Turbo PMAC(PMAC2)软件参考手册.pdf

【实例截图】

【核心代码】

目录
简介...............................................................................................................................................................................1
什么是 Turbo PMAC................................................................................................................................................1
Turbo PMAC 有什么新的功能？............................................................................................................................1
如何将 PMAC 的应用转换到 Turbo PMAC 上来..................................................................................................2
如何使用此手册.......................................................................................................................................................2
TURBO PMAC 变量和命令汇总 ...............................................................................................................................3
注释...........................................................................................................................................................................3
定义...........................................................................................................................................................................3
在线命令...................................................................................................................................................................4
在线全局命令 ......................................................................................................................................................4
在线坐标系命令 ..................................................................................................................................................7
在线电机命令 ......................................................................................................................................................9
运动程序命令.........................................................................................................................................................10
PLC 程序命令 ........................................................................................................................................................13
TURBO PMAC 全局 I-变量 .....................................................................................................................................15
通用全局设置 I-变量 .............................................................................................................................................15
I0 串行卡号 ...........................................................................................................................................15
I1 串口模式 ...........................................................................................................................................16
I2 控制面板端口激活 ...........................................................................................................................16
I3 I/O 握手控制 .....................................................................................................................................17
I4 完整通讯模式 ...................................................................................................................................18
I5 PLC 程序控制...................................................................................................................................19
I6 报错模式 ...........................................................................................................................................19
I7 相位周期延长 ...................................................................................................................................20
I8 实时中断周期 ...................................................................................................................................21
I9 详细/简略列表控制 ..........................................................................................................................22
I10 伺服中断时间...................................................................................................................................22
I11 编程运动计算时间...........................................................................................................................23
I12 启动时间样条前瞻技术...................................................................................................................24
I13 启动前台到位检查...........................................................................................................................24
I14 临时缓冲区保存使能.......................................................................................................................25
I15 用户三角函数的角度/弧度开关......................................................................................................25
I16 旋转缓冲区置请求设置点...............................................................................................................25
I17 旋转缓冲区关请求设置点...............................................................................................................26
I18 固定缓冲区满警告...........................................................................................................................26
I19 时间源 I-变量数目 (只限 Turbo PMAC2).......................................................................................26
I20 MACRO IC 0 基址 (只限于 Turbo PMAC2)...................................................................................28
I21 MACRO IC 1 基址 (只限于 Turbo PMAC2)...................................................................................28
I22 MACRO IC 2 基址 (只限于 Turbo PMAC2)...................................................................................29
I23 MACRO IC 3 基址（只限于 Turbo PMAC2）...............................................................................30
I24 主双口 RAM 基址............................................................................................................................31
I26 UMAC MACRO 电气使能...............................................................................................................31
I27 替换 TWS 输入格式.........................................................................................................................32
I28 显示端口禁用...................................................................................................................................32
I29 多路复用器端口替代地址.......................................
Turbo PMAC/PMAC2 软件参考手册
ii Table of Contents
I36 启用 /中止分离控制.........................................................................................................................33
I37 附加等待状态...................................................................................................................................34
I38 内联调用使能...................................................................................................................................35
I39 UBUS 辅助 ID 变量显示控制..........................................................................................................35
I40 “看门狗”时钟重启值...................................................................................................................36
I41 I-变量锁定控制 ................................................................................................................................36
I42 样条/PVT 时间控制模式..................................................................................................................37
I43 辅助/主串口解析禁用......................................................................................................................37
I44 PMAC 梯形图使能 {只限于特殊固件} .........................................................................................38
I45 前台二进制旋转缓冲区转换使能 ...................................................................................................38
I46 P 和 Q-变量存储单元.......................................................................................................................39
I47 DPRAM 电机数据前台汇报周期....................................................................................................39
I48 DPRAM 电机数据前台报告使能....................................................................................................40
I49 DPRAM 后台数据汇报使能............................................................................................................40
I50 DPRAM 后台数据汇报周期............................................................................................................40
I51 补偿表使能.......................................................................................................................................41
I52 CPU 频率控制..................................................................................................................................41
I53 辅助串口波特率的控制...................................................................................................................41
I54 串行接口波特率控制.......................................................................................................................42
I55 DPRAM 后台变量缓冲区使能........................................................................................................42
I56 DPRAM ASCII 码通讯中断使能.....................................................................................................43
I57 DPRAM 电机数据后台报告使能....................................................................................................43
I58 启动 DPRAM ASCII 码通讯 ...........................................................................................................43
I59 电机/坐标系组选择..........................................................................................................................44
I60 过滤速度采样时间...........................................................................................................................44
I61 过滤速度移位...................................................................................................................................45
I62 内部消息回车控制...........................................................................................................................45
I63 CONTROL-X 回应使能...................................................................................................................46
I64 内部响应标签使能...........................................................................................................................46
I65 用户配置变量...................................................................................................................................47
I67 Modbus TCP 协议缓冲区起始地址.................................................................................................47
I68 坐标系激活控制...............................................................................................................................48
I69 Modbus TCP 协议软件控制面板起始地址.....................................................................................48
MACRO 环 I-变量配置......................................................................................................................................49
I70 MACRO IC 0 节点辅助寄存器使能................................................................................................49
I71 MACRO IC 0 节点协议类型控制....................................................................................................49
I72 MACRO IC 1 节点辅助寄存器使能................................................................................................50
I73 MACRO IC 1 节点协议型控制........................................................................................................50
I74 MACRO IC 2 节点辅助存储器 .......................................................................................................51
I75 MACRO IC 2 节点协议型控制........................................................................................................51
I76 MACRO IC 3 节点辅助存储器使能................................................................................................52
I77 MACRO IC 3 节点协议型控制 .......................................................................................................52
I78 MACRO 类型 1 主/从通讯间隔.......................................................................................................53
I79 MACRO 类型 1 主/主通讯间隔.......................................................................................................53
I80 MACRO 环检测周期 .......................................................................................................................53
I81 MACRO 最大环错误计数 ...............................................................................................................54
I82 MACRO 最小同步数据包计数 .......................................................................................................54
I83 MACRO 并行环使能屏蔽字 ...........................................................................................................55
I84 用于主控通讯的 MACRO 芯片号 .................................................................................................56
Turbo PMAC/PMAC2 软件参考手册
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I85 MACRO 环编号 ...............................................................................................................................56
