Delta Tau PMAC2 User Manual download pdf (Page 43)

Turbo PMAC2 Realtime Express Controller

Software Setup

Ixx32 Motor xx PID Velocity Feed forward Gain

(USED FOR A DIFFERENT PURPOSE WITH PANASONIC)

Fatal Following Error Limit Default Value

When setting the Ixx11, make sure that you store the same value in Ixx32 as the default

value of your following error. Ixx11 would be changed to a different value while homing

procedure and the value in Ixx32 would be written back once the homing is complete

Ixx33 Motor xx PID Integral Gain

(USED FOR A DIFFERENT PURPOSE WITH PANASONIC)

Panasonic Homing Type Code

Value

Homing Mode

$11

C Channel

$12

Rising edge of drive Home input

$13

Falling edge of drive Home input

$14

Rising edge of drive CCWL input

$15

Falling edge of drive CCWL input

$16

Rising edge of drive CWL input

$17

Falling edge of drive CWL input

$21

Actual Position Set

$31

Multi-turn date clear in absolute encoder

Ixx35 Motor xx PID Acceleration Feed forward Gain

(USED FOR A DIFFERENT PURPOSE WITH PANASONIC)

Warning Following Error Limit Default Value

When setting the Ixx12, make sure that you store the same value in Ixx35 as the default

value of your following error. Ixx12 would be changed to a different value while homing

procedure and the value in Ixx35 would be written back once the homing is complete

Motor Servo and Commutation Modifiers

Ixx59 Motor xx User-Written Servo/Phase Enable

(USED FOR A DIFFERENT PURPOSE WITH PANASONIC)

I-Variable

Value

I-Variable

Value

I-Variable

Value

I-Variable

Value

I159

I959

I1759

I2559

I259

I1059

I1859

I2659

I352

I1159

I1959

I2759

I459

I1259

I2059

I2859

I559

I1359

I2159

I2959

I659

I1459

I2259

I3059

I759

I1559

I2359

I3159

I859

I1659

I2459

I3259

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Delta Tau PMAC2 User Manual Page 43

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