Delta Tau PMAC2 User Manual download pdf (Page 33)

Turbo PMAC2 Realtime Express Controller

Software Setup

Realtime Express Network Setup – Step by Step

Although the software package needed for Realtime Express setup includes several files, you only

need to modify one file in order to set up the controller. The file to modify based upon the

settings of your network is called “PANADLWD.PMC”

First, establish communication with the controller through the PEWIN32PRO2 software. From

the File menu, then select Open File and open “PANADLWD.PMC”. Make sure that you have

unpacked all the files included in the package under the same folder and that you have read/write

access to that folder.

There is sufficient explanation included in the file in order for you to edit the file easily. Here are

the main changes needed for system setup.

1. Number of Panasonic Motors: (Line 45)

Define the number of Panasonic A4N/A5N drives on the Realtime Express network (the

number of Panasonic motors you have on the ring).

#define PanasonicMtrs 4

In this example we have 4 motors on the Realtime Express network.

2. MACRO option: (Line 50)

Define whether or not you have the MACRO ring option.

#define MACRO

If you do not have the MACRO option, comment out this whole line.

// #define MACRO

3. Clock Settings: (Line 54)

It’s possible to have different clock settings on the Turbo PMAC2 Realtime Express

controller. However, here are the suggested values:

#define MAXPHASE 7368

#define MAXPHASE_TO_PHASE_DIV 3

#define PHASE_TO_SERVO_DIV 0

CLK_DIV_SAVE_M = 0

If you only have the Panasonic Realtime Express network, these settings will always

work for you and no changes are required.

If you have the MACRO option in addition to Realtime Express, and you want to have

higher PWM/Phase/Servo clock frequencies than the Panasonic Realtime Express default,

you can choose a setting from the following table:

1 ... 32 33 34 ... 53

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Delta Tau PMAC2 User Manual Page 33