VME/DPRAM 设置 I-变量 .................................................................................................................................56
I90 VME 地址调节器.............................................................................................................................56
I91 VME 地址调节器的无关位 .............................................................................................................57
I92 VME 基地址位 A31-A24 .................................................................................................................57
I93 VME 邮箱基地址字位 A23-A16 ISA DPRAM 基地址字位 A23-A16.........................................57
I94 VME 邮箱基地址字位 A15-A08 ISA DPRAM 基地址字位 A15-A14 和控制...........................58
I95 VME 中断级别.................................................................................................................................59
I96 VME 中断向量.................................................................................................................................59
I97 VME DPRAM 基址位 A23-A20......................................................................................................59
I98 VME DPRAM 使能..........................................................................................................................60
I99 VME 地址宽度控制.........................................................................................................................60
电机设置 I-变量.....................................................................................................................................................60
电机定义的 I-变量.............................................................................................................................................60
Ixx00 电机 xx 激活控制.........................................................................................................................60
Ixx01 电机 xx 换相使能.........................................................................................................................61
Ixx02 电机 xx 指令输出地址.................................................................................................................61
Ixx03 电机 xx 位置环反馈地址.............................................................................................................65
Ixx04 电机 xx 速度环反馈地址.............................................................................................................66
Ixx05 电机 xx 主控位置地址.................................................................................................................67
Ixx06 电机 xx 位置跟随使能和模式.....................................................................................................68
Ixx07 电机 xx 主控（手轮）的比例因子.............................................................................................68
Ixx08 电机 xx 位置比例因子.................................................................................................................68
Ixx09 电机 xx 的速度环比例因子.........................................................................................................69
Ixx10 电机上电时伺服位置的地址.......................................................................................................69
电机安全 I-变量.................................................................................................................................................74
Ixx11 电机 xx 致命跟随误差极限.........................................................................................................74
Ixx12 电机 xx 警告跟随误差极限.........................................................................................................75
Ixx13 电机 xx 正软件位置限位.............................................................................................................75
Ixx14 电机 xx 负软件位置限位.............................................................................................................76
Ixx15 电机 xx 的退出/限位减速率........................................................................................................77
Ixx16 电机 xx 最大程序速率.................................................................................................................77
Ixx17 电机 xx 最大程序加速度.............................................................................................................78
Ixx19 电机 xx 最大的手动/回零加速度................................................................................................79
电机运动 I—变量..............................................................................................................................................80
Ixx20 电机 xx 手动/回零加速时间........................................................................................................80
Ixx21 电机 xx 手动/回零 S 曲线时间....................................................................................................80
Ixx22 电机 xx 手动速度.........................................................................................................................80
Ixx23 电机 xx 回零速度和方向.............................................................................................................81
Ixx24 电机 xx 标志模式控制.................................................................................................................81
Ixx26 电机 xx 回零偏移.........................................................................................................................86
Ixx27 电机 xx 位置翻转范围.................................................................................................................87
Ixx28 电机 xx 在位区域.........................................................................................................................88
Ixx29 电机 xx 的输出或第一相数模转换偏差.....................................................................................89
电机 XX PID 伺服控制 I 变量...........................................................................................................................89
Ixx30 电机 xx PID 比例增益 .................................................................................................................89
Ixx31 电机 xx PID 微分增益 ................................................................................................................90
Ixx32 电机 xx PID 速度前馈增益.........................................................................................................91
Ixx33 电机 xx PID 积分增益 ................................................................................................................91
Turbo PMAC/PMAC2 软件参考手册
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Ixx34 电机 xx PID 积分模式 .................................................................................................................91
Ixx35 电机 xx PID 加速度前馈增益 .....................................................................................................92
Ixx36 电机 xx PID 陷波器系数 N1........................................................................................................92
Ixx37 电机 xx PID 陷波器系数 N2........................................................................................................92
Ixx38 电机 xx PID 陷波器系数 D1........................................................................................................92
Ixx39 电机 xx PID 陷波器系数 D2........................................................................................................93
Ixx40 电机 xx 期望位置滤波器净增益.................................................................................................93
Ixx41 电机 xx 期望位置限制域.............................................................................................................93
Ixx42 电机 xx 驱动器（放大器）标志地址.........................................................................................94
Ixx43 电机 xx 超限保护标志地址.........................................................................................................95
Ixx44 电机 xx MACRO 从机命令地址 ................................................................................................96
电机伺服和换相调节参数.................................................................................................................................97
Ixx55 电机 xx 换相表地址偏移.............................................................................................................97
Ixx56 电机 xx 换相延迟补偿.................................................................................................................98
Ixx57 电机 xx 连续电流极限.................................................................................................................99
Ixx58 电机 xx 积分电流限值...............................................................................................................100
Ixx59 用户编写的电机 xx 伺服/相位使能..........................................................................................101
Ixx60 电机 xx 伺服环周期扩展...........................................................................................................101
Ixx61 电机 xx 电流环积分增益...........................................................................................................102
Ixx62 电机 xx 前向通道比例增益.......................................................................................................102
Ixx63 电机 xx 积分限制.......................................................................................................................102
Ixx64 电机 xx 死区增益因子...............................................................................................................103
Ixx65 电机 xx 死区大小.......................................................................................................................103
Ixx66 电机 xx PWM 比例因子............................................................................................................104
Ixx67 电机 xx 位置误差限制...............................................................................................................104
Ixx68 电机 xx 摩擦前馈.......................................................................................................................104
Ixx69 电机 xx 输出命令限制...............................................................................................................105
电机换相 I-变量...............................................................................................................................................107
Ixx70 电机 xx 的换相周期数目...........................................................................................................107
Ixx71 电机 xx 每 N 个换相周期的编码器计数 ..................................................................................107
Ixx72 电机 xx 换相相位角...................................................................................................................108
Ixx73 电机 xx 相位搜索输出值...........................................................................................................109
Ixx74 电机 xx 相位搜索时间...............................................................................................................110
Ixx75 电机 xx 相位位置偏移...............................................................................................................110
Ixx76 电机 xx 电流环后向通道比例增益...........................................................................................111
Ixx77 电机 xx 磁化电流.......................................................................................................................112
Ixx78 电机 xx 转差增益.......................................................................................................................112
Ixx79 电机 xx 第二相的偏移...............................................................................................................113
Ixx80 电机 xx 上电模式.......................................................................................................................113
Ixx81 电机 xx 上电相位位置地址.......................................................................................................115
Ixx82 电机 xx 电流环反馈地址...........................................................................................................120
Ixx83 电机 xx 换相位置地址...............................................................................................................122
Ixx84 电机 xx 电流环反馈屏蔽字.......................................................................................................124
更多的电机 I-变量...........................................................................................................................................124
Ixx85 电机 xx 齿隙获取速率...............................................................................................................124
Ixx86 电机 xx 的齿隙大小...................................................................................................................124
Ixx87 电机 xx 齿隙滞环.......................................................................................................................125
Ixx88 电机 xx 在位扫描次数...............................................................................................................125
Ixx90 电机 xx 快速模式速度选择.......................................................................................................125
Turbo PMAC/PMAC2 软件参考手册
Table of Contents v
Ixx91 电机 xx 上电相位位置格式.......................................................................................................125
Ixx92 电机 xx 手动运动计算时间.......................................................................................................128
