Delta Tau PMAC2 User Manual download pdf (Page 34)

Turbo PMAC2 Realtime Express Controller

Software Setup

Update

Period

(ms)

Com.

Period

(ms)

Servo

Freq.

(kHz)

Phase

Freq.

(kHz)

MAXPHASE

MAXPHASE_TO_PHASE_DIV

PHASE_TO_SERVO_DIV

CLK_DIV_SAVE_M

1.000

58982

1.000

0.500

1.000

2.000

29491

0.500

2.000

29491

0.167

6.000

9830

0.167

0.083

6.000

12.000

4915

Choose the best fitted PWM/Phase clock for your system and set the MAXPHASE,

MAXPHASE_TO_PHASE_DIV, PHASE_TO_SERVO_DIV and CLK_DIV_SAVE_M

based upon the table.

The MAXPHASE parameter will be controlling the frequency of Max Phase clock of

the PMAC which other clocks are divider from (I6800).

MAXPHASE_TO_PHASE_DIV specifies the divider from Max Phase clock to Phase

clock, and PHASE_TO_SERVO_DIV will determine the divider which generates the

Servo clock from the Phase clock.

As shown in the table, the CLK_DIV_SAVE_M variable defines an additional divider

from Phase clock to Realtime Express clock. Because of the architecture of the

Panasonic’s Realtime Express, this clock needs to be set at 2 kHz, the update rate of the

data from PMAC to Panasonic.

Please note that since the Servo clock in some cases might be faster than what Panasonic

drives accept, we should adjust the Servo calculation frequency of Panasonic motors by

changing their Ixx60 value. The proper value for Ixx60 is provided in the table. Please

note that changing of Ixx60 is only needed for Panasonic motors on the Realtime Express

network and not on any other motor on the MACRO ring.

4. Flag Mode Control: (Line 97)

Please refer to the Turbo PMAC Software Reference Manual for detailed information on

setting this parameter. Remember that the Panasonic’s A4N/A5N drives have high true

amplifier fault signal, so the default value will be: $800000

Here is a quick guide on setting Ixx24 of the motors:

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

8 0 0 0 0 0

Gate Type:

0: PMAC1

1: PMAC2

0: Use amplifier enable function

1: Don’t use amplifier enable function

0: Enable hardware position limits

1: Disable hardware position limits

0: Enable amplifier fault input

1: Disable amplifier fault input

00: Kill all PMAC motors on fault or following error

01: Kill only motors in the same coordinate system of this motor on it’s fault or following error

10 or 11: Kill this motor only on this motor on it’s fault or following error

0: Low true amplifier fault input

1: High true amplifier fault input

Hex

Bin

1 ... 33 34 35 ... 53

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Delta Tau PMAC2 User Manual Page 34

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