessary to maintain the same DC gain with the new low pass filter implemented The amount of how much 1x30 changes will depend on the values of the low pass filter coefficients Implement Low Pass Filter This button calculates the coefficients for the low pass filter for the selected motor and displays the values on the left side of the screen The new values are downloaded to PMAC When you implement a low pass filter you will see the proportional gain 1x30 change to a lower value This is necessary to maintain the same DC gain with the new low pass filter implemented The amount of how much Ix30 changes will depend on the values of the low pass filter coefficients 73 Accessory 9WN Feedback Tuning with Step Response Step response is often used as a method of evaluating a feedback filter Many controls textbooks contain information on interpreting step responses for establishing proper feedback particularly for second order systems current controlled motors driving inertial loads are second order systems In a step response a sudden change is made to the command position and the feedback filte
95. nfiguration Save MACRO Configuration Note PLCC s are firmware specific Therefore a configuration file which uses PLCCs is only valid for that type and version of PMAC Configuration Files 53 Accessory 9WN Restore Configuration This option is used to restore the contents of a backup file created with the Save Configuration option to PMAC The file is simply downloaded to PMAC Plot Options Backup Tools Window Help Save Configuration Aa EA Restore Global Configuration Verify Configuration Restore a Motor Restore a MACRO Configuration Verify PMAC Configuration This option allows you to compare the contents of any text file with the contents in PMAC s memory It provides a good way to validate the backup file created by the Save Configuration option At present you may only validate files that have no include statements which means files backed up using the Single Backup File option CTN gt Look in Ey PMAC eme EL motor_con cfg Files of type PMAC Files Cancel 54 Configuration Files Accessory 9WN PEWIN32 SOFTWARE CONFIGURATION Options Menu ES PMAC Executive PREFERENCES set default values for various PEWIN32 displays SAVE SETTINGS ON EXIT when selected save current window positions and status and restores them the next time the program is run Preferences There is currently one preference area e The Terminal
96. nfiguration and cite possible warnings or definite faults causes of problems preventing you from running your motor s program s Why am I not moving requires Getting Started 7 Accessory 9WN that you specify a motor to analyze while Why is my program not running requires that you specify a coordinate system to analyze The ABOUT box will give you detailed information about the version of the software you are running Technical Support Delta Tau is happy to respond to any questions or concerns you have regarding the Windows Executive By far you ll get the quickest response if you send your queries to the following e mail address support deltatau com Of course check our Web site at WWW DELTATAU COM You can call Delta Tau Monday through Friday from 9 00 am to 4 00 PM PST or FAX us your request or problem and we will deal with it the next business day Delta Tau Data Systems Inc 21314 Lassen Street Chatsworth CA 91311 West Coast Voice 818 998 2095 FAX 818 998 7807 East Coast Voice 804 795 4288 FAX 804 795 4996 8 Getting Started Accessory 9WN MENU OVERVIEW How Menus Work PEWIN32 uses a dynamic menuing system This means that the menu at the top of the screen changes content depending on what window has the current focus is highlighted The standard menu displayed when the terminal has focus looks like this BI PMAC Executive File Configure View Stat
97. nitor with VGA resolution 800x600 suggested but 640x480 works fine Introduction 3 Accessory 9WN Introduction Accessory 9WN GETTING STARTED Installing PEWIN32 Before installing PEWIN32 read the license agreement included in this manual behind title page and make a backup copy of the installation disks To install PEWIN32 put the PEWIN32 distribution disk labeled Disk 1 into a floppy drive and choose File Run from the Program Manager Enter A SETUP EXE or substitute A for the letter of your floppy drive The installation program will suggest a directory path where the program files should be copied Please use the suggested directory location for the installation for the purposes of uniformity among all PEWIN32 users and trouble shooting if need be Read the readme txt file for last minute additions to this manual Y ou will want to setup communication before running PEWIN32 for the first time For details on setting up communications see Setting up Communications with PMAC Setting up Communications with PMAC No applications including PEWIN32 will be used to add remove or configure PMAC s in your system Rather communication settings have been centralized in your operating system making the set up of each PMAC much like other devices in your computer i e video card sound card etc All setup is done through the MOTION CONTROLS applet or the MotionExe EXE applicat