Ixx95 电机 xx 上电伺服位置格式.......................................................................................................128
Ixx96 电机 xx 指令输出模式控制.......................................................................................................132
Ixx97 电机 xx 位置捕捉和触发模式...................................................................................................132
Ixx98 电机 xx 第三旋转变压器齿轮齿数比.......................................................................................133
Ixx99 电机 xx 第二旋转变压器齿轮齿数比.......................................................................................134
电机设置的辅助 I 变量 ...................................................................................................................................135
Iyy00/50 电机 xx 扩展伺服算法使能...................................................................................................135
Iyy10 – Iyy39/Iyy60 – Iyy89 电机 xx 扩展伺服算法增益.....................................................................136
系统配置报告.......................................................................................................................................................136
I4900 伺服芯片存在.............................................................................................................................136
I4901 伺服芯片类型.............................................................................................................................137
I4902 MACRO 芯片存在 .....................................................................................................................137
I4903 MACRO 芯片类型 .....................................................................................................................138
I4904 DPRAM 存在..............................................................................................................................138
I4908 开放内存的终止地址.................................................................................................................140
I4909 Turbo PMAC CPU 辨识符配置 .................................................................................................140
I4910—I4925 伺服芯片卡标识............................................................................................................141
I4926—I4941 MARCO 芯片卡标识 ....................................................................................................142
I4942—I4949 DPRAM 芯片卡标识.....................................................................................................143
I4950—I4965 I/O 芯片卡标识 .............................................................................................................144
数据采集 I 变量....................................................................................................................................................145
I5000 数据采集缓冲区位置和模式.....................................................................................................145
I5001—I5048 数据采集源 1-48 的地址...............................................................................................146
I5049 数据采集周期.............................................................................................................................146
I5050 数据采集选择屏蔽 1..................................................................................................................147
I5051 数据采集选择屏蔽 2..................................................................................................................147
A/D 处理表 I 变量................................................................................................................................................148
I5060 A/D 处理环大小..........................................................................................................................148
I5061—I5067 A/D 环槽指针.................................................................................................................148
I5080 A/D 环转换使能..........................................................................................................................150
I5081—I5096 A/D 环转换代码.............................................................................................................150
坐标系 I 变量........................................................................................................................................................151
Isx11 坐标系 x 用户倒数计时器 1........................................................................................................151
Isx12 坐标系 x 用户倒数定时器 2........................................................................................................152
Isx13 坐标系 x 分段时间 ......................................................................................................................152
Isx14 坐标系 x 运行终止预期时间.......................................................................................................153
Isx15 坐标系 x 分段重载 ......................................................................................................................154
Isx16 坐标系 x 分段重载摆率...............................................................................................................155
Isx20 坐标系 x 前瞻缓冲区长度...........................................................................................................155
Isx21 坐标系 x 前瞻状态控制...............................................................................................................156
Isx50 坐标系 x 运动学计算使能...........................................................................................................157
Isx53 坐标系 x 单步模式控制...............................................................................................................157
Isx78 坐标系 x 最大圆加速度...............................................................................................................157
Isx79 坐标系 x 快速运动模式控制.......................................................................................................158
Isx81 坐标系 x 混合在位超时...............................................................................................................159
Isx82 坐标系 x 混合无效停留时间.......................................................................................................159
Isx83 坐标系 x 角度混合断点...............................................................................................................160
Turbo PMAC/PMAC2 软件参考手册
vi Table of Contents
Isx84 坐标系 x 外角停止点控制...........................................................................................................161
Isx85 坐标系 x 尖角停顿断点...............................................................................................................161
Isx86 坐标系 x 替换进给率...................................................................................................................162
Isx87 坐标系 x 默认程序加速时间.......................................................................................................162
Isx88 坐标系 x 默认编程 S 曲线加速时间...........................................................................................163
Isx89 坐标系 x 默认程序进给率/运动时间..........................................................................................164
Isx90 坐标系 x 进给率时间单位...........................................................................................................164
Isx91 坐标系 x 默认工作程序号...........................................................................................................164
Isx92 坐标系 x 运动混合无效...............................................................................................................165
Isx93 坐标系 x 时基控制寄存器地址...................................................................................................165
Isx94 坐标系 x 时基摆率 ......................................................................................................................166
Isx95 坐标系 x 进给保持摆率...............................................................................................................166
Isx96 坐标系 x 圆弧误差限制...............................................................................................................166
Isx97 坐标系 x 最小圆弧长度...............................................................................................................167
Isx98 坐标系 x 最大进给率...................................................................................................................167
Isx99 坐标系 x 刀具补偿外角断点.......................................................................................................168
Turbo PMAC2 MARCO 芯片 I 变量 ...................................................................................................................168
I6800/I6850/I6900/I6950 MARCO 芯片最大相位/PWM 频率控制...................................................169
I6801/I6851/I6901/I6951 MARCO 芯片相位时钟频率控制...............................................................170
I6802/I6852/I6902/I6952 MARCO 芯片伺服时钟频率控制...............................................................171
I6803/I6853/I6903/I6953 MACRO 芯片硬件时钟控制 ......................................................................172
I6804/I6854/I6904/I6954 MACRO 芯片 PWM 死区时间/PFM 脉宽控制 .........................................174
I6805/I6855/I6905/I6955 MARCO 芯片 DAC 选通字........................................................................175
I6806/I6856/I6906/I6956 MACRO 芯片 ADC 选通字........................................................................176
I6807/I6857/I6907/I6957 MACRO 芯片时钟方向控制 ......................................................................176
通道特定 MARCO 芯片 I 变量 ...........................................................................................................................177
I68n0/I69n0 MACRO 芯片 n*
编码器/计时器译码控制......................................................................177
I68n1/I69n1 MACRO 芯片通道 n*位置比较通道选择 ......................................................................179
I68n2/I69n2 MACRO 芯片编码器 n*捕捉控制 ..................................................................................179
I68n3/I69n3 MACRO 芯片通道 n*捕捉标志位选择控制 ..................................................................180
I68n4/I69n4 MACRO 芯片通道 n*编码器门索引选择......................................................................181
I68n5/I69n5 MACRO 芯片通道 n*编码器索引门状态/多路分配控制 .............................................182
I68n6/I69n6 MARCO 芯片通道 n*输出模式选择..............................................................................183
I68n7/I69n7 MACRO 芯片通道 n*输出反相控制 ..............................................................................183
I68n8/I69n8 MACRO 芯片通道 n*PFM 方向信号反相控制..............................................................184
I68n9/I69n9 保留待用 ..........................................................................................................................185
MACRO 芯片环设置 I 变量 ................................................................................................................................185
I6840/I6890/I6940/I6990 MACRO 芯片环配置/状态 ..........................................................................185
I6841/I6891/I6941/I6991 MACRO 芯片节点激活控制 .......................................................................186
伺服 IC I-变量......................................................................................................................................................188
PMAC2 类型 多通道伺服芯片 I 变量.............................................................................................................189
I7m00 第 m 个伺服芯片的最大相位/PWM 频率控制........................................................................189
I7m01 第 m 个伺服芯片的相位时钟频率控制...................................................................................191
I7m02 第 m 个伺服 芯片的伺服时钟频率控制..................................................................................191
I7m03 第 m 个伺服 芯片的硬件时钟控制..........................................................................................193
I7m04 第 m 个伺服 芯片的 PWM 死区/ PFM 脉冲宽度控制............................................................194
I7m05 第 m 个伺服芯片数模(DAC)选通字.........................................................................................195
I7m06 第 m 个伺服芯片的模数(ADC) 选通字...................................................................................196
I7m07 第 m 个伺服芯片的相位/伺服时钟方向..................................................................................196
Turbo PMAC/PMAC2 软件参考手册
Table of Contents vii
PMAC2 类型特殊通道伺服芯片 的 I 变量.....................................................................................................197
I7mn0 第 m 个伺服芯片的第 n 个通道编码器/计时器 译码控制 .....................................................197
I7mn1 第 m 个伺服芯片中第 n 通道位置比较及通道选择 ...............................................................198
I7mn2 第 m 个伺服芯片第 n 通道捕捉控制.......................................................................................199
I7mn3 第 m 个伺服芯片第 n 通道捕捉标志选择控制 .......................................................................199
I7mn4 第 m 个伺服芯片第 n 通道编码器栅门索引选择 ...................................................................200
I7mn5 第 m 个 伺服芯片第 n 通道编码器索引状态/多路分配器控制 .............................................200
I7mn6 第 m 个伺服芯片第 n 通道输出模式选择 ...............................................................................201
I7mn7 第 m 个 伺服芯片第 n 通道输出反相控制 ..............................................................................202
