Delta Tau PMAC2 User Manual download pdf (Page 51)

Turbo PMAC2 Realtime Express Controller

Software Setup

The first four bytes of data for each RX block includes various status bits:

Address

Bits

Name

Description

Y:$680XX

0~4

Actual MAC-ID

Returns the node address of the servo drive.

This is not echo-back, but actual value that is the setup of the RSW at power-up.

5~6

Update Counter

Returns the echo-back value of Update Counter.

Use this to check whether the drive has received properly.

C/R

C/R bit distinguish Command and Response.

Returns 1 as a response.

Y:$680XX

8~14

Command Code

Echo

Returns the echo-back value of Command Code.

CMD Error

Returns 1 at the command error.

X:$680XX

In Position

Returns 1 at Positioning operation completed (In-position status)

Set up the condition by Pr.63 “In-position output set up”.

Homing Complete

Returns 1 at Homing operation completed and holds 1 after that.

Clears to 0 at reception of Homing command.

Returns 1 from the power-up when you use the absolute encoder in absolute

mode at Position control mode or when you use the absolute external scale in

absolute mode at Full-closed control mode.

Torque Limited

Returns 1 at torque limited.

Warning

Returns 1 at warning occurrence.

Alarm

Returns 1 at alarm occurrence.

Servo Ready

Returns 1 at Servo-Ready (Transition-able to Servo-ON) state.

Becomes 1 when all of the 3 conditions are satisfied, “Main power established”,

“No alarm occurrence” and “Synchronization between the servo and the

communication established”

(Note) The servo drive might not become Servo-Ready state if the Update

Counter is not counted up properly.

Servo Active

Returns 1 at Servo-ON state.

X:$680XX

8,9,10

Home,

CCWL/CWL,

CWL/CCWL

Returns 1 when the sensor signal is active.

CCWL/CWL,

CWL/CCWL

Active when Input photo-coupler is OFF

(Note) Returns the signal status even if Pr.04 “Over-travel

input inhibit” is 1 (inhibit).

HOME

Depends on Pr.42 “Home input logic”.

The bit1/bit0 allocation for CCWL and CWL depend on the value of Pr.43

“Direction of motion”.

Pr.43

Byte3 at Response

Bit1

Bit 0

0, 1

CCWL

CWL

2, 3

CWL

CCWL

EX-IN1

Returns 1 (at bit corresponding to each input) when External input is ON (Input

photo-coupler ON).

You can use EX-IN4 as EX-SON (External Servo-ON input） when Pr.40

“External servo-on enable” is 1.

EX-IN2

EX-IN3

EX-IN4/EX-SON

EMG-STP

Returns 1 when Emergency-Stop input (EMG-STP) is ON (Input photo-coupler

OFF).

Returns the signal status even if Pr.41 "Emergency stop enable” is 0 (disable).

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Delta Tau PMAC2 User Manual Page 51

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