98. on will add or change this macro definition in the macro list Selecting the Delete button will remove the currently highlighted macro definition To display plc or pmc macros in the Watch window load the tbl file created when the plc or pmc was downloaded by selecting the Load from Disk button Select the appropriate file and press ENTER Once a macro table has been loaded it name is displayed in the Add Watch dialog Open the list box by clicking on the small arrow button to the right of the command line to display a list of loaded macro definitions The Load from Disk and Save To Disk buttons prompt the user for a file and perform the specified operation Formatting Watch Entries Watch entries can be formatted to display their data in a number of different ways Watch Display Format x r Returned Type gt r Display Filter m Binary Display Range String a None Bits to Display 32 i Decimal Binary Octal Starting Bit Index 32 LIS C Decimal Mask FFFFFFFF Hey Vv Use comma separator between every 4 bit nibble Cancel Help Select the format the entry will be returned in If you expect the response as a string i e TYPE Decimal i e RXO or hex i e Select the numerical display mode from the selection in the middle and the number of bits of this entry to use in the display The bitmask will be ANDed amp with the return value and the resulting
99. onstant hardware problem The first is low supply voltage With a voltmeter probe between 5V and GND on one of the connectors at the card for example between pins 1 and 3 on the machine connector If you suspect variation in the supply you may want to use an oscilloscope to catch changes If the supply looks OK you will want to inspect the card itself Turn off power and remove the card If there are several circuit boards make sure that the daughter boards are well seated on the mother board Look at all the socketed ICs Make sure that they are firmly in their sockets with no bent or broken legs Apply reasonable pressure to each socketed IC Re install the card and turn on power If the red LED is still on turn off power and remove the card again Check the board thoroughly for signs of damage broken components damaged circuit board cracked solder joints etc Any of these types of problems will require a factory repair Constant Software Problem If using the re initialization jumper setting on E51 allows the card to power up without tripping the watchdog timer the problem that caused the tripping was in software almost always caused by a particular software function taking too much of the processor s time Now you must determine which function is causing the problem PMAC requires at least 55 microseconds in the servo update time per activated motor If you have too many active motors and a fast servo update time you may starve th
100. oop step or parabolic move an Exit Tuning button appears in the upper right area of the main menu Selecting this button causes TUNE DAT to be downloaded back to PMAC thus restoring those modified programs and variables contained in this file Performance Auto Tuning Before attempting to auto tune a motor make sure the motor is closed loop and that the fatal following error limit Ix11 is either set to zero to disable this feature or set to a high enough value so that the motor will not exceed this limit while performing the moves during auto tuning The default gains with which the PMAC boards are shipped are typically low enough and may be used as the initial gains for the start of a session Furthermore a large DC offset bias between the amplifier and PMAC s DAC outputs should be reduced to a minimum by the use of the bias I variables Ix29 and 1x79 refer to the PMAC s User Manual for details and the Offset Calibration menu choice under Auto Tune in this manual Note that the auto tuner always leaves the selected motor in the closed loop state with the desired motor position unchanged Auto Tuning for Motor 1 x Amplifier Type Auto Tune Parameters E Current Loop Velocity Loop Max excitation magnitude 2 fo Exercise caution see manual Design Goals Excitation Time ms 50 Bandwidth Hz le Number of Iterations D Damping Ratio fi D Maximum motor travel cts 4000 1160 0 Minimum motor trave