I7mn8 第 m 个伺服芯片第 n 通道 PFM 方向信号反相控制 .............................................................202
I7mn9 第 m 个伺服芯片第 n 通道硬件-1/T 控制 ...............................................................................203
PMAC-类型 伺服 芯片 设置 I-变量................................................................................................................203
I7mn0 第 m 个伺服 芯片第 n 通道编码器/定时器译码控制 .............................................................203
I7mn1 第 m 个伺服芯片第 n 通道编码器过滤禁用 ...........................................................................204
I7mn2 第 m 个伺服芯片第 n 通道捕捉控制.......................................................................................205
I7mn3 第 m 个伺服芯片第 n 通道捕捉标志选择控制 .......................................................................205
I8000 - I8191 转换表设置线...................................................................................................................206
TURBO PMAC 在线命令格式...............................................................................................................................233
<CONTROL-A> ..........................................................................................................................................233
<CONTROL-B>...........................................................................................................................................233
<CONTROL-C>...........................................................................................................................................234
<CONTROL-D> ..........................................................................................................................................235
<CONTROL-E>...........................................................................................................................................235
<CONTROL-F>...........................................................................................................................................236
<CONTROL-G> ..........................................................................................................................................236
<CONTROL-H> ..........................................................................................................................................237
<CONTROL-I>............................................................................................................................................237
<CONTROL-K> ..........................................................................................................................................238
<CONTROL-M>..........................................................................................................................................238
<CONTROL-N> ..........................................................................................................................................239
<CONTROL-O> ..........................................................................................................................................239
<CONTROL-P>...........................................................................................................................................240
<CONTROL-Q> ..........................................................................................................................................241
<CONTROL-R>...........................................................................................................................................241
<CONTROL-S>...........................................................................................................................................241
<CONTROL-T>...........................................................................................................................................242
<CONTROL-V> ..........................................................................................................................................243
<CONTROL-X> ..........................................................................................................................................243
!{axis}{constant}[{axis}{constant}…] .......................................................................................................244
@ ..................................................................................................................................................................245
@{card}........................................................................................................................................................245
#....................................................................................................................................................................246
#{constant}...................................................................................................................................................247
#{constant} - > .............................................................................................................................................248
#{constant}->0 .............................................................................................................................................248
#{constant}->{axis definition}.....................................................................................................................249
#{constant}->I..............................................................................................................................................251
##..................................................................................................................................................................251
##{constant}.................................................................................................................................................252
$....................................................................................................................................................................252
$$..................................................................................................................................................................254
$$$................................................................................................................................................................254
$$$***..........................................................................................................................................................255
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$$*................................................................................................................................................................256
$*..................................................................................................................................................................256
% ..................................................................................................................................................................257
％{constant}.................................................................................................................................................258
&...................................................................................................................................................................259
&{constant}..................................................................................................................................................259
\.....................................................................................................................................................................260
<....................................................................................................................................................................260
>....................................................................................................................................................................261
? ....................................................................................................................................................................262
?? ..................................................................................................................................................................266
???.................................................................................................................................................................271
A...................................................................................................................................................................274
ABR [{常数}] ..............................................................................................................................................275
ABS..............................................................................................................................................................275
{axis}={constant} ........................................................................................................................................276
B{constant} ..................................................................................................................................................276
CHECKSUM................................................................................................................................................277
CID...............................................................................................................................................................277
CLEAR.........................................................................................................................................................278
CLEAR ALL................................................................................................................................................279
CLEAR ALL PLCS......................................................................................................................................279
CLOSE .........................................................................................................................................................279
CLOSE ALL.................................................................................................................................................280
{常量} ..........................................................................................................................................................281
CPU..............................................................................................................................................................281
DATE ...........................................................................................................................................................282
DEFINE BLCOMP ......................................................................................................................................282
DEFINE CCBUF..........................................................................................................................................283
DEFINE COMP (一维)...............................................................................................................................284
DEFINE COMP (二维)...............................................................................................................................285
DEFINE GATHER.......................................................................................................................................288
DEFINE LOOKAHEAD..............................................................................................................................289
DEFINE ROTARY ......................................................................................................................................291
DEFINE TBUF.............................................................................................................................................291
DEFINE TCOMP.........................................................................................................................................292
DEFINE UBUFFER [修改说明] .................................................................................................................293
DELETE ALL..............................................................................................................................................294
DELETE ALL TEMPS ................................................................................................................................294
DELETE BLCOMP......................................................................................................................................295
DELETE CCBUF.........................................................................................................................................295
