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Delta Tau PMAC2 User's Manual

1. 0 Enable hardware position limits 1 Disable hardware position limits 0 Enable amplifier fault input 1 Disable amplifier fault input 00 Kill all PMAC motors on fault or following error 01 Kill only motors in the same coordinate system of this motor on it s fault or following error 10 or 11 Kill this motor only on this motor on it s fault or following error 0 Low true amplifier fault input 1 High true amplifier fault input 29 Turbo PMAC2 Realtime Express Controller 1124 PanasonicMtrs 100 800000 5 Absolute Position Capture Starting at line 102 By default these variables read the absolute position of the motor from the A4N A5N drives If you don t have an absolute encoder it s still acceptable to keep these values since they will return a zero on power up The user has to comment out the I variables for motors which are not on the Realtime Express network In this example only the first four motors are being used I110 1C05 1210 1C0D 1310 1C15 1410 1C1D 1510 1C25 1610 1C2D Note that you have to place the sign one line after the last motor number used for the Panasonic network 6 Flag Status Word Starting at line 148 The user has to comment out the I variables for motors which are not on the Realtime Express network In this example only the first four motors are being used 1125 SA4 1225 124 I325 1A4 I1425 224 15
2. HARDWARE REFERENCE MANUAL Turbo PMAC2 Realtime Express Controller DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2013 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the
3. 2 channels 12 bit A D converter amp 1 12 bit D A converter No Option Standard Opt 2B Dual Port RAM Opt 15F ModBus Comm Opt 2B amp Opt 15F Dual Port RAM amp ModBus Comm Communication Options Axis MACRO Node Options Other Options 0 No Options 1 Opt G1 Profibus Master 2 Opt G2 Profibus Slave 3 Opt G3 DeviceNet Master 4 Opt G4 DeviceNet Slave 5 Opt G5 CanOpen Master 6 Opt G6 CanOpen Slave 7 Opt GB CC Link Slave OO 00 No Additional Options xx Factory assigned digits for Additional Options Factory Assigned Options If Opt 10xx specific firmware version or any other Additional Option is required contact factory for digits K and L Factory Assigned digits If Opt 10xx is not ordered the latest firmware is used For detailed information on any of these options please refer to the previous section of this manual Introduction Turbo PMAC2 Realtime Express Controller HARDWARE SETUP Receiving and Unpacking Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment When the Turbo PMAC2 Realtime Express Controller is received do the following immediately 1 Inspect the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the controller 2 Remove the controller from the shipping contai
4. 0 SIA 2nd velocity loop integration time constant 1000 5A For manufacturer use 0 1B 2nd speed detection filter 0 SSB For manufacturer use 0 1C 2nd torque filter time constant 65 126 5C For manufacturer use 30 ID Ist notch frequency 1500 5D For manufacturer use 0 SIE Ist notch width selection 2 SE lst torque limit 500 SIF For manufacturer use 0 SF 2nd torque limit 500 20 Inertia ratio 250 560 In position range 131 21 Real time auto tuning set up 1 61 Zero speed 50 22 1 Apr 562 For ufacturer use 0 23 e filter mode 1 63 In position output setup 0 24 Vibration suppression filter selection 0 564 CT offset re calibration at servo on 0 25 Normal auto tuning motion setup 0 dek Undervoltage error response at main power off 1 26 Software limit set up 10 66 over travel limit 0 27 Velocity observer 0 567 at main power off 0 28 2nd notch frequenc 150 68 g 0 29 2nd notch width selection 2 569 Sequence at Servo OFF 0 2A 2nd notch depth selection 0 6A Mechanical brake delay at motor standstill 0 2B Ist vibration suppression frequency 0 6B Mechanical brake delay at motor in motion 0 2C Ist vibration suppression filter 0 oC External regenerative resistor setup 2 Mar 00 2D 2nd vibration suppression frequency 0 6D Main power off detection time 35 2E 2nd vibration suppression filter 0 6E Emergency stop torque setup 0 2F Adaptive filter frequency 0 6F For manufacturer use 0 30 2nd gain action setup 1 570 Position deviation error level 25000 3
