产品delta tau pmac运动控制器培训

1、Power PMAC Mathematical FeaturesMay 2011Power PMAC Floating-Point MathPower PMAC processor has hardware floating-point engine510 x (+) faster than Turbo PMAC software-library implementationSingle-precision (IEEE 32-bit) supportedDouble-precision (IEEE 64-bit) supported, default for user programsDoub

2、le-precision provides much greater resolution and range than PMAC/Turbo PMAC 48-bit format18 more bits in the mantissa 256K x increase in resolution/rangeRange of 1.80 x 10308Suitable for key automatic motor calculationsSuitable for axis calculations (trajectories, kinematics, lookahead)Suitable for

3、 user-program calculationsPower PMAC Numerical RepresentationsReceiving numerical values in text strings (e.g. P1=3)Standard decimal formatNo arbitrary limit on number of decimal places permittedScientific notationFormat mantissaEexponent (e.g. -1.76E10)Mantissa does not need to be normalized (e.g.

4、-17.6E9 is OK)Hexadecimal (with $ prefix)Non-negative integers onlyReporting numerical values in text stringsReporting format independent of receiving (e.g. hex vs. decimal)Automatic decision on number of decimal places reported (formatting to fixed number of decimal places must be done in host comp

5、uter)Floating-Point Math in Automatic RoutinesMotor phase and servo routines use floating-point mathWere fixed-point math in PMAC/Turbo PMACSpeed and precision of floating-point math now suitable for these calculationsMany problems with fixed-point math eliminatedRegister units are standardized (e.g

6、. counts, milliseconds)No position rollover worriesNo velocity saturation worriesMinimal quantization noise introduced in “aggressive” filteringNo conversion overhead from axis calculationsAxis calculations use 64-bit floating-point mathEffective range before resolution-loss problems increased 256K

7、times compared to Turbo PMACFloating-Point Math in User Script ProgramsMachine control applications require the use of many different numerical formatsInputs and outputs are fixed-point (Boolean, 16-bit, 32-bit, etc.)Most motion calculations are floating-pointPower PMAC Script environment does autom

8、atic type matching of different numerical formatsFixed-point and floating-point representations1-bit to 64-bit formatsAll “inputs” to calculations converted to 64-bit floating-point formatAll mathematical operations done in this formatIf calculation has a “result”, it is converted (if necessary) to

9、required formatUser does not need to concern himself with format conversions(Note that user C-language programs must follow C rules for type matching and format conversions)Special Floating-Point RepresentationsSpecial representations that are part of IEEE-754 standardPower PMAC reports these “value

10、s” with the text shown hereinf, -inf (+/-infinity)Obtained (for example) by division by 0Operations that generate +/-inf do not create errorsinf is greater than any finite number in a comparison-inf is less than any finite number in a comparisonnan (not-a-number)Obtained (for example) by function do

11、main error (e.g. sqrt(-1) )Operations that generate nan do not create errorsBoolean isnan function can be used to check-0 (minus zero)Obtained by underflow of negative valuesEquivalent to 0 (“plus zero”) in any subsequent operations+/-inf, nan generally useful as diagnostics; in application, best to

12、 check before operation that could producePower PMAC User Global Variables“Global” variables can be shared between programsP-variables (65,536 total)Double-precision (64-bit) floating-point variablesAccessible from all coordinate systemsDeclared as “global” (outside of a program) for IDE substitutio

13、nsQ-variables (8192 per coordinate system, not overlapping)Double-precision (64-bit) floating-point variablesSeparate coordinate systems access different variables for same nameDeclared as “csglobal” (outside of a program) for IDE substitutionsM-variables (16,384 total)Pointer variables; take on for

14、mat of what is pointed toAccessible from all coordinate systemsDeclared as “ptr” (outside of a program) for IDE substitutionsDefining M-Variables in Power PMACGeneral definition in I/O spaceMconstant-format.io:adr_offset.start.widthGeneral definition in user shared memory spaceMconstant-format.user:

15、adr_offset.start.widthSelf-defined (useful to create particular numerical format)Mconstant-*format.widthM-variable formatss signed integer that saturatesi signed integer that rolls overu unsigned integer that rolls overf short (32-bit) floating-point (does not take start or width )d long (64-bit) fl

16、oating-point (does not take start or width )start = 0 to 31 (default is 0, not limited to 1 & multiples of 4)width = 1 to 32 (default is 32, not limited to 1 & multiples of 4)Defined to data structure element (takes on format of element)Mconstant-data structure elementPower PMAC I-Variables“Legacy”

