Delta Tau PMAC2 User Manual download pdf (Page 50)

Turbo PMAC2 Realtime Express Controller

Software Setup

5. If writing to a parameter, set PARAM_DATA (M8183) equal to the desired value, but if

you are reading from drive or saving the values to EEPROM of the drive set

PARAM_NUM equal to zero.

M8183=$0

6. Set the PMC_STATE (M8123) equal to 6 (Parameter Read Mode).

M8123=6

7. Wait until PMC_STATE (M8123) changes to 4 (Running Mode).

8. If you are reading a parameter, you can get the value from PARAM_DATA (M8183).

Otherwise, the writing or saving is done.

Accessing Returning Data from A4N/A5N Drives

The communication to each drive is taking place using two buffers, the TX buffer and RX buffer.

These buffers are accessible to the user and some useful information can be retrieved from these

buffers. Although reading these buffers is harmless to the performance and functionality of the

Realtime Express network and controller, we would strongly discourage writing to these

locations.

The received data from each drive consists of 16 bytes. These 16 bytes are transferred to PMAC

through Dual-Ported RAM style memory mapping, meaning lower 16 bits of X and Y memory

locations.

Byte 0

Y-MemoryX-Memory

Byte 0Byte 1Byte 2Byte 3

Byte 0

Byte 4Byte 5Byte 6Byte 7

Byte 0

Byte 8Byte 9Byte 10Byte 11

Byte 0

Byte 12Byte 13Byte 14Byte 15

$680XX

$680XX+1

$680XX+2

$680XX+3

The $680XX represents the memory location for different RX block numbers. The block number

of each motor is defined by the user by setting the Ixx30 of each motor. If the default values in

the PANADWLD.PMC file are used, the block 0 represents motor 1, block 1 represent motor 2

and so on.

Block No.

Memory

Address

$68080

$68084

$68088

$6808C

$68090

$68094

$68098

$6809C

Block No.

Memory

Address

$680A0

$680A4

$680A8

$680AC

$680B0

$680B4

$680B8

$680BC

Block No.

Memory

Address

$680C0

$680C4

$680C8

$680CC

$680D0

$680D4

$680D8

$680DC

Block No.

Memory

Address

$680E0

$680E4

$680E8

$680EC

$680F0

$680F4

$680F8

$680FC

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Delta Tau PMAC2 User Manual Page 50

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