Delta Tau PMAC2 User Manual download pdf (Page 41)

Turbo PMAC2 Realtime Express Controller

Software Setup

I Variable

Value

I Variable

Value

I Variable

Value

I Variable

Value

I110

$1D05

I910

$1D45

I1710

$1D85

I2510

$1DC5

I210

$1D0D

I1010

$1D4D

I1810

$1D8D

I2610

$1DCD

I310

$1D15

I1110

$1D55

I1910

$1D95

I2710

$1DD5

I410

$1D1D

I1210

$1D5D

I2010

$1D9D

I2810

$1DDD

I510

$1D25

I1310

$1D65

I2110

$1DA5

I2910

$1DE5

I610

$1D2D

I1410

$1D6D

I2210

$1DAD

I3010

$1DED

I710

$1D35

I1510

$1D75

I2310

$1DB5

I3110

$1DF5

I810

$1D3D

I1610

$1D7D

I2410

$1DBD

I3210

$1DFD

Motor Safety I-Variables

Ixx11 Motor xx Fatal Following Error Limit

By default, the controller will not check for following error and the drive will monitor for any

following errors. The reason is that the following error reported back to PMAC includes a delay

because of the network update rate, which can translate into unrealistic following errors at higher

speeds.

You can always turn this feature on by setting it to any number greater than zero. Make sure that

the fatal following error is less than the following error set on the drive, or the over current

protection will stop the drive with error 16 (Over-Current).

Note

When setting the Ixx11, make sure that you store the

same value in Ixx32 as the default value of your

following error. Ixx11 would be changed to a different

value while homing procedure and the value in Ixx32

would be written back once the homing is complete.

Ixx12 Motor xx Warning Following Error Limit

By default, the controller will not check for warning following error. The reason is that the

following error reported back to PMAC includes a delay because of the network update rate,

which can translate into unrealistic following errors at higher speeds.

Note

When setting the Ixx12, make sure that you store the

same value in Ixx35 as the default value of your

following error. Ixx12 would be changed to a different

value while homing procedure and the value in Ixx35

would be written back once the homing is complete.

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Delta Tau PMAC2 User Manual Page 41

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