Delta Tau PMAC2 User Manual download pdf (Page 48)

Turbo PMAC2 Realtime Express Controller

Software Setup

Before Deactivating the Backlash Feature:

1. Make sure motor present backlash is zero. If not, set it to zero by changing the motor

backlash size (Ixx86) to zero.

2. Wait until motor present backlash becomes zero.

3. Set motor backlash take-up rate (Ixx85) and motor backlash hysteresis (Ixx87) equal

to zero.

4. Check the direction of the backlash by looking at bit 4 of the motor status word. If it is

equal to 1, write a zero to it.

Motor#

Address

Y:$C0,4

Y:$140,4

Y:$1C0,4

Y:$240,4

Y:$2C0,4

Y:$340,4

Y:$3C0,4

Y:$440,4

Motor#

Address

Y:$4C0,4

Y:$540,4

Y:$5C0,4

Y:$640,4

Y:$6C0,4

Y:$740,4

Y:$7C0,4

Y:$840,4

Motor#

Address

Y:$8C0,4

Y:$940,4

Y:$9C0,4

Y:$A40,4

Y:$AC0,4

Y:$B40,4

Y:$BC0,4

Y:$C40,4

Motor#

Address

Y:$CC0,4

Y:$D40,4

Y:$DC0,4

Y:$E40,4

Y:$EC0,4

Y:$F40,4

Y:$FC0,4

Y:$1040,4

Reading/Writing A4N/A5N Drive Parameters over the network

Although each drive can be accessed and setup through the RS-232 connector of the drive, Delta

Tau’s Turbo PMAC2 Realtime Express Controller allows the user to read / write / save all the

parameters to any drive on the ring.

In order to read/change/save any of these parameters, you have to follow the following steps. As

an example, we will disable the emergency stop input of motor #1.

1. Set CMD_TYPE (M8179) variable to 0.

M8179=0

2. Set PARAM_MTR_NUM (M8180) to desired motor number. Please note that this is the

motor number and not necessarily the MacID of the drive.

M8180=1

3. Set PARAM_REQ (M8181) equal to a value representing read / write / save.

PARAM_REQ

Name

Description

$000

Parameter reading

Use this to read out the parameter value from the servo

drive.

$001

Parameter writing

Use this to write the parameter value to the servo drive.

$101

EEPROM writing

Save the parameter value to EEPROM in the servo drive.

Make sure to set the PARAM_NUM (M8182) and

PARAM_DATA (M8183) equal to zero.

M8181=$001

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Delta Tau PMAC2 User Manual Page 48

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