17、feature intended for convenience of experienced Turbo PMAC usersPoint to Power PMAC data-structure savable setup elements that are essentially equivalent to present Turbo PMAC I-vars:For Motors 0 31: I0 I3199For Coordinate Systems 0 15: I5000 I6599(Note that I0 I99 taken for Motor 0, I5000 I5099 for

18、 C.S. 0)For “Gate1” ICs 0 19: I7000 I7999For “Gate2” ICs 0 3: I6800 I6999Usable in programs and on-line commandsSetup elements for new features, motors, C.S.s generally not given I-variable numbersCan find out what element is used by an I-variable with on-line command Iconstant- e.g.:I428-I428-Motor

19、4.InPosBandPower PMAC User Local Variables“Local” variables are used within a programL-variables (8192 per C.S., PLC, & on-line command processor)Double-precision (64-bit) floating-point variablesNot (directly) accessible outside of program where usedDeclared as “local” (inside of a program) for IDE

20、 substitutionsR-variables are renamed L-variables for passing/returning values to/from general subroutinesRn of calling routine equivalent to Ln of called routinePermit true argument passing to subroutinesC-variables are renamed C.S. L-variables for passing/returning axis values to/from kinematic su

21、broutinesCn is equivalent to L(Sys.MaxMotors+n) for C.S.C.S. and PLC data structures provide full read access to local variablesCoordm.Ldata.Ln or PLCm.Ldata.Ln accesses Ln relative to L0 of present programCoordm.Ldata.Lindex or PLCm.Ldata.Lindex accesses number of L0 of present program relative to

22、root L0Coordm.Ldata.Rn or PLCm.Ldata.Rn accesses Rn relative to R0 of present programLocal Variable Stack ExampleThis example uses default “stack offset” of 256Other offsets can be declaredIDE declares optimal offsets automaticallyRn of calling routine equivalent to Ln of called routineRn of calling

23、 routine equivalent to L(n + StackOffset) of calling routinePass/return arguments should start with R0 of calling, L0 of calledIDE manages these definitions and assignments automaticallyAuto-Assigning User Names to VariablesRequires use of Project Manager in IDEWhen you dont care what variable is as

24、signed, use declarationsglobal MyPvar1, MyPvar2, MyPvar3(16);csglobal MyQvar1, MyQvar2, MyQvar3(256);ptr MyMvar1-definition, MyMvar2-definition;local MyLvar1, MyLvar2, MyLvar3(7);Project manager automatically assigns variables to namesCan set starting variable numbers for auto-assign with PVARSTARTn

25、, QVARSTARTn, MVARSTARTn directivesDirectives in /usrflash/project/pp_proj.iniDefaults are PVARSTART8192, QVARSTART1024, MVARSTART8192Local variable auto-assigns always start with L0Variables with lower numbers available for manual assignment or “raw” useCapabilities with Declared Variable NamesWhen

26、 writing programs, just use declared variable names, e.g.:MyPvar1 = MyMvar2 + 7;Can access from IDE terminal, watch window, etc., e.g.:MyPvar1&2MyQvar3MyMvar2 = 1If non-local variable declared with a value, e.g.:global MyPvar4 = 3;Value is automatically assigned to the variable on download, power-up

27、, and resetVery useful for setting power-up default valuesValue can be expressed as constant or expression (e.g. 5 * 65536), but expression cannot use variablesCommunications program gpascii -2 can use declared variable namesManual Assigning User Names to VariablesRequires use of Project Manager in

28、IDEWhen you do care what variable is assigned, use definitions#define MyPvar1 P10#define MyQvar7 Q50#define MyMvar3 M200Simple text substitution on downloadShould use variables numbered below P/Q/MVARSTART #Can be most important for local (L) variables to coordinate variable passing properly (IDE do

29、es automatically for subroutine arguments)#define MyLvar1 L0#define MyLvar2 L1#define MyRvar1 R0#define MyRvar2 RPower PMAC Variable ArraysFor any numbered variable type (P, Q, M, I, L, R, D, C)Specific variable can be specified by mathematical expression in parenthesese.g. P(P1-P2+7), L(Index-1)Tec

30、hnically, these are function calls, so use ( ), not Compare to indexed data structures, which use for indexComputed expression value rounded down to next integer (if necessary) before used to select particular variableUsable in motion and PLC programs, & many on-line commandsCan use arrays with vari

31、able declarations in IDEglobal MyParray(32) declares 32-element P-variable arrayIf IDE project manager assigns P620 P651 to this array, MyParray(Index) es P(620+Index)No protection against index exceeding declared array lengthNote distinction between arrays, vectors, and (2D) matricesPower PMAC Scri