5. This connector is used in conjunction with USB A B cable which can be purchased from any computer store The A connector is connected to a PC or hub device and the B connector plugs into the J1 USB port USB drivers are always included in the latest software packages from Delta Tau s website at http www deltatau com Note Since the USB connector will connect the ground on the controller and computer together make sure that computer and the controller have the same voltage ground i e that they are connected to the same power line Hardware Setup Turbo PMAC2 Realtime Express Controller Pin Symbol Function 1 VCC N C 2 D DATA 3 D DATA 4 GND Ground 5 SHELL Shield 6 SHELL Shield Ethernet Modbus Connection J2 This connector is used for Ethernet communications from the Turbo PMAC2 Eth Ultralite to a PC or into an Ethernet network The default IP address for all Delta Tau products with Ethernet communication capability is 192 6 94 5 which can be changed later with the proper software provided by Delta Tau This port can support Modbus communication and can act as either Server or Client on a Modbus Network There are four sockets available on this port and each of them can be configured as Modbus Server Modbus Client PMAC ASCII or PMAC INTR If you want to use this port for communication purposes with the controller you need to set at least one of the sockets to PMAC AS
6. backlash take up rate Ixx85 motor backlash size Ixx86 and motor backlash hysteresis to desired values 4 Command the axis as normal Software Setup 42 Turbo PMAC2 Realtime Express Controller 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 T 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 BCO0 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
7. command in the terminal window of PEWIN32PRO2 SAVE 19 Reset the controller Reset the controller by issuing a command in the terminal window 20 Clear and Reset the Realtime Express network Reset and clear the errors on the Realtime Express network by setting M8123 8 M8123 8 21 Download any other user configuration files and or programs PLCs etc I Variable Definitions As described in the PANADWLD PMC file there are certain I variables that you need to set for your ring setup Also there are a certain number of resources and functions that have been limited to the user which are listed below If a specific I variable is not listed here you may assume that it has the same usage described in Delta Tau s Turbo Software Reference Manual Software Setup 33 Turbo PMAC2 Realtime Express Controller RESERVED M amp P VARIABLE FOR PANASONIC IMPLEMENTATION e M8100 M8191 e P8191 Since these variables have been used in user written servo phase and PLCC1 writing into these variables or changing their definition can cause unexpected behavior in the system UNAVAILABLE PMAC COMMANDS FOR PANASONIC IMPLEMENTATION Certain PMAC commands are not available on the Realtime Express Controller These commands can stop the controller by stopping the network from HMZ HM1 32 home search command from any motion program To reset power cycle or command M8123 8 in term
8. controller by damaging components or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 NEW MANUAL CREATION 04 03 07 CP S SATTARI 2 CLEARED FOR RELEASE 12 07 07 CP S SATTARI 3 REVISED GENERAL PURPOSE IO CONNECTOR 01 29 09 CP S SATTARI ADDED MULTIPLEXED IO PORT INFO ADDED PANASONIC PROGRAM SETUP INFO ADDED PARAMETER PASSING INFO ON REALTIME EXPRESS NETWORK 4 CORRECTION IN J5 PIN OUT TABLE 02 15 10 CP S SATTARI UPDATED WIRING FOR HANDWHEEL PORT IMAGE ADDED SUPPORT FOR A5N NETWORK DRIVES 10 14 13 SS S SATTARI Turbo PMAC2 Realtime Express Controller Table of Contents INTRODUCTION csccssssssscssssssscsescssscssscssscssscssscssssssessscssscssscssscssscssscesscesscssscesscessessscssonssscsssesooeees 1 OVEIVIEW 353 dees eelere deer dee Steeg a ide eet 1 Compatibility 2icn ani sihstea inside ga E E aired eos ses 1 Configuration 2 1 55 iio T ah Lene ten senate ened 2 Base Versiotisiss sisiistitisedncialliiti ele Moa na Moats Mons a ina ea ind ees 2 Macro Ring Connector Opt