DELETE COMP...........................................................................................................................................296
DELETE LOOKAHEAD.............................................................................................................................296
DELETE GATHER......................................................................................................................................297
DELETE PLCC............................................................................................................................................298
DELETE ROTARY......................................................................................................................................298
DELETE TBUF............................................................................................................................................299
DELETE TCOMP ........................................................................................................................................299
DISABLE PLC.............................................................................................................................................300
DISABLE PLCC..........................................................................................................................................300
E ...................................................................................................................................................................301
EAVERSION ...............................................................................................................................................301
ENABLE PLC..............................................................................................................................................302
ENABLE PLCC ...........................................................................................................................................302
ENDGATHER..............................................................................................................................................303
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F....................................................................................................................................................................303
FRAX ...........................................................................................................................................................304
FREAD.........................................................................................................................................................305
FSAVE .........................................................................................................................................................305
FSAVECLEAR ............................................................................................................................................306
GATHER......................................................................................................................................................306
H...................................................................................................................................................................307
HOME..........................................................................................................................................................307
HOMEZ........................................................................................................................................................308
I{常量}.........................................................................................................................................................309
I{数据}={表达式}.......................................................................................................................................310
I{常量}=*.....................................................................................................................................................311
I {常量} = @ I {常量}.................................................................................................................................311
IDC...............................................................................................................................................................312
IDNUMBER.................................................................................................................................................312
INC...............................................................................................................................................................313
J!...................................................................................................................................................................313
J ..................................................................................................................................................................314
J-...................................................................................................................................................................314
J/ ...................................................................................................................................................................315
J:{常量} .......................................................................................................................................................315
J:* .................................................................................................................................................................316
J=..................................................................................................................................................................316
J={常量} ......................................................................................................................................................317
J =* ...............................................................................................................................................................317
J=={常量} ....................................................................................................................................................318
J^{常量}.......................................................................................................................................................318
J^* ................................................................................................................................................................319
{手动进给命令}^{常量}.............................................................................................................................320
K...................................................................................................................................................................321
LEARN.........................................................................................................................................................321
LIST .............................................................................................................................................................322
LIST BLCOMP ............................................................................................................................................323
LIST BLCOMP DEF....................................................................................................................................323
LIST COMP .................................................................................................................................................323
LIST COMP DEF.........................................................................................................................................324
LIST FORWARD.........................................................................................................................................325
LIST GATHER ............................................................................................................................................325
LIST INVERSE............................................................................................................................................326
LIST LDS.....................................................................................................................................................326
LIST LINK...................................................................................................................................................326
LIST PC........................................................................................................................................................327
LIST PE........................................................................................................................................................327
LIST PLC.....................................................................................................................................................328
LIST PROGRAM.........................................................................................................................................329
LIST ROTARY ............................................................................................................................................330
LIST TCOMP...............................................................................................................................................331
LIST TCOMP DEF ......................................................................................................................................331
LOCK {常量}，P {常量} ...........................................................................................................................331
M{常量}.......................................................................................................................................................332
M{数据}={表达式}.....................................................................................................................................333
M{常量}->...................................................................................................................................................334
M{常量}->*.................................................................................................................................................334
M {常量} - > D：{地址} ............................................................................................................................335
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M {常量} - > DP：{地址} ..........................................................................................................................335
M {常量} - > F：{地址} .............................................................................................................................336
M {常量} - >L：{地址}..............................................................................................................................337
M {常量} - > TWB：{地址} ......................................................................................................................337
M {常量} - > TWD：{地址} ......................................................................................................................338
M {常量} - > TWR：{地址} ......................................................................................................................338
M {常量} - >TWS：{地址}........................................................................................................................339
M {常量} - > X/Y：{地址} ........................................................................................................................340
MACROASCII {master＃} [取代]...........................................................................................................342
MACROAUX{node #},M{slave var} ={constant} .....................................................................................342
MACROAUX{node #},{param #}={constant} ...........................................................................................342
MACROAUXREAD....................................................................................................................................343
MACROAUXWRITE..................................................................................................................................344
MACROMST{master#},{master variable}..................................................................................................345
MACROMST {master#},{master variable}={constant} .............................................................................346
MACROMSTASCII{master #} ...................................................................................................................347
MACROMSTREAD ....................................................................................................................................348
