Delta Tau PMAC2 User Manual Page 1

^1 HARDWARE REFERENCE MANUAL ^2 Turbo PMAC2 Realtime Express Controller ^3 Programmable Multi-Axis Controller ^4 9xx-603862-1xx ^5 October 1

Turbo PMAC2 Realtime Express Controller Hardware Setup 5 HARDWARE SETUP Receiving and Unpacking Delta Tau products are thoroughly tested a

Turbo PMAC2 Realtime Express Controller Hardware Setup 6 The controller is mounted to the back panel with four M4 screws and internal-tooth lock w

Turbo PMAC2 Realtime Express Controller Hardware Setup 7 System Wiring 123456789101112131415123456789101112131415161718192021222324251234567891011

Turbo PMAC2 Realtime Express Controller Hardware Setup 8 Push-button Switches There are two push-button switches located at the bottom of the unit

Turbo PMAC2 Realtime Express Controller Hardware Setup 9 Pin # Symbol Function 1 VCC N.C. 2 D- DATA- 3 D+ DATA+ 4 GND Ground 5 SHELL Shield 6 SHE

Turbo PMAC2 Realtime Express Controller Hardware Setup 10 Fieldbus Setup Connector, J3 This connector is a 10-pin female flat cable connector that

Turbo PMAC2 Realtime Express Controller Hardware Setup 11

Turbo PMAC2 Realtime Express Controller Hardware Setup 12 CANopen J4 DB9 Female 123456789 Pin # Symbol Function 1 N.C. 2 CAN_L CAN_L Bus line IS

Turbo PMAC2 Realtime Express Controller Hardware Setup 13 General Purpose I/O Connection, J5 The 25 pin D-Sub connector located on top of the cont

Turbo PMAC2 Realtime Express Controller Hardware Setup 14 Inputs wiring There are 8 inputs on the I/O connector, which can be used as sinking or

Copyright Information © 2013 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems,

Turbo PMAC2 Realtime Express Controller Hardware Setup 15 To write to the outputs you need to define these M variables: M52->Y:$078402,2 ; D

Turbo PMAC2 Realtime Express Controller Hardware Setup 16 Auxiliary Connector, J8 The 15-pin DB style female connector contains connections for ha

Turbo PMAC2 Realtime Express Controller Hardware Setup 17 You can access the position of the handwheel. You can also use the same address ($3501)

Turbo PMAC2 Realtime Express Controller Hardware Setup 18 To write into the DAC output: I6816=0 ;set the channel output type to PWM output M1

Turbo PMAC2 Realtime Express Controller Hardware Setup 19 24 VDC Power Supply Input, J9 An external 24VDC power supply is required to power the Tu

Turbo PMAC2 Realtime Express Controller Hardware Setup 20 • Option C provides the MACRO-ring RJ-45 electrical interface connectors. The key compon

Turbo PMAC2 Realtime Express Controller Hardware Setup 21 Realtime Express Connector These connectors are used to establish the Realtime Express R

Turbo PMAC2 Realtime Express Controller Hardware Setup 22 Thumbwheel Multiplexer Port (JTHW Port), J10 The Thumbwheel Multiplexer Port, or Multipl

Turbo PMAC2 Realtime Express Controller Hardware Setup 23 How to use THW Port with Acc-34: 1. Set i29=$78400 2. save 3. $$$ 4. Follow the

Turbo PMAC2 Realtime Express Controller Software Setup 24 SOFTWARE SETUP Host Communications To communicate with Turbo PMAC2 Realtime Express Con

REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 NEW MANUAL CREATION 04/03/07 CP S. SATTARI 2 CLEARED FOR RELEASE 12/07/07 CP S.SATTARI

Turbo PMAC2 Realtime Express Controller Software Setup 25 A window will appear, stating it cannot verify the compatibility of the driver with Win

Turbo PMAC2 Realtime Express Controller Software Setup 26 Click Insert. Select the communication port from the list. All the available Seri

Turbo PMAC2 Realtime Express Controller Software Setup 27 To check the communications, click Test. If communication is established, y

Turbo PMAC2 Realtime Express Controller Software Setup 28 Realtime Express Network Setup – Step by Step Although the software package needed for R