101. ow damping ratios ratios well below one indicate large overshoots and long periods of transient oscillations leading towards instability On the other hand high damping ratios ratios well above one indicate sluggish motion In general the higher the value of the damping ratio the higher the computed derivative gain Ix31 Typical damping ratios should range between 0 6 to 1 2 In most applications the selection for the value of the damping ratio should be unity This provides for a theoretical response with critical damping no overshoot to a step move for systems controlled by PD controllers no integral gain Note that if integral control is used some overshoot will occur even if the damping ratio has the value of unity The default value is 1 Please note that if the Auto select bandwidth option is selected a value of 1 0 after performing an auto tune procedure will appear in this input box Auto Select Bandwidth If auto selection of the closed loop bandwidth is desired check this box This option is extremely useful if you are not sure how large a bandwidth you need Based upon the results of the auto tune tests a safe bandwidth is determined which in turn selects appropriate gains for the motor you are tuning This safe bandwidth is typically lower than the maximum achievable bandwidth but is guaranteed to give a stable closed loop system Perhaps the best method in determining your bandwidth is to first perform auto tuning with this
102. pmc programs You have quick access to the motor stop and kill functions as well as the ability to change the feedrate of the coordinate systems Status Screens The status menu lets you view how programs motors coordinate systems and global parameters and connectors are organized and functioning in PMAC Many of the these allow you to monitor parameters in real time Motion Program Information This opens a window which displays information about all the programs in PMAC s memory a program is defined with the statement open program x where x is the program number For each program found you will see the program number the program stating address and the total amount of PMAC memory occupied by the program At the bottom of the screen is the total number of programs and the total amount of memory occupied by all programs Use the FILE menu options to save or print this information ES Copy To Editor Done 999 1800 Total of 1 Programs Occupying 15 Words In PMAC s Memory 30 Basic Concepts Accessory 9WN PLC PLCC Program Information This option opens a window which displays information about all the PLC programs in PMAC s memory You are told the value of I5 and what that value means to PMAC I5 is the I variable which determines which PLC s can be enabled For each PLC the number starting address and size are displayed as well as whether the PLC is currently active PLC totals are given at
103. r attempts to bring the system to this new position In observing how the system gets to the new position we can deduce a great deal about the properties of the system It does not matter that you will not ever create such a large instantaneous step in position in the actual operation of your system The purpose of this jolt to the system is to bring out system characteristics that might otherwise not be obvious This detailed information on the PID filter is not essential to performing the tuning but is included here for references PMAC has three feedback parameters to be adjusted in this process Kp Proportional gain 1x30 Kd Derivative gain 1x31 Ki Integral gain 1x33 We will be looking at three key step response parameters to set the feedback Rise Time the time it takes the system to go from 10 to 90 of the commanded step natural frequency is directly related to this Overshoot the percentage past the commanded step that the system travels damping ratio is directly related to this Settling time the time it takes the system to get and stay within 5 of the commanded step Typically what is desired is a quick rise time with little or no overshoot and quick settling time The case of critical damping which is the fastest possible rise time that creates no overshoot is often the goal There are usually tradeoffs between these parameters particularly between fast response and low overshoot If your amplifier has a tacho
104. rve demonstrates how quickly the system would respond to a disturbance while in position Remember that 78 Motor and System Tuning with PEWIN32 Accessory 9WN we are using integral gain only when in position so changing integral gain does not affect our actual dynamic response although it will change the shape of the step response here We still have the stability characteristics of critical damping while on the move Even the higher value of Ki does not result in oscillations so we will use that We have achieved what we wanted with feedback Modified step response with very high Ki Plot untitled plo Step Move Now we tackle feedforward Feedforward Tuning with a Profiled Parabolic Response In a position servo system without feedforward or dynamic error integration there must be a continual error between the commanded position and the actual position in a profiled move known as following error to produce a motor command This means however that you are never really where you want to be when you want to be there which is often the point of a profiled move in the first place These following errors will usually be proportional well correlated to the velocity and or the acceleration The velocity and acceleration feedforward terms can be used to reduce these following errors virtually to zero These parameters add terms to the torque command that are proportional to the commanded velocity and acceleration respectiv
