Delta Tau PMAC2 User Manual download pdf (Page 35)

Turbo PMAC2 Realtime Express Controller

Software Setup

I124,PanasonicMtrs,100=$800000

5. Absolute Position Capture: (Starting at line 102)

By default, these variables read the absolute position of the motor from the A4N/A5N

drives. If you don’t have an absolute encoder, it’s still acceptable to keep these values

since they will return a zero on power up.

The user has to comment out the I-variables for motors which are not on the Realtime

Express network. In this example, only the first four motors are being used.

I110 = $1C05

I210 = $1C0D

I310 = $1C15

I410 = $1C1D

I510 = $1C25

I610 = $1C2D

Note that you have to place the /* sign one line after the last motor number used for the

Panasonic network.

6. Flag Status Word: (Starting at line 148)

The user has to comment out the I-variables for motors which are not on the Realtime

Express network. In this example, only the first four motors are being used.

I125=$A4

I225=$124

I325=$1A4

I425=$224

I525=$2A4

I625=$324

Note that you have to place the /* sign one line after the last motor number used for the

Panasonic network.

7. Position and Velocity Feedback: (Starting at line 186)

The user has to comment out the I-variables for motors which are not on the Realtime

Express network. In this example, only the first four motors are being used.

I103=$A6

I104=$A6

I203=$126

I204=$126

I303=$1A6

I304=$1A6

I403=$226

I404=$226

I503=$2A6

I504=$2A6

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Delta Tau PMAC2 User Manual Page 35