Turbo PMAC2 Realtime Express Controller Software Setup 29 Update Period (ms) Com. Period (ms) Servo Freq. (kHz) Phase Freq. (kHz) MAXPHASE MAXPHA

Turbo PMAC2 Realtime Express Controller Software Setup 30 I124,PanasonicMtrs,100=$800000 5. Absolute Position Capture: (Starting at line 102)

Turbo PMAC2 Realtime Express Controller Software Setup 31 I603=$326 I604=$326 Note that you have to place the /* sign one line after the last mo

Turbo PMAC2 Realtime Express Controller Software Setup 32 10. Fatal Following Error Limit: (Starting at line 378) Although the PMAC can monit

Turbo PMAC2 Realtime Express Controller Software Setup 33 Reset the controller by issuing a $$$*** command in the terminal window. 17. Download

Turbo PMAC2 Realtime Express Controller Software Setup 34 RESERVED M & P VARIABLE FOR PANASONIC IMPLEMENTATION  M8100 - M8191  P8191 Sin

Turbo PMAC2 Realtime Express Controller Software Setup 35 I100 Motor 1 Activation Control should always be equal to 1. Meaning at least 1 drive/

Turbo PMAC2 Realtime Express Controller Software Setup 36 I Variable Value I Variable Value I Variable Value I Variable Value I110 $1D05 I910 $1D

Turbo PMAC2 Realtime Express Controller Software Setup 37 Motor Motion I-Variables Ixx24 Motor xx Flag Mode Control (Is a PMAC 1 Type) Since

Turbo PMAC2 Realtime Express Controller Software Setup 38 Ixx32 Motor xx PID Velocity Feed forward Gain (USED FOR A DIFFERENT PURPOSE WITH PANAS

Turbo PMAC2 Realtime Express Controller Software Setup 39 Supplemental Motor Setup I-Variables I6800/I6850/I6900/I6950 MACRO IC MaxPhase/PWM Freq

Turbo PMAC2 Realtime Express Controller Software Setup 40 Ixx42 Motor xx Amplifier Flag Address (NOT USED FOR PANASONIC) Ixx43 Motor xx Overt

Turbo PMAC2 Realtime Express Controller Software Setup 41 Motor Commutation Setup I-Variables Ixx70 Motor xx Number of Commutation Cycles (N) (

Turbo PMAC2 Realtime Express Controller Software Setup 42 Further Motor I-Variables Ixx91 Motor xx Power-On Phase Position Format (NOT USED FOR

Turbo PMAC2 Realtime Express Controller Software Setup 43 Before Deactivating the Backlash Feature: 1. Make sure motor present backlash is zero.

Turbo PMAC2 Realtime Express Controller Software Setup 44 4. If reading or writing to a parameter, set PARAM_NUM (M8182) equal to the parameter n

Turbo PMAC2 Realtime Express Controller Table of Contents i Table of Contents INTRODUCTION ...

Turbo PMAC2 Realtime Express Controller Software Setup 45 5. If writing to a parameter, set PARAM_DATA (M8183) equal to the desired value, but i

Turbo PMAC2 Realtime Express Controller Software Setup 46 The first four bytes of data for each RX block includes various status bits: Address B

Turbo PMAC2 Realtime Express Controller Software Setup 47 Using Absolute Feedback With A4N/A5N Drives If you have Panasonic motors with absolute f

Turbo PMAC2 Realtime Express Controller Software Setup 48 The following error codes are possible in each of the elements above Error Code Error D

Turbo PMAC2 Realtime Express Controller Introduction 1 INTRODUCTION Overview The Turbo PMAC2 Realtime Express Controller is a member of the Turb

Turbo PMAC2 Realtime Express Controller Introduction 2 Configuration Base Version The base version of the Turbo PMAC2 Realtime Express Controlle

Turbo PMAC2 Realtime Express Controller Introduction 3 Option 5: CPU and Memory Configurations Different versions of Option 5 provide different

Turbo PMAC2 Realtime Express Controller Introduction 4 Part Number Definition Based on the different options of Turbo PMAC 2 Realtime Express