9. is connected to Motor 2 and MaclID is set to 1 and so on 130 0 131 0 230 1 231 1 330 2 331 2 430 3 431 3 530 4 531 4 630 5 631 5 Note that you have to place the sign one line after the last motor number used for the Panasonic network 9 Panasonic Homing Type Code Starting at line 365 The Ixx33 variable will determine the homing routine of motor xx In the default download file all the motors are set to home based upon index high 1133 PanasonicMtrs 100 11 If you want to have different homing routines for different motors you have to replace the Ixx33 definition with individual setting for each motor As an example 1133 11 home on C channel 1233 12 home on rising edge of the home flag 1333 13 home on falling edge of the home flag T433 11 home of C channel Software Setup 31 Turbo PMAC2 Realtime Express Controller 10 Fatal Following Error Limit Starting at line 378 Although the PMAC can monitor and take action based upon the following error of each motor Panasonic suggests that the drive will determine the fatal following error and this feature is not to be used in PMAC hence the value is set to zero However if the user decides to use the PMAC s following error monitor this I variable can be used I111 PanasonicMtrs 100 0 11 Warning Following Error Limit Starting at line 379 Although the PMAC can monitor and tak
10. 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 Software Setup 47 Turbo PMAC2 Realtime Express Controller The following error codes are possible in each of the elements above Error Code Error Description No Error ERR_TIMEOUT ERR_NODE_SUM ERR_NODE_BLK ERR_MACID ERR_FLAG2 ERR_I59 ERR_CRC_PER all gt ell in o ERR_E_STOP To clear the fault from the drive network M8123 5 command can be used M8123 5 Software Setup 48
11. 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 Software Setup 43 Turbo PMAC2 Realtime Express Controller 4 Ifreading or writing to a parameter set PARAM_NUM M8182 equal to the parameter number based on following table If saving the values to EEPROM of the drive set PARAM_NUM equal to zero No Parameter Name Default No Parameter Name Default 0 For manufacturer use 1 540 External Servo ON enable 0 1 LED display 0 41 Emergency stop enable 1 2 Control mode 0 42 Home
12. style connectors is used as communication medium between the MACRO stations Panasonic The TX and RX connectors get connected to A4N ASN Drives from Panasonic Ethernet connection can be used either for communication between the unit and a PC as user interface or with MODBUS option it can be configured as MODBUS MASTER or ETHERNET SLAVE for expanding the control solution USB connection can be used either for communication between the unit and a PC as user interface FIELDBUS connector gets connected directly to the Hilscher module inside the unit and the SyCon software for setting up the module FIELDBUS SETUP HoOaaag ooog FIELDBUS zom a5 2 2 9 The FIELDBUS connector is the main connector between the Hilscher module and the optional FieldBus network Please check the pin out configuration section carefully FIELDBUS INTERFACE 0000 O00000 RS 232 O FW LOAD O RE INIT Serial Connection RS 24VD 232 can be used to talk to 0 75A Greg the CPU directly Since the 1 8 A start up parser on this port can be turned off it can also be used for communicating to the 3 party devices over RS 232 load the factory default By holding FW LOAD micro switch while power up you can place the card in Bootstrap mode for loading firmware up the card wi settings instead of saved settings on FLASH By holding RE INIT micro switch while power Hardware Setup 7 Turbo PMA
13. 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 1 2 3 4 5 6 2 8 Address Y 0000E1 Y 000161 Y 0001E1 Y 000261 Y 0002E1 Y 000361 Y 0003E1 Y 000461 Motor 9 10 11 12 13 14 15 16 Address Y 0004E1 Y 000561 Y 0005E1 Y 000661 Y 0006E1 Y 000761 Y 0007E1 Y 000861 Motor 17 18 19 20 21 22 23 24 Address Y 0008E1 Y 000961 Y 0009E1 Y 000A61 Y 000AE1 Y 000B61 Y 000BE1 Y 000C61 Motor 25 26 27 28 29 30 31 32 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
14. 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 Software Setup 36 Turbo PMAC2 Realtime Express Controller Motor Motion I Variables Ixx24 Motor xx Flag Mode Control Is a PMAC 1 Type Since the amp fault is a low true on the Panasonic drives you need to have bit 23 set to 1 800000 Ixx25 Motor xx Flag Address A24 Motor xx PID Servo Setup I Variables Ixx30 Motor xx PID Proportional Gain USED FOR A DIFFERENT PURPOSE WITH PANASONIC Panasonic TX Block Number Ixx30 is the Panasonic TX Block number for the xx Motor Needs completion for number of Panasonic motors Ixx31 Motor xx PID Derivative Gain USED FOR A DIFFERENT PURPOSE WITH PANASONIC Panasonic Mac ID Number Ixx31 is the Panasonic Mac ID number for the xx Motor Needs completion for number of Panasonic motors NOTE Ixx30 and Ixx31 must match the order block number and Mac ID of the Ring even though the node might be an I O node Slave I O nodes should be put in the Ixx30 amp 31 variables after the Servo nodes There can be no GAPS in the Ixx30 31 variables For example you cannot use Motor 5 s 1530 531 variables if you only have 4 Nodes Important Current Panasonic setup code only supports 1 block slave nodes Software Setup 37 Turbo PMAC2 Realtime Express Controller Ixx32 Motor xx PID Velocity Feed forward Gain USED FOR A D