MACROMSTWRITE...................................................................................................................................349
MACROSLV{command} {node#}..............................................................................................................350
MACROSLV{node#},{slave variable}........................................................................................................351
MACROSLV{node#},{slave variable}........................................................................................................352
MACROSLVREAD.....................................................................................................................................353
MACROSLVWRITE ...................................................................................................................................353
MACROSTASCII {station #}......................................................................................................................354
MACROSTASCIIFREQ ..............................................................................................................................355
MACROSTASCIIFREQ = {常量} ..............................................................................................................356
MACROSTASCIIFREQ =*.........................................................................................................................356
MFLUSH......................................................................................................................................................356
MOVETIME ................................................................................................................................................356
NOFRAX .....................................................................................................................................................357
NORMAL.....................................................................................................................................................357
O {常量} ......................................................................................................................................................357
OPEN BINARY ROTARY..........................................................................................................................358
OPEN FORWARD.......................................................................................................................................359
OPEN INVERSE..........................................................................................................................................359
OPEN PLC...................................................................................................................................................360
OPEN PROGRAM.......................................................................................................................................361
OPEN ROTARY ..........................................................................................................................................362
P....................................................................................................................................................................362
P {常量}.......................................................................................................................................................363
P {数据} = {表达式}...................................................................................................................................363
PASSWORD= {字符串} .............................................................................................................................364
PAUSE PLC.................................................................................................................................................366
PC.................................................................................................................................................................366
PE .................................................................................................................................................................367
PMATCH .....................................................................................................................................................368
PR.................................................................................................................................................................368
Q...................................................................................................................................................................369
Q {常量} ......................................................................................................................................................369
Q {数据} = {表达式} ..................................................................................................................................370
R...................................................................................................................................................................371
R [H] {地址}................................................................................................................................................372
RESUME PLC .............................................................................................................................................373
S....................................................................................................................................................................374
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SAVE ...........................................................................................................................................................374
SETPHASE ..................................................................................................................................................375
SID ...............................................................................................................................................................376
SIZE .............................................................................................................................................................376
STN ..............................................................................................................................................................376
STN={常量} ................................................................................................................................................377
TIME............................................................................................................................................................377
TIME={time} ...............................................................................................................................................378
TODAY........................................................................................................................................................378
TODAY={date} ...........................................................................................................................................379
TYPE............................................................................................................................................................379
UNDEFINE..................................................................................................................................................380
UNDEFINE ALL .........................................................................................................................................381
UNLOCK{constant} ....................................................................................................................................381
UPDATE ......................................................................................................................................................381
V...................................................................................................................................................................382
VERSION.....................................................................................................................................................382
VID...............................................................................................................................................................383
W {地址} .....................................................................................................................................................383
Z ...................................................................................................................................................................383
TURBO PMAC 编程命令说明 ...............................................................................................................................385
{坐标}{数值}[{坐标}{数值}…] ................................................................................................................385
{坐标}{数值}:{数值}[{坐标}{数值}:{数值}...]........................................................................................385
{坐标}{数值}^{数值}[{坐标}{数值}^{数值}…].....................................................................................386
{坐标}{数值} [{坐标}{数值}...]{矢量}{数值}[{矢量}{数值}...]............................................................387
A{数值} .......................................................................................................................................................388
ABS..............................................................................................................................................................389
ADDRESS....................................................................................................................................................390
ADDRESS#P{常量}....................................................................................................................................390
ADDRESS&P{常数}...................................................................................................................................391
ADIS{常量}.................................................................................................................................................392
AND ({条件})..............................................................................................................................................393
AROT{常数} ...............................................................................................................................................393
B{数值} .......................................................................................................................................................394
BLOCKSTART............................................................................................................................................395
BLOCKSTOP...............................................................................................................................................396
C{数值} .......................................................................................................................................................396
CALL ...........................................................................................................................................................396
CC0...............................................................................................................................................................398
CC1...............................................................................................................................................................398
CC2...............................................................................................................................................................399
CC3...............................................................................................................................................................400
CC4...............................................................................................................................................................400
CCR{数值} ..................................................................................................................................................400
CIRCLE1......................................................................................................................................................401
CIRCLE2......................................................................................................................................................402
COMMAND x"{指令}"...............................................................................................................................403
