Delta Tau PMAC2 User Manual download pdf (Page 40)

Turbo PMAC2 Realtime Express Controller

Software Setup

I100 Motor 1 Activation Control should always be equal to 1. Meaning at least 1

drive/motor should be connected to the controller. This setting is done in the

PANADWLD.PMC file.

Ixx01 Motor xx Commutation Enable

This should be 0 for all the motors except motor #1 for which the default value is 1 and

should not be changed.

I101 Motor 1 Commutation Enable should always be 1

Ixx03 Motor xx Position Loop Feedback Address

I Variable

Value

I Variable

Value

I Variable

Value

I Variable

Value

I103

$A6

I903

$4A6

I1703

$8A6

I2503

$CA6

I203

$126

I1003

$526

I1803

$926

I2603

$D26

I303

$1A6

I1103

$5A6

I1903

$9A6

I2703

$DA6

I403

$226

I1203

$626

I2003

$A26

I2803

$E26

I503

$2A6

I1303

$6A6

I2103

$AA6

I2903

$EA6

I603

$326

I1403

$726

I2203

$B26

I3003

$F26

I703

$3A6

I1503

$7A6

I2303

$BA6

I3103

$FA6

I803

$426

I1603

$826

I2403

$C26

I3203

$1026

Ixx04 Motor xx Velocity Loop Feedback Address

I Variable

Value

I Variable

Value

I Variable

Value

I Variable

Value

I104

$A6

I904

$4A6

I1704

$8A6

I2504

$CA6

I204

$126

I1004

$526

I1804

$926

I2604

$D26

I304

$1A6

I1104

$5A6

I1904

$9A6

I2704

$DA6

I404

$226

I1204

$626

I2004

$A26

I2804

$E26

I504

$2A6

I1304

$6A6

I2104

$AA6

I2904

$EA6

I604

$326

I1404

$726

I2204

$B26

I3004

$F26

I704

$3A6

I1504

$7A6

I2304

$BA6

I3104

$FA6

I804

$426

I1604

$826

I2404

$C26

I3204

$1026

Ixx08 Motor xx Position Scale Factor

Should be set to 8

Ixx09 Motor xx Velocity-Loop Scale Factor

Should be set to 8

Ixx10 Motor xx Power-On Servo Position Address

If you have absolute feedback and the value is being sent over the RX buffer in the same memory

location of Actual position, you can set up the power-on position address Ixx10 based on the

following values:

1 ... 39 40 41 ... 53

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Delta Tau PMAC2 User Manual Page 40

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