15. 0 16900 16950 MACRO IC MaxPhase PWM Frequency Control USED WITH SPECIFIC VALUE FOR PANASONIC 16800 7371 16801 16851 16901 16951 MACRO IC Phase Clock Frequency Control230 USED WITH SPECIFIC VALUE FOR PANASONIC 16801 3 16802 16852 16902 16952 MACRO IC Servo Clock Frequency Control230 USED WITH SPECIFIC VALUE FOR PANASONIC 16802 1 UNUSABLE PMAC I VARIABLES FOR PANASONIC IMPLEMENTATION Ixx02 Motor xx Command Output Address NOT USED FOR PANASONIC Ixx26 Motor xx Home Offset This value is not used and does not affect the home offset Ixx29 Motor xx Output First Phase Offset 153 NOT USED FOR PANASONIC Ixx34 Motor xx PID Integration Mode NOT USED FOR PANASONIC Ixx36 Motor xx PID Notch Filter Coefficient N1 NOT USED FOR PANASONIC Ixx37 Motor xx PID Notch Filter Coefficient N2 156 NOT USED FOR PANASONIC Ixx38 Motor xx PID Notch Filter Coefficient D1 NOT USED FOR PANASONIC Ixx39 Motor xx PID Notch Filter Coefficient D2 NOT USED FOR PANASONIC Ixx40 Motor xx Net Desired Position Filter Gain NOT USED FOR PANASONIC Ixx41 Motor xx Desired Position Limit Band NOT USED FOR PANASONIC Software Setup 39 Turbo PMAC2 Realtime Express Controller Ixx42 Ixx43 Ixx55 Ixx56 Ixx57 Ixx58 Ixx60 Ixx6l Ixx62 Ixx63 Ixx64 Ixx65 Ixx66 Ixx67 Ixx68 Ixx69 Motor xx Amplifier Flag Address NOT USED FOR PANASONIC Mot
16. 013 MACRO RJ45 Connector CN3 and CN4 Front View OUT IN Pin Symbol Function 1 DATA Differential MACRO Signal CN4 DATA input CN3 DATA output 2 DATA Differential MACRO Signal CN4 DATA input CN3 DATA output 3 Unused Unused terminated pin See schematic below 4 Unused Unused terminated pin See schematic below 5 Unused Unused terminated pin See schematic below 6 Unused Unused terminated pin See schematic below iE Unused Unused terminated pin See schematic below 8 Unused Unused terminated pin See schematic below EE m CN3 Jim mr 14 70 Z Wi H 0214 13 dnc ibs 4 ur 555153 1 12 Xn c nc A 95506 0013 ae E dl SE owe Sek Ls ple meee TAE ET A TG110 S050N2 555153 1 20 Turbo PMAC2 Realtime Express Controller Realtime Express Connector These connectors are used to establish the Realtime Express Ring between the controller and Panasonic s A4N A5N drives Realtime Express RJ45 Connector CNT and CN2 Front View TX RX Pin Symbol Function N CT TX RX CT CT TX RX Sju DA WM Aju CT Hardware Setup Turbo PMAC2 Realtime Express Controller Thumbwheel Multiplexer Port JTHW Port J10 The Thumbwheel Multiplexer Port or Multiplexer Port on the JTHW connector has eight input lines and eight output lines The output lines can be used to multiplex large numbers of inputs and outputs on the port and Delta Ta
17. 0F4 680F8 680FC Software Setup 45 Turbo PMAC2 Realtime Express Controller 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 H C R CIR bit distinguish Command and Response Returns 1 as a response Y 680XX 8 14 Command Code Returns the echo back value of Command Code Echo 15 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 2 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 3 Torque Limited Returns 1 at torque limited 4 Warning Returns 1 at warning occurrence 5 Alarm Returns 1 at alarm occurrence 6 Servo Ready Returns 1 at Servo Ready Transition able to Servo ON state Becomes when all of the 3 condit
