Delta Tau PMAC2 User Manual download pdf (Page 49)

Turbo PMAC2 Realtime Express Controller

Software Setup

4. If reading or writing to a parameter, set PARAM_NUM (M8182) equal to the parameter

number based on following table. If saving the values to EEPROM of the drive, set

PARAM_NUM equal to zero.

No.

Parameter Name

Default

No.

Parameter Name

Default

For manufacturer use

$40

External Servo-ON enable

LED display

$41

Emergency stop enable

Control mode

$42

Home input logic

Torque limit selection

$43

Direction of motion

Over travel input inhibit

$44

Numerator of output pulse ratio

2500

For manufacturer use

$45

Denominator of output pulse ratio

Address indicated time at power up

$46

Pulse output logic inversion

Speed monitor (SP) selection

$47

Z-phase of external scale setup

Torque monitor (IM) selection

$48

For manufacturer use

10000

Unit of velocity

$49

For manufacturer use

$0A

Inhibit parameter change via network

$4A

For manufacturer use

$0B

Absolute encoder set up

$4B

For manufacturer use

10000

$0C

Baud rate of RS232

$4C

Smoothing filter

$0D

Warning setup of cumulative COM error

$4D

FIR filter setup

$0E

Warning setup of continuous COM error

$4E

For manufacturer use

$0F

Update counter warning setup

$4F

For manufacturer use

$10

1st position loop gain

(63/32)

$50

For manufacturer use

500

$11

1st velocity loop gain

(35/18)

$51

For manufacturer use

$12

1st velocity loop integration time constant

(16/31)

$52

For manufacturer use

$13

1st speed detection filter

$53

For manufacturer use

$14

1st torque filter time constant

(65/126)

$54

For manufacturer use

$15

Velocity feed forward

-300

$55

For manufacturer use

$16

Feed forward filter time constant

-50

$56

For manufacturer use

$17

For manufacturer use

$57

For manufacturer use

$18

2nd position loop gain

(73/38)

$58

For manufacturer use

$19

2nd velocity loop gain

(35/18)

$59

For manufacturer use

$1A

2nd velocity loop integration time constant

-1000

$5A

For manufacturer use

$1B

2nd speed detection filter

$5B

For manufacturer use

$1C

2nd torque filter time constant

(65/126)

$5C

For manufacturer use

$1D

1st notch frequency

1500

$5D

For manufacturer use

$1E

1st notch width selection

$5E

1st torque limit

500

$1F

For manufacturer use

$5F

2nd torque limit

500

$20

Inertia ratio

-250

$60

In-position range

131

$21

Real time auto tuning set up

$61

Zero speed

$22

Machine stiffness at auto tuning

1-Apr

$62

For manufacturer use

$23

Adaptive filter mode

$63

In-position output setup

$24

Vibration suppression filter selection

$64

CT-offset re-calibration at servo-on

$25

Normal auto tuning motion setup

$65

Undervoltage error response at main power-off

$26

Software limit set up

$66

Error response at over travel limit

$27

Velocity observer

$67

Error response at main power-off

$28

2nd notch frequency

150

$68

Error response action

$29

2nd notch width selection

$69

Sequence at Servo-OFF

$2A

2nd notch depth selection

$6A

Mechanical brake delay at motor standstill

$2B

1st vibration suppression frequency

$6B

Mechanical brake delay at motor in motion

$2C

1st vibration suppression filter

$6C

External regenerative resistor setup (*2)

Mar-00

$2D

2nd vibration suppression frequency

$6D

Main power-off detection time

$2E

2nd vibration suppression filter

$6E

Emergency stop torque setup

$2F

Adaptive filter frequency

$6F

For manufacturer use

$30

2nd gain action setup

-1

$70

Position deviation error level

25000

$31

Gain switching mode

-10

$71

For manufacturer use

$32

Gain switching delay time

-30

$72

Overload level

$33

Gain switching level

-50

$73

Over speed level

$34

Gain switching hysteresis

-33

$74

Command update period

$35

Position loop gain switching time

-20

$75

For manufacturer use

$36

For manufacturer use

$76

For manufacturer use

$37

For manufacturer use

$77

For manufacturer use

$38

For manufacturer use

$78

Numerator of external scale ratio

$39

For manufacturer use

$79

Multiplier of numerator of external scale ratio

$3A

For manufacturer use

$7A

Denominator of external scale ratio

10000

$3B

For manufacturer use

$7B

Hybrid deviation error level

100

$3C

For manufacturer use

$7C

External scale direction

$3D

JOG speed

300

$7D

Absolute external scale setup

$3E

For manufacturer use

$7E

For manufacturer use

$3F

For manufacturer use

$7F

For manufacturer use

In this example, we will write to the emergency stop enable parameter:

M8182=$41

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Delta Tau PMAC2 User Manual Page 49

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