COMMANDx^{字母} .................................................................................................................................404
CREAD ........................................................................................................................................................406
D{数值} .......................................................................................................................................................407
DELAY{数值}.............................................................................................................................................407
DISABLE PLC {常量}[，{常量}...]...........................................................................................................408
DISABLE PLCC {常量 }[,{常量}...].........................................................................................................409
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DISPLAY [{常量}] "{信息}"......................................................................................................................409
DISPLAY …{变量} ....................................................................................................................................410
DWELL........................................................................................................................................................411
ELSE ............................................................................................................................................................411
ENABLE PLC.............................................................................................................................................413
ENABLE PLCC ..........................................................................................................................................413
ENDIF ..........................................................................................................................................................414
ENDWHILE.................................................................................................................................................415
F{数值}........................................................................................................................................................415
FRAX ...........................................................................................................................................................417
G{数值} .......................................................................................................................................................418
GOSUB ........................................................................................................................................................418
GOTO...........................................................................................................................................................419
HOME..........................................................................................................................................................420
HOMEZ........................................................................................................................................................421
I{数值}.........................................................................................................................................................422
I{常数}={表达式}.......................................................................................................................................422
IDIS{常量} ..................................................................................................................................................423
IF{条件}.......................................................................................................................................................423
INC...............................................................................................................................................................425
IROT{常量}.................................................................................................................................................425
J{数值}.........................................................................................................................................................426
K{数值} .......................................................................................................................................................427
LlNEAR .......................................................................................................................................................427
LOCK{常量}，P{常量} .............................................................................................................................428
M{数值}.......................................................................................................................................................429
M{数值}={表达式}.....................................................................................................................................429
M{常量}= ={表达式} .................................................................................................................................430
M{常量}&={表达式} .................................................................................................................................431
M{数值}|={表达式}....................................................................................................................................431
M{数值}^={表达式}...................................................................................................................................432
MACROAUXREAD....................................................................................................................................433
MACROAUXWRITE..................................................................................................................................433
MACROMSTREAD ....................................................................................................................................434
MACROMSTWRITE...................................................................................................................................435
MACROSLVREAD.....................................................................................................................................436
MACROSLVWRITE ...................................................................................................................................437
N{常量} .......................................................................................................................................................438
NOFRAX .....................................................................................................................................................439
NX{数值} ....................................................................................................................................................440
NY{数值} ....................................................................................................................................................440
NZ{数值}.....................................................................................................................................................441
O{常量} .......................................................................................................................................................441
OR{条件}.....................................................................................................................................................442
P{数值}={表达式}......................................................................................................................................443
PAUSE PLC.................................................................................................................................................443
PRELUDE....................................................................................................................................................444
PSET.............................................................................................................................................................446
PVT{数值}...................................................................................................................................................447
Q{数值}={表达式} .....................................................................................................................................448
R{数值} .......................................................................................................................................................448
RAPID..........................................................................................................................................................449
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READ...........................................................................................................................................................450
RESUME PLC .............................................................................................................................................452
RETURN......................................................................................................................................................453
S{数值}........................................................................................................................................................453
SENDx .........................................................................................................................................................454
SENDx^{字母}............................................................................................................................................455
SETPHASE ..................................................................................................................................................457
SPLINE1 ......................................................................................................................................................458
SPLINE2 ......................................................................................................................................................458
STOP............................................................................................................................................................459
T{数值}........................................................................................................................................................459
TA{数值}.....................................................................................................................................................460
TINIT ...........................................................................................................................................................461
TM{数值} ....................................................................................................................................................461
TR{数值}.....................................................................................................................................................462
TS{数值} .....................................................................................................................................................463
TSELECT{常量} .........................................................................................................................................464
TX{数值}.....................................................................................................................................................465
TY{数值}.....................................................................................................................................................465
TZ{数值} .....................................................................................................................................................466
U{数值} .......................................................................................................................................................466
UNLOCK{常量}..........................................................................................................................................467
V{数值} .......................................................................................................................................................467
W{数值} ......................................................................................................................................................468
WAIT ...........................................................................................................................................................468
WHILE({条件})...........................................................................................................................................469
