Delta Tau PMAC2 User Manual download pdf (Page 42)

Turbo PMAC2 Realtime Express Controller

Software Setup

Motor Motion I-Variables

Ixx24 Motor xx Flag Mode Control (Is a PMAC 1 Type)

Since the amp-fault is a low true on the Panasonic drives, you need to have bit 23 set to 1.

($800000)

Ixx25 Motor xx Flag Address

I-Variable

Value

I-Variable

Value

I-Variable

Value

I-Variable

Value

I125

$A4

I925

$4A4

I1725

$8A4

I2525

$CA4

I225

$124

I1025

$524

I1825

$924

I2625

$D24

I352

$1A4

I1125

$5A4

I1925

$9A4

I2725

$DA4

I425

$224

I1225

$624

I2025

$A24

I2825

$E24

I525

$2A4

I1325

$6A4

I2125

$AA4

I2925

$EA4

I625

$324

I1425

$724

I2225

$B24

I3025

$F24

I725

$3A4

I1525

$7A4

I2325

$BA4

I3125

$FA4

I825

$424

I1625

$824

I2425

$C24

I3225

$1024

Motor xx PID Servo Setup I-Variables

Ixx30 Motor xx PID Proportional Gain

(USED FOR A DIFFERENT PURPOSE WITH PANASONIC)

Panasonic TX Block Number

Ixx30 is the Panasonic TX Block number for the xx Motor. Needs completion for number

of Panasonic motors.

Ixx31 Motor xx PID Derivative Gain

(USED FOR A DIFFERENT PURPOSE WITH PANASONIC)

Panasonic Mac ID Number

Ixx31 is the Panasonic Mac ID number for the xx Motor. Needs completion for number

of Panasonic motors.

NOTE

Ixx30 and Ixx31 must match the order block number and Mac

ID of the Ring even though the node might be an I/O node.

Slave I/O nodes should be put in the Ixx30 & 31 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 4 Nodes.

Important:

Current Panasonic setup code only supports 1 block slave nodes.

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Delta Tau PMAC2 User Manual Page 42

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