Delta Tau PMAC2 User Manual download pdf (Page 36)

Turbo PMAC2 Realtime Express Controller

Software Setup

I603=$326

I604=$326

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

Panasonic network.

8. Panasonic TX Block and MacID Number of motor xx: (Starting at line 267)

Ixx30 and Ixx31 must match the order block number and MacID of the ring even though

the node might be an I/O node. Slave I/O nodes should be put in the Ixx30 and Ixx31

variables after the Servo nodes. There can be no GAPS in the Ixx30/31 variables. For

example, you cannot use Motor 5's I530/531 variables if you only have four nodes. Also,

this code only supports one block slave nodes.

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 only being used. It is

assumed that the first A4N/A5N drive on the downstream of the TP2RTEX is connected

to Motor 1 and the MacID of it is set to 0. The second drive is connected to Motor 2 and

MacID is set to 1 and so on.

I130=0

I131=0

I230=1

I231=1

I330=2

I331=2

I430=3

I431=3

I530=4

I531=4

I630=5

I631=5

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

Panasonic network.

9. Panasonic Homing Type Code: (Starting at line 365)

The Ixx33 variable will determine the homing routine of motor xx. In the default

download file, all the motors are set to home, based upon index high.

I133,PanasonicMtrs,100=$11

If you want to have different homing routines for different motors, you have to replace

the Ixx33 definition with individual setting for each motor. As an example:

I133=$11 ;home on C channel

I233=$12 ;home on rising edge of the home flag

I333=$13 ;home on falling edge of the home flag

I433=$11 ;home of C channel

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Delta Tau PMAC2 User Manual Page 36