Delta Tau PMAC2 User Manual Page 48
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Turbo PMAC2 Realtime Express Controller
Software Setup
43
Before Deactivating the Backlash Feature:
1. Make sure motor present backlash is zero. If not, set it to zero by changing the motor
backlash size (Ixx86) to zero.
2. Wait until motor present backlash becomes zero.
3. Set motor backlash take-up rate (Ixx85) and motor backlash hysteresis (Ixx87) equal
to zero.
4. Check the direction of the backlash by looking at bit 4 of the motor status word. If it is
equal to 1, write a zero to it.
Motor#
1
2
3
4
5
6
7
8
Address
Y:$C0,4
Y:$140,4
Y:$1C0,4
Y:$240,4
Y:$2C0,4
Y:$340,4
Y:$3C0,4
Y:$440,4
Motor#
9
10
11
12
13
14
15
16
Address
Y:$4C0,4
Y:$540,4
Y:$5C0,4
Y:$640,4
Y:$6C0,4
Y:$740,4
Y:$7C0,4
Y:$840,4
Motor#
17
18
19
20
21
22
23
24
Address
Y:$8C0,4
Y:$940,4
Y:$9C0,4
Y:$A40,4
Y:$AC0,4
Y:$B40,4
Y:$BC0,4
Y:$C40,4
Motor#
25
26
27
28
29
30
31
32
Address
Y:$CC0,4
Y:$D40,4
Y:$DC0,4
Y:$E40,4
Y:$EC0,4
Y:$F40,4
Y:$FC0,4
Y:$1040,4
Reading/Writing A4N/A5N Drive Parameters over the network
Although each drive can be accessed and setup through the RS-232 connector of the drive, Delta
Tau’s Turbo PMAC2 Realtime Express Controller allows the user to read / write / save all the
parameters to any drive on the ring.
In order to read/change/save any of these parameters, you have to follow the following steps. As
an example, we will disable the emergency stop input of motor #1.
1. Set CMD_TYPE (M8179) variable to 0.
M8179=0
2. Set PARAM_MTR_NUM (M8180) to desired motor number. Please note that this is the
motor number and not necessarily the MacID of the drive.
M8180=1
3. Set PARAM_REQ (M8181) equal to a value representing read / write / save.
PARAM_REQ
Name
Description
$000
Parameter reading
Use this to read out the parameter value from the servo
drive.
$001
Parameter writing
Use this to write the parameter value to the servo drive.
$101
EEPROM writing
Save the parameter value to EEPROM in the servo drive.
Make sure to set the PARAM_NUM (M8182) and
PARAM_DATA (M8183) equal to zero.
M8181=$001
- ^1 HARDWARE REFERENCE MANUAL 1
- Copyright Information 2
- Operating Conditions 2
- Table of Contents 5
- INTRODUCTION 6
- Configuration 7
- Introduction 8
- Part Number Definition 9
- HARDWARE SETUP 10
- Mechanical Drawing 11
- System Wiring 12
- Push-button Switches 13
- Connections 13
- Hardware Setup 14
- Fieldbus Setup Connector, J3 15
- Emergency Stop Input 18
- Inputs wiring 19
- Outputs wiring 19
- Watchdog Relay wiring 20
- Auxiliary Connector, J8 21
- Digital-to-Analog Connection 22
- 12345678 23
- 9101112131415 23
- MACRO Connector 24
- Realtime Express Connector 26
- SOFTWARE SETUP 29
- Software Setup 30
- I-Variable Definitions 38
- Motor Setup I-Variables 39
- Motor Safety I-Variables 41
- Motor Motion I-Variables 42
- Further Motor I-Variables 47
- Conversion Table I-Variables 47
- M8182=$41 49
- M8123=5 53
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