32、pt Math: Scalar FunctionsTrig functions using radians: sin, cos, tan, sincosInverse trig functions using radians: asin, acos, atan, atan2Trig functions using degrees: sind, cosd, tand, sincosdInverse trig functions using degrees: asind, acosd, atand, atan2dHyperbolic trig functions: sinh, cosh, tanh

33、Inverse hyperbolic trig functions: asinh, acosh, atanhLog/exponent functions: log (or ln), log2, log10, exp, exp2, powRoot functions: sqrt, cbrt, qrrt, qnrtRounding/truncation functions: int, rint, floor, ceilRandom number generation : rnd (32-bit), randx (64-bit), seedMiscellaneous functions: abs,

34、sgn, rem, madd (mult & add), isnanPower PMAC Script Math: Vector FunctionsOperate on continuously numbered set of P-variablesSet of variables can be treated as 2D matrix for other purposesFunctions that produce new vectors (returned value is “OK” flag must “put” somewhere even if dont use)vadd: Adds

35、 2 vectors together to produce 3rd vectorvcopy: Copies contents of vector into 2nd vectorvscale: Multiplies each vector element by common scale factor, result in 2nd vectorFunctions that produce scalar (as returned value) onlysum: Adds a number of evenly spaced elements together (as for trace of mat

36、rix)sumprod: Multiplies pairs of elements of 2 vectors together, adding products into returned value (as for dot product)Power PMAC Script Math: Matrix FunctionsOperate on consecutively numbered set of P-variablesElements in same row are consecutively numberedFunctions that produce new matrices (ret

37、urned value is “OK” flag or determinant of result matrix must “put” somewhere even if dont use)mmul: Multiplies 2 matrices together to create 3rd matrixmmadd: Multiplies 2 matrices together, adds product to 3rd matrixminv: Inverts a square matrix to create a 2nd matrixmtrans: Transposes a matrix to

38、create a 2nd matrixmsolve: Solves simultaneous set(s) of equations represented by square (coefficient) matrix and 2nd (constant) vector/matrixFunctions that produce scalar (as returned value) onlymdet: Calculated determinant of square matrixmminor: Calculates specified minor determinant of square ma

39、trixOperators and Conditional ComparatorsArithmetic operators+ (add), - (subtract), * (multiply), / (divide), % (modulo)Normal rules of algebraic precedence applyBit-by-bit logical operators& (bit-by-bit AND), | (bit-by-bit OR), (bit-by-bit exclusive OR) (bit-by-bit invert; unary operator technicall

40、y a function) (shift right)Conditional comparators= (equals), != (not equals), (approx. eq.), ! (not approx. eq.) (greater than), = (greater than or equal to), =, =Increment/decrement assignments: +, -Synchronous Variable AssignmentsNeeded primarily because motion programs must calculate ahead durin

41、g sequence of blended movesStandard assignments would occur “too soon” compared to movesSynchronous assignments are delayed to be in sequence with movesGeneral syntax: variable synchronous operator expressionMost variable types can receive synchronous assignmentNot just M-variables as in PMAC/Turbo

42、PMACIncluding pre-defined data structure elementsNo local variables or self-referenced M-variables can receiveExpression following operator evaluated during program flowResulting value stored in buffered queue along with operation typeEach coordinate system has an independent buffered queueActual as

43、signment using operator occurs at beginning of execution of next commanded move (at start of blend)In PLC programs, use to assure that commanded move has startedSynchronous Variable Assignments (cont.)Simple assignment: = (expression value written into variable)For any type of variable formatAssignm

44、ents with arithmetic operation: +=, -=, *=, /=, %=*=, /=, %= for floating-point variables/elements onlyAssignments with logical operation: &=, |=, =For integer variables/elements onlyIncrement/decrement assignments: +=, -=Useful in PLC programs to know that commanded move has started, e.g.: P1=0; P1

45、=1; jog1=100000;/ P1 set at start of jog movewhile (!(P1) | !(Motor1.InPos) / Move not started or ongoingM1=1;/ Set output when move has finished and settled/ Motor must be assigned to a C.S. to trigger sync assignment in PLCSynchronous Assignment Motion Program ExampleOne move lookahead (for simple

46、 blending):X10;/ 1st moveX20;/ 2nd moveQ1 = 30;/ Standard assignmentM1=1;/ Standard assignmentM2=1;/ Sync assignmentX(Q1);/ 3rd moveQ1 set to 30 at X=10 (t1)Needs to be done at lookahead time to calculate next move properlyM1 set to 1 at X=10 (t1)Output would appear out of sequenceM2 set to 1 at X=20 (t2)Output would appear in sequenceSynchronous Assignment BufferSynchronous assignments