105. s shown on the plot increase Kvff Velocity FF Gn Ix31 3 Do another parabolic move If there is still inadequate Kvff there will still be a high correlation but the FE to Vel ratio and the maximum FE will be reduced Repeat steps 2 and 3 until you have the maximum Kvff that produces a square wave looking shape for the following error 4 At this point there should be noticeable correlation between acceleration and following error You can see this by the numerical correlation value or by plotting the acceleration and the following error and noticing the similarity in shape If you do not see any correlation try increasing the length or decreasing the time of the move to get higher accelerations 80 Motor and System Tuning with PEWIN32 Accessory 9WN 5 Increase Kaff Accel FF Gn Ix35 Do another move and evaluate the correlation and FE to Accel ratio again Repeat until you have the maximum Kaff that retains any positive correlation At this point you should have minimal following error and most of what remains should be caused by noise or mechanical friction If mechanical friction is the cause you will see a strong velocity correlation because the friction causes the following error related to the sign of the velocity However each half of the following error curve should be quite flat if friction is the primary cause In the first figure below we see the plot of a parabolic move using a step size of 4000 counts and a step
106. sion table configuration must be stored in PMAC s permanent EPROM memory using the this button if it is to survive past a power down or cycle reset Done This closes the Configure Encoder Conversion Table window This will not download the present encoder conversion table entry to PMAC Use the Download Entry to PMAC button if you want this entry to be sent to PMAC Conversion Shifting of Parallel Data If you want to have fractional parts of the position or you have a MACRO station base system then you have to specify that in the conversion shifting of parallel data Coordinate Systems This menu choice enables you to alter the currently defined coordinate systems or define new ones For motors to move within motion programs they must first be assigned to an axis within one and only one of the eight possible coordinate system Any motor may be assigned to any valid axis X Y Z A B C U V or W or coordinate system 1 2 3 4 5 6 7 or 8 provided the motor has not been previously assigned to another axis or defined in another coordinate system To move from one coordinate system to the next use the lt PgUp gt and lt PgDn gt keys Assignments are downloaded to PMAC s internal memory as you ADD and REMOVE motors from the current axis definitions window 48 PMAC Configuration Modification Utilities Accessory 9WN PMAC2 Configure Coordinate System Bd Coordinate System to Modify Monitor E Current Axis Def
107. size in encoder counts This quantity is not the programmable PMAC deadband set by Ix65 but rather the hardware or open loop deadband resulting from the imperfections in the amplifier motor load combination This quantity equates to twice the number of DAC bits which need to be added to or subtracted from Ix29 to provide a noticeable motion in either direction Due to amplifier deadband and or friction in the drive the value of this quantity is often non zero However it should be a small number if a responsive closed loop performance is desired If a large deadband is reported say larger than 500 bits there may be a potential for imperfect servo performance particularly when the gains are low However do not set Ix29 equal to the deadband The value of Ix29 should be set equal to the offset value DAC 1 Offset Tuning Results Ed Present Offset Suggested Offset 1st DAC Offset 128 0 1129 280 The measured open loop deadband is 1815 DAC bits Cancel Graphical Offset Illustration Motor Velocity Open loop Deadband DAC Bits Calibrated Ix29 Value 70 Motor and System Tuning with PEWIN32 Accessory 9WN Begin PID Auto Tuning Select the Begin Tuning button and wait for the tuner to give you the suggested gains If gains appear to be numerically reasonable you may elect to accept them immediately by selecting Implement Now or you may want to implement them later for comparison to your ori
108. sory 9WN The next figure below shows the response with Kp increased from 80000 to 1000000 Note that the shape of the curve has not changed much this is because the effective derivative gain is increasing with Kp but the rise time has improved slightly to 18 msec We turn now to Kd Modified step response with higher Kp 1x30 Plot untitled plo Step Move 3200 3400 3600 3800 4000 4200 4400 4600 4800 0 00 The figure below shows the step response with a Kd of 2500 This is the critically damped case i e fast response with no overshoot With Kd any smaller we get some overshoot In addition with it any larger we just slow down the response The tendency of the system to settle slightly off from the target position 1s due to a net torque or static friction We will eliminate this with integral gain Modified step response with increased Kd again 77 Accessory 9WN E Plot untitled plo Step Move 3400 3600 3800 4000 4200 4400 4600 4800 II A A j sec The figure below shows what happens with a little bit relatively speaking of integral gain Ki 10000 the steady state error is gone but the nature of the curve has not really changed Modified step response with increased Ki 1x33 Plot untitled plo 3400 3600 0 0 10 0 3 9030 60 0 0 9 01 1 ne sec The figure below shows the response curve for a substantially increased Ki 100000 This cu