18. 1 Gain switching mode 10 71 For manufacturer use 0 32 Gain switching delay time 30 72 Overload level 0 33 Gain switching level 50 73 Over speed level 0 34 Gain switching hysteresis 33 74 Command update period 2 35 osition loop gain switching time 20 75 For manufacturer use 0 36 For manufacturer use 0 76 For manufacturer use 0 37 For manufacturer use 0 77 For manufacturer use 0 38 For manufacturer use 0 578 Numerator of external scale ratio 0 39 For manufacturer use 0 79 Multiplier of numerator of external scale ratio 0 3A For manufacturer use 0 7A Denominator of external scale ratio 10000 3B For manufacturer use 0 7B Hybrid deviation error level 100 3C For manufacturer use 0 IC External scale direction 0 3D OG speed 300 7D Absolute external scale setup 0 3E For manufacturer use 0 7E For manufacturer use 0 3F For manufacturer use 0 7F For manufacturer use 0 In this example we will write to the emergency stop enable parameter M8182 41 Software Setup 44 Turbo PMAC2 Realtime Express Controller 5 If writing to a parameter set PARAM_DATA M8183 equal to the desired value but if you are reading from drive or saving the values to EEPROM of the drive set PARAM_NUM equal to zero M8183 S0 6 Set the PMC_STATE M8123 equal to 6 Parameter Read Mode M8123 6 7 Wait until PMC_STATE M8123 changes to 4 Running Mode 8 If you are reading a parameter you can get the val
19. 15 M4 gt Y 578401 4 Input 3 J5 Pin 3 M5 gt Y S78401 5 Input 7 J5 Pin 16 M6 gt Y 78401 6 Input 4 J5 Pin 4 M7 gt Y 78401 7 Input 8 J5 Pin 17 M8 gt X 78401 0 8 I O Direction Control M8 S0 Set them as inputs M9 gt Y 578405 0 8 I O Data Type Control M9 SFF Set them as I O Not necessary since they are always set to one M10 gt X 78405 0 8 I O Inversion Control M10 SFF SFF represents 1 for high and 0 for low input There are 4 outputs on the I O connector which can be used in sinking or sourcing mode Since these outputs share some circuitary you can only use one type sinking or sourcing at a time The maximum current that these outputs can supply is 900mA on each output CP Sa oO ee OOOOOOODOOO 12 24VDC GND Sourcing Outputs Hardware Setup OOOOOOOO0O0000 O O O O OOO 12 24VDC GND Sinking Outputs 14 Turbo PMAC2 Realtime Express Controller To write to the outputs you need to define these M variables Watchdog Relay wiring M52 gt Y 5078402 2 DAT2 Line J2 Pin 6 or 19 M53 gt Y S5078402 3 DAT3 Line J2 Pin 7 or 20 M54 gt Y S5078402 4 DAT4 Line J2 Pin 8 or 21 M55 gt Y S5078402 5 DAT5 Line J2 Pin 9 or 22 M60 gt X S078402 0 8 Direction control for DATO to DAT7 M61 gt Y S5078406 0 8 Data type control DATO to DAT M62 gt X S078406 0 8 Data inversion control M60 SFF Setting the Direction contr
20. 25 2A4 1625 324 Note that you have to place the sign one line after the last motor number used for the Panasonic network 7 Position and Velocity Feedback Starting at line 186 The user has to comment out the I variables for motors which are not on the Realtime Express network In this example only the first four motors are being used 103 SA6 104 SA6 203 126 204 126 303 1A6 304 1A6 403 226 404 226 503 2A6 504 2A6 Software Setup 30 Turbo PMAC2 Realtime Express Controller 1603 326 1604 326 Note that you have to place the sign one line after the last motor number used for the Panasonic network 8 Panasonic TX Block and MacID Number of motor xx Starting at line 267 Ixx30 and Ixx31 must match the order block number and MacID of the ring even though the node might be an I O node Slave I O nodes should be put in the Ixx30 and Ixx31 variables after the Servo nodes There can be no GAPS in the Ixx30 31 variables For example you cannot use Motor 5 s 1530 531 variables if you only have four nodes Also this code only supports one block slave nodes The user has to comment out the I variables for motors which are not on the Realtime Express network In this example only the first four motors are only being used It is assumed that the first A4N A5N drive on the downstream of the TP2RTEX is connected to Motor 1 and the MacID of it is set to 0 The second drive
21. 92 6 94 5 Remove PMAC 08 NA Properties About Us Cancel To check the communications click Test If communication is established you will see the following confirmation window RW PcommServer N The PMAC was successfully detected In case of Ethernet Communication the Peommserver will report the result of PING command to the network driver chip on the controller before trying to communicate to the controller CPU PcommServer A PING Success Ethernet adapter settings are currently configured correctly Once the communication is established you can use any of the windows and tools provided by the Pewin32PRO2 software and accompanied tools Realtime Express Network Specific Configuration Setup The Turbo PMAC2 Realtime Express Controller is a part of Turbo PMAC 2 family of controllers which has been loaded with custom user written phase and servo algorithms to communicate with Panasonic drives The software consists of two parts All you need to do is to change the download file panadwld pmc based on your particular Realtime Express network settings The download file will include a few other files in which you don t need to change This process is only necessary the first time that you want to setup a network or if you have reset the card back to factory default settings either by issuing a command and saving it or after powering up while holding the SW2 Re Init You can download these files fr
