Delta Tau ACC-24M2A User Manual download pdf (Page 48)

Accessory 24M2A

Configuring with Turbo PMAC 49

Flags

On the Ring Controller, the flags (Ixx25) must point to the servo node used for the

motors on ACC-24M2A.

Example: Motors 1–2 on Nodes 0 and 1, respectively

I125=$3440

I225=$3441

Note

These examples configure only motors 12. If you are configuring

other motors, refer to the Turbo PMAC Software Reference Manual



for a list of the addresses for Ixx25.

Then, on the Ring Controller, the flag control (Ixx24) variable must be set up for each motor on ACC-

24M2A as follows:

Ixx24 Setting

Description

$40001

Overtravel limits enabled

$60001

Overtravel limits disabled

Example: Flag Control for Motors 1–2

I124,2,100=$40001 // Motor 1–2 have overtravel limits enabled

Output Commands

On the Ring Controller, the output command address must be set to the ACC-

node addresses directly.

Example: Motors 1–2 on Nodes 0 and 1, respectively

I102=$078420 // Motor 1’s output command address is Node 0

I202=$078424 // Motor 2’s output command address is Node 1

Note

These examples configure only motors 12. If you are configuring

other motors, refer to the Turbo PMAC Software Reference Manual



table for a list of the addresses for Ixx02.

1 2 ... 43 44 45 46 47 48 49 50 51 52 53 ... 100 101

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Delta Tau ACC-24M2A User Manual Page 48