109. status of the specified coordinate system in real time GLOBAL STATUS displays the interpretation of the global status bits in real time 12 Menu Overview Accessory 9WN CONNECTOR STATUS allows the user to monitor the status of PMAC s connectors Currently supported connectors are J2 JPAN PMACI amp PMAC2 series J3 JTHW PMACI amp PMAC2 series J5 JOPT PMACI series only J7 J MACH2 PMACI series only J8 JMACH1 PMACI series only Plot Menu Use the PLOT menu to launch the PmacPlot EXE application B PMAC Executive File Configure View Status Plot Options Backup Tools Window Help PmacPlot Options Menu This pull down menu allows you to customize PEWIN32 The menu choices provide the ability to set editor terminal and plot display preferences You can also determine how PEWIN32 acts on startup and shutdown File Configure View Status Plot Options Backup Tools Window Help Preferences v Save Settings on Exit PREFERENCES allows the customizing of PEWIN32 s features SAVE SETTINGS ON EXIT if selected the next time the Executive is started it will be configured as it was upon exit Backup Menu The options in this menu allow you to save or restore various portions of PMAC configuration ES PMAC Executive File Configure View Status Plot Options Backup Tools Window Help Save Configuration gt Restore Configuration gt Verify Configuration SAVE CONFIGU
110. t proportional to the measured velocity of motor x It acts effectively as an electronic damper The higher Ix31 is the heavier the damping effect is Ix32 Velocity FF Gain This is the velocity Feedforward gain This term adds an amount to the control output proportional to the desired velocity of motor x It is intended to reduce tracking error due to Ix31 analog tachometer feedback and or frictional effects Ix33 Integral Gain This I variable adds an amount to the control output proportional to the time integral of the position error for motor x The time integral of the error is limited by Ix63 With Ix63 at its default value of 4194304 integration is disabled regardless of the value of Ix33 Integration is disabled if the output saturates Ix34 Integration Mode If this parameter is 1 position error integration is performed only when PMAC is not commanding a move If this parameter is 0 position error integration is performed all the time Ix35 Acceleration FF Gain This is the acceleration Feedforward gain This term adds an amount to the control output proportional to the desired acceleration for motor x It is intended to reduce tracking error due to inertial lag Ix29 DAC Offset For a motor not commutated by PMAC this is the value that is added onto the output of the servo algorithm or the open loop output value including the zero output when the motor is killed before it is sent to the DAC If the analog output is unidirectiona
111. their respective numbers are displayed a condensed JPAN status window PMAC 0 33 THW la X BEEP ON CHANGE When selected the system will beep each time a parameter changes 36 Basic Concepts Accessory 9WN COLOR SETUP this will bring up the Status Colors dialog box which will allow the user to change the display colors used in the current connector status window Status Colors LIE E E Q s 2 o 2 2 s s s Select the colors you wish to use for True and False state displays This information is saved in your Terminal INI file Basic Concepts 37 Accessory 9WN 38 Basic Concepts Accessory 9WN PMAC CONFIGURATION MODIFICATION UTILITIES I Variables At the heart of the PMAC s configuration are it s I variables These determine what makes a PMAC Because of the enormity of the I variables and their importance we have developed two interfaces for manipulating them Note this manual shows the screens that would come up if you have a PMAC PMAC2 and other PMAC s should be detected and may have different screens Note Changing I variables in these windows or in the terminal does not change the values stored in PMAC s non volitile memory EPROM of flash ram You muse use PMAC s SAVE command to permanently save the changed values File Configure View Status Plot Options Backup Tools I Variables P Variables Q Variables
