Delta Tau PMAC2 User Manual download pdf (Page 52)

Turbo PMAC2 Realtime Express Controller

Software Setup

Using Absolute Feedback With A4N/A5N Drives

If you have Panasonic motors with absolute feedback, you need to set up the drive in order to use

this feature. Here are the steps that you need to follow:

As an example, we will assume motor 1 has the absolute encoder. By default, the drives are set to

incremental mode. So we need to change the mode to absolute encoders by changing the drive’s

parameter $0B to a value of $0.

M8180=1 // motor #1

M8181=$1 // write to parameter

M8182=$0B // parameter number

M8183=$0 // value

M8123=6 // execute the parameter read/write

Once the parameter is changed, save the data in the EEPROM of the device:

M8180=1 // motor #1

M8181=$101 // write to EEPROM

M8182=$0 // parameter number must be 0 for writing to EEPROM

M8183=$0 // value must be 0 for writing to EEPROM

M8123=6 // execute the parameter read/write

Once you have made this change on the drive, cycle the power off and on for the drive. For safety

reasons, the Panasonic drive will show error 40 representing absolute encoder system down error.

In order to clear this fault, first we have to clear the absolute encoder’s multi-turn data.

I133=$31 // Multi-turn data clear in absolute encoder (homing mode)

I124=$120000 // set bit 20 to high in order to ignore the error 40 or else the next

// command will be ignored

#1hm

I124=$820000 // set bit 20 back to zero and bit 23 to 1 indicating A4N/A5N

// drives high true amp-fault

Now that the multi-turn data is cleared, we can clear the fault from the drive.

M8123=5

Since Ixx10 and Ixx95 are set up properly in the original PANADWLD.PMC file, the absolute

information will be read automatically on power-up or $$$ command. If you want to command an

absolute data read manually, you can use the $* command.

#1$*

Detecting Errors on A4N/A5N Network

PMC_ERROR_FLAG (M8130) holds the detected errors on the network in the following format:

Bits

Partial Element

[3:0]

STATE_RING_CONFIG

[7:4]

STATE_READY

[11:8]

STATE_START

[15:12]

STATE_RUNNING

[20:16]

Source Motor Number for Error

1 ... 51 52 53

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Delta Tau PMAC2 User Manual Page 52

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