X{数值} .......................................................................................................................................................471
Y{数值} .......................................................................................................................................................471
Z{数值}........................................................................................................................................................472
TURBO PMAC 数学特性.......................................................................................................................................473
数学运算符...........................................................................................................................................................473
 ....................................................................................................................................................................473
－..................................................................................................................................................................473
*....................................................................................................................................................................473
% ..................................................................................................................................................................474
&...................................................................................................................................................................475
|.....................................................................................................................................................................475
^....................................................................................................................................................................476
数学函数...............................................................................................................................................................476
ABS..............................................................................................................................................................476
ACOS ...........................................................................................................................................................477
ASIN.............................................................................................................................................................477
ATAN...........................................................................................................................................................478
ATAN2.........................................................................................................................................................478
COS ..............................................................................................................................................................479
EXP ..............................................................................................................................................................479
INT ...............................................................................................................................................................480
LN.................................................................................................................................................................480
SIN ...............................................................................................................................................................481
SQRT............................................................................................................................................................481
TAN..............................................................................................................................................................482
TURBO PMAC 存储器和 I/O 接口图....................................................................................................................483
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程序(机器码)存储器 ............................................................................................................................................483
全局伺服寄存器...................................................................................................................................................483
临时堆栈寄存器...................................................................................................................................................486
电机寄存器...........................................................................................................................................................486
全局寄存器...........................................................................................................................................................496
通讯缓冲区...........................................................................................................................................................497
坐标系寄存器.......................................................................................................................................................497
程序和缓冲区指针...............................................................................................................................................503
A/D 处理寄存器...................................................................................................................................................504
MARCO 标志寄存器 ...........................................................................................................................................505
编码器转换表寄存器...........................................................................................................................................506
缓冲区指针...........................................................................................................................................................506
换相正弦表...........................................................................................................................................................506
用户变量寄存器...................................................................................................................................................506
用户程序和缓冲区存储.......................................................................................................................................507
电池备份 RAM 寄存器（需要 Option 16x）.....................................................................................................507
双口 RAM 寄存器（需要 Option 2x）...............................................................................................................507
DPRAM 控制板................................................................................................................................................507
DPRAM 控制板寄存器....................................................................................................................................509
电机数据报告缓冲区控制（I48=1 或 I57=1 时用） ....................................................................................511
电机数据报告缓冲区（I48=1 或 I57=1 时用）............................................................................................511
后台数据报告缓冲区控制（I49=1 或 I57=1 时用） ....................................................................................515
全局后台数据报告缓冲区（I49=1 时用）....................................................................................................515
坐标系后台数据报告缓冲区（I49=1 时用）................................................................................................516
DPRAM ASCII 码缓冲区（I58=1 时用）.......................................................................................................520
后台变量读和写缓冲区控制（I55=1 时用）................................................................................................521
二进制旋转程序缓冲区控制（开二进制旋转后用）...................................................................................521
数据采集控制（I5000=2 或 3 时用）............................................................................................................522
大小可变的缓冲区/开放使用的空间..............................................................................................................522
VME 总线/DPRAM 接口寄存器 .........................................................................................................................523
Turbo PMAC2 I/O 控制寄存器............................................................................................................................524
PMAC 形式伺服 ASIC 寄存器............................................................................................................................526
PMAC2 形式伺服 ASIC 寄存器..........................................................................................................................529
Turbo PMAC2 MARCO 和 I/O ASIC 寄存器 .....................................................................................................539
I/O 控制及数据寄存器（仅 MARCO 芯片 0）..............................................................................................539
MARCO 环控制寄存器....................................................................................................................................544
辅助伺服通道寄存器（仅 MARCO 芯片 0） ................................................................................................546
Turbo PMAC2 MARCO 节点寄存器 ...............................................................................................................550
Turbo PMAC I/O 寄存器......................................................................................................................................554
Turbo PMAC2 Option 12 A/D 寄存器.................................................................................................................556
3U Turbo PMAC2 架构 I/O 寄存器.....................................................................................................................556
JEXP 扩展端口 I/O 寄存器..................................................................................................................................558
UMAC UBUS 扩展端口 I/O 寄存器 ...................................................................................................................559
TURBO PMAC 推荐的 M 变量定义 .....................................................................................................................560
TURBO PMAC2 推荐的 M 变量定义 ...................................................................................................................643
UMAC TURBO 推荐的 M 变量定义 ....................................................................................................................747
变化汇总：PMAC 到 TURBO PMAC ..................................................................................................................850
特性比较综述.......................................................................................................................................................850
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Table of Contents xv
I 变量变化.............................................................................................................................................................851
DPRAM 功能变化................................................................................................................................................853
补偿表变化...........................................................................................................................................................853
换相变化...............................................................................................................................................................854
超程限位变化.......................................................................................................................................................854
刀具半径补偿变化...............................................................................................................................................854
通讯变化...............................................................................................................................................................854
存储器和 I/O 图变化............................................................................................................................................855
跳线变化...............................................................................................................................................................856
在线指令变化.......................................................................................................................................................857
编程指令变化.......................................................................................................................................................858
编码器转换表变化...............................................................................................................................................858