112. ther factor becomes the dominant cause of following error e g noise or the other feedforward gain Ideally the correlation will be brought near zero as well as the ratio PMAC has two feedforward terms 1 Kvff Velocity Feedforward gain 1x32 2 Kaff Acceleration Feedforward gain 1x35 The strategy in this section is to do a series of parabolic moves cubic in position parabolic in velocity linearly varying in acceleration while adjusting the feedforward terms to reduce the following error and its correlation to velocity and acceleration After each move the program will automatically calculate the correlation s and ratios and the maximum following error These will be displayed on a plot of the position and the following error The feedforward terms are increased from zero working first with velocity feedforward until the ratios and hopefully the correlation s are as close to zero as possible without going strongly negative If either correlation goes very far negative you will be likely to get overshoot at the end of a move To get meaningful correlation information particularly about acceleration you must push the system hard By increasing the length and or decreasing the time of the move you can get higher velocities and accelerations Decreasing time is appropriate if increasing the length would cause problems with maximum travel or top velocity In a system without a tachometer you will probably want to set the veloc
113. time of 500 milliseconds Here position is plotted against time with the statistics of the following error shown The following error gets as large as 112 counts and it is virtually perfectly correlated to velocity Vel corr 0 913 It shows very low correlation to acceleration Acc corr 0 226 The next two figures show the plot of position and velocity and following error versus time for the same move Note that the velocity and following error curves are shaped almost exactly alike This is a ramification of their high correlation Now let s introduce some velocity feed forward As a rule of thumb choose Kvff 1x32 to be equal to Kd 1x31 In this case Kvff 2500 By looking at the following error curve it no longer resembles the velocity curve correlation of 0 211 In addition the maximum following error is reduced from 112 to 9 6 counts Modified parabolic move with increased Kvff 1x32 Plot untitled plo Parabolic Move 20000 15000 10000 5000 81 Accessory 9WN Modified parabolic move with Ix34 1 Parabolic Move 20000 4 15000 fs ri ri ri ri r 2 10000 A iy 5000 0 5000 10000 15000 20000 II IE A Now we instruct the integration in the servo loop to be active only when the motor is not be commanded to move To do this set Ix34 the integration mode equal to 1 The improvement is seen above If we continue to increase Kvff then we have the following behavior where it again r
114. tion it will be 10V You must choose this parameter carefully In general it should be large enough to overcome friction and other bias torque so that actually some motion does occur On the other hand it should not be too large to cause mechanical damage because of excessive torque command The default value is 30 Excitation Time The period of time in milliseconds in which the DAC output is driven by the test signal is entered here This period should be chosen carefully It should be long enough for noticeable motion to take place at least equal to the Minimum Motor Travel On the other hand too long a period of time may mean excessive travel and or excessive motor velocity In most applications excitation times between 50 to 100 milliseconds should be sufficient For motors having very large inertia loads larger excitation times may be appropriate The default value is 50ms Number of Iterations This refers to the number of backward forward motions in the testing phase of an auto tuning session If a number greater than one is chosen then the peak DAC output for the first iteration is determined from dividing the Maximum Excitation Magnitude by Number of Iterations In this way the last iteration always corresponds to the Maximum Excitation Magnitude input The default value is 2 iterations Maximum Motor Travel For safety reasons you may specify independently the maximum travel limit during the tests If this distance is reached th
115. to Tuning Here are some guidelines for doing auto tuning on a motor 1 2 Jog the motor to a safe place where both forward and reverse motions of at least twice the size of the Maximum Travel Limit are acceptable With a low gain PD loop closed adjust Ix29 for steppers first adjust Ix79 so that offsets are substantially reduced You may use the Calibrate Offsets menu option to do this Select the Tuning option from the Configure menu choose the desired motor and enter the auto tune dialog box Select the correct amplifier type current or velocity loop Select the desired bandwidth and natural frequency for the closed loop system You may want to use the Auto select bandwidth option to choose a bandwidth for you Select the type of feed forward and integral action desired Select the Begin Tuning button and wait for the tuner to give you the suggested gains If gains appear to be numerically reasonable you may elect to accept them immediately by selecting Implement Now or you may want to implement them later for comparison to your original gains by selecting the Implement Later button Selecting either Implement Now or Close will return you to the auto tune dialog box Return to the main tuning dialog box by selecting the Close button Using the auto tuner gain recommendations for Ix30 and Ix31 and with 1x32 1x33 and 1x35 equal to zero carry out a step response test If the response is satisfactory in terms of natural frequenc