22. AN_L CAN Low Signal E8 jumper should be in 2 3 position CC Link J4 IAAT DB9 Female Pin Symbol Function 1 SLD CC Link Shield 2 FG CC Link Function Ground 3 DATAA CC Link Data A 4 5 DG CC Link Data Ground 6 FG CC Link Function Ground 7 8 9 DATA B CC Link Data B E8 jumper should be in 2 3 position 12 Turbo PMAC2 Realtime Express Controller General Purpose I O Connection J5 The 25 pin D Sub connector located on top of the controller provides 8 optically isolated inputs 4 optically isolated outputs and a controller watchdog output with both normally closed and normally open contacts The connector also has an extra input which can be used as either sinking or sourcing input regardless of the other inputs setup J5 General Purpose I O DOOOOO DOOOO 25 pin Female D Sub connector 0000o 0000 Pin Symbol Description 1 IN1 Input 1 2 IN3 Input 3 3 IN5 Input 5 4 IN7 Input 7 5 IN RET Input return line 6 OUT1 COL Sinking output 1 7 OUT2 COL Sinking output 2 8 OUT3 COL Sinking output 3 9 OUT4 COL Sinking output 4 10 COM EMT GND Connection for sinking outputs 11 WDO COM Watchdog Common 12 WDO NO Normally Open Contact 13 ESTOP E Stop return line 14 IN2 Input 2 15 IN4 Input 4 16 IN6 Input 6 17 INS Input 8 18 COM COL 12 24 V input for sourcing outpu
23. C2 Realtime Express Controller Push button Switches There are two push button switches located at the bottom of the unit next to the 24V power supply input These buttons are accessible for reinitializing the board back to factory default settings and loading new firmware revisions FW LOAD switch The FW LOAD switch is used to download new firmware to the controller In order to use this switch you need to hold the switch pressed while powering up the system This will cause the system to go to bootstrap mode after which you can use Delta Tau s Executive software to download the new firmware to the controller RE INIT switch The RE INIT switch will cause the controller to reset to factory default settings To use this function you need to hold down the switch while powering up the system This will stop the controller to load your settings from the EEPROM and load factory default settings instead Although your settings is not loaded once you power up holding the RE INIT switch your settings are still available in the EEPROM until you overwrite them with a SAVE command Caution Loading the factory default settings for this specific controller will stop the normal functioning of the system over the MACRO and or Realtime Express Ring To get the controller to communicate over the ring you need to download the backup settings file available from Delta Tau s website at http www deltatau com Connections USB Connection J1
24. CII Note Delta Tau Systems strongly recommends the use of RJ45 CATS5e or better shielded cable Newer network cards have the Auto MDIX feature that eliminates the need for crossover cabling by performing an internal crossover when a straight cable is detected during the auto negotiation process For older network cards one end of the link must perform media dependent interface MDI crossover MDIX so that the transmitter on one end of the data link is connected to the receiver on the other end of the data link a crossover patch cable is typically used If an RJ45 hub is used then a regular straight cable must be implemented Maximum length for Ethernet cable should not exceed 100m 330ft J2 RJ 45 Female Connector H Pin Symbol Function 1 TX Transmit line 2 TX Transmit line 3 Unused 4 Unused E Unused 6 Unused 7 RX Receive line 8 RX Receive line Amber LED Activity Blinking indicates transmit receive activity Green LED Link Solid Green indicates a valid connection Hardware Setup 9 Turbo PMAC2 Realtime Express Controller Fieldbus Setup Connector J3 This connector is a 10 pin female flat cable connector that is directly connected to the Fieldbus communication device installed in the system based on order options Use SