Delta Tau PMAC2 User Manual download pdf (Page 47)

Turbo PMAC2 Realtime Express Controller

Software Setup

Further Motor I-Variables

Ixx91 Motor xx Power-On Phase Position Format

(NOT USED FOR PANASONIC)

Ixx97 Motor xx Position Capture & Trigger Mode....197

(NOT USED FOR PANASONIC)

I3300 to I4899 should not be used.

Conversion Table I-Variables

I8000 - I8191 Conversion Table Setup Lines

Encoder conversion table is not being used by default settings. If the user needs to use it

for any purpose, it is usable and will not cause any conflicts.

Using PMAC Motor Backlash Feature

Unlike a pure PMAC controller which calculates the trajectory and position of each motor and the

servo control of each axis, in Turbo PMAC2 Realtime Express controller, the Panasonic drives

are closing the position loop. This changes the way that PMAC introduces the backlash

calculations to each motor.

In practice, the backlash take up and the backlash calculations should be completely invisible to

the end user. Since the commanded position of the Panasonic motors are actually changing

because of the backlash size, it takes some special care to use backlash compensation of the

PMAC on Panasonic motors.

Before Activating the Backlash Feature

Each time you want to activate the backlash feature, you should follow these steps:

1. Make sure motor present backlash is zero. If not, you have to set it to zero while the

motor is killed. Also make sure that the backlash direction bit in motor status word is

zero – if not, write a zero to it.

Motor#

Address

Y:$0000E1

Y:$000161

Y:$0001E1

Y:$000261

Y:$0002E1

Y:$000361

Y:$0003E1

Y:$000461

Motor#

Address

Y:$0004E1

Y:$000561

Y:$0005E1

Y:$000661

Y:$0006E1

Y:$000761

Y:$0007E1

Y:$000861

Motor#

Address

Y:$0008E1

Y:$000961

Y:$0009E1

Y:$000A61

Y:$000AE1

Y:$000B61

Y:$000BE1

Y:$000C61

Motor#

Address

Y:$000CE1

Y:$000D61

Y:$000DE1

Y:$000E61

Y:$000EE1

Y:$000F61

Y:$000FE1

Y:$001061

2. Home the motor or establish the reference for the motor position.

3. Set motor backlash take-up rate (Ixx85), motor backlash size (Ixx86) and motor

backlash hysteresis to desired values.

4. Command the axis as normal.

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Delta Tau PMAC2 User Manual Page 47

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