116. u are also changing the effective integral or differential gain The shape of the response curve will not change much although its timing will You will want to change Ki and or Kd in the opposite direction from Kp if you want to keep their effective gains constant Feedforward will affect step response even though it has no effect on the system stability we are really evaluating Be sure that both acceleration and velocity feedforward are set to zero as you are doing the step responses The default step size of 100 encoder counts may or may be adequate The guidelines are to make the step large enough so that the granularity of the position measurement is not a nuisance but small enough so 74 Motor and System Tuning with PEWIN32 Accessory 9WN that the filter does not saturate on the step the step size times proportional gain should be less than 178 950 000 with some margin for instance a step size of 3000 with a proportional gain of 60000 will saturate giving a misleading response Some systems will have mechanical resonance s in the coupling of the motor to the load The PID filter cannot compensate for these resonances if their presence is not tolerable you must keep the gains low enough not to stimulate them or preferably stiffen the coupling to reduce the resonance s See the examples of a system with resonance below near the end mirlos the Step Response Set a safe starting filter with a little proportional gain wit
117. uch lags are acceptable then there will be no need for the use of this particular control action 1x32 should be set to zero Alternatively in applications where such lags are unacceptable the recommended value of Ix32 may be used Acceleration Feed Forward Gain This box should be checked if acceleration feed forward action 1x35 is required desired The auto tuner will automatically determine the magnitude based upon the test results and your input on bandwidth and damping ratio In general the acceleration feed forward gain is needed to overcome following errors 68 Motor and System Tuning with PEWIN32 Accessory 9WN proportional to motor acceleration resulting from inertial lags If such lags are acceptable then there will be no need for the use of this particular control action 1x35 should be set to zero Alternatively in applications where such lags are unacceptable the recommended value for 1x35 may be used Integral Action The default value for the integral action option is none If a considerable amount of friction and or torque force couplings exist hard integral action should be selected For less severe cases of disturbances the soft Integral action should be sufficient Pause between Iterations This box should be checked if you are interested to see the distance traveled during each iteration step Usually the first time in an auto tuning session this option is activated Once the optimum values for the Excitation T
118. us Plot Options Backup Tools Window Help EEE but the menu will change when for example the Watch Window is highlighted File Watch Window Help If an option you expect to be available isn t make sure you have the proper window highlighted There will always be WINDOW and HELP menu items available you can use the WINDOW menu to select the window you need to work with File Configure View Status Plot Options Backup Tools Window Help Cascade Tile Arrange Icons Close All v LPMAC O V1 16G 08 24 1999 PMAC Ultra light 2 PMAC 0 Watch 3 PMAC 0 Position Also note that there are very user friendly context sensitive menu s which pop up in many of the PEWIN32 Windows Use the right mouse click over a window to see what options are available in the context sensitive menu Menu Overview Accessory 9WN File Menu The File menu handles the transfer of files or programs to and from PMAC as well as printing of these files ES PMAC Executive File Configure View Status Plot Options Backup Tools Window Help Edit a Text file Open Terminal Close Print Preview Printer Print setip Upload Motion Program Upload PLC Program Upload Variables Download File MultiDownload Files Clear Terminal Exit Alt F4 EDIT A TEXT FILE will allow you to create a new PMC or PLC file OPEN TERMINAL will open a Terminal CLOSE will close the highlighted terminal and any windows associated with it PRINT
119. x PMAC Device 0 Configuration x PMAC NC 32 bit for Windows Version 10 35 0 0 Copyright 1994 98 Delta Tau Data Systems Inc r Device Location In PC Bus VME Bus Serial Port Port Address Host eomputer Please use hezadecimal seral ste 0 210 vicio Works C 7 format come Interrupt Adr Mall Boy Base tar Address Modtien IAG Level Beudrate None Fano 33 424 zj 55400 DPRAM Adr DPREM Base adr Dorta Bite Rector Parti None y 700000 a None z Advanced This is where you specify how PMAC is connected to your system and the communications settings The key point here is that the configuration you set up must match the hardware jumper settings on the PMAC itself The Advanced button is used to configure DPR settings used with the Delta Tau NC for Windows software Exiting PEWIN32 and Saving Options To exit PEWIN32 press the lt ALT F4 gt keys or select Exit from the File menu If any open files have not been saved you will be prompted for saving them If the Save Settings on Exit options is selected PEWIN32 will save the current desktop arrangement to a file named PEWIN32 DKT in the working directory 6 Getting Started Accessory 9WN Plot Options Backup Tools Window Preferences v Save Settings on Exit The next time the program is executed it will start with the arrangement it had upon exiting Help Features
120. y details Please refer to the PMAC User s Manual for details concerning how to edit the conversion table manually i e using PMAC memory read and write commands or press F7 for help The table entries which begin at PMAC address memory location 720 hex may be scrolled through using lt PgUp gt or lt PgDn gt Use the mouse or the lt TAB gt and lt SHIFT TAB gt keys to move to an item in the dialog box Altering the conversion method may be done by clicking your mouse or using the spacebar and lt ENTER gt on one of the conversion types To change the encoder source address simply move to the source address field of the desired entry and select the address from the pull down list To leave the conversion table editing without making any changes in PMAC select CLOSE or press lt ESC gt To change the selected entry in PMAC to the specified format select DOWNLOAD TO PMAC 44 PMAC Configuration Modification Utilities Accessory 9WN Encoder Conversion Table Configuration Entry Number This field contains the number of the encoder conversion table entry currently being viewed Use the up and down buttons or lt PgUp gt and lt PgDn gt to step through the encoder conversion tables Entry Address This field contains the address in hex to store converted source data from the Source Address These begin at memory location 720 hex Conversion Type This field contains the conversion type for the current entry
121. y and damping ratio then set 1x32 1x33 and Ix35 to their respective recommended values and carry out a parabolic response test If the response is satisfactory in terms of its adherence to the desired goals then you are finished tuning In the event the response is unsatisfactory you may try auto tuning again using different design parameters If the actual response was too oscillatory reduce the desired bandwidth If the actual response was too sluggish increase the desired bandwidth The damping ratio should be left at or around one 84 Motor and System Tuning with PEWIN32 Accessory 9WN Digital Current Loop Auto Tuning This is for the PMAC II using digital amplifiers This feature exists in our DOS version but has not been implemented yet in the Windows version 85 Accessory 9WN 86 Motor and System Tuning with PEWIN32 Accessory 9WN PMACEDITOR Start PMACEditor PMACEditor is a text editor provided for users convenience It is a separate application and can be launched from the START menu in PEWIN32 programs group Z MotionExe i pEwIN32 E PMACEditor Help Files S Readme32 PMACEditor can however be launched from PMAC Executive as well through the EDIT A TEXT FILE in the FILE menu during an active terminal session File Configure View Status Plot Options Backup Tools Window Help Edit a Text File PMAC Ultra light Open Terminal Close
122. y rare for a motion program to cause a watchdog failure this does happen on occasion It is important to understand how the motion program executes When a Run command is given and every time the actual execution of programmed moves progresses into a new move a flag is set saying it is time to do more calculations in the motion program for that coordinate system At the next RTI if this flag is set PMAC will start working through the motion program Program calculations will continue which means no background tasks will be executed until one of the following conditions occurs 1 The next move or dwell is found and calculated 2 End of or halt to the program e g STOP is encountered 3 Two jumps backward in the program from ENDWHILE or GOTO are done 4 AWAIT statement is encountered usually in a WHILE loop If calculations stop on condition 1 or 2 the calculation flag is cleared and will not be set again until actual motion progresses into the next move 1 or a new Run command is given 2 If calculations stop on conditions 3 or 4 the flag remains set so calculations will resume at the next RTI In these cases where you have an empty no motion loop the motion program acts much like a PLC 0 during this period These empty loops which are usually used to wait for a certain condition provide very fast response to the change in condition but their fast repetition occupies a lot of CPU time and can starve th

ACC-9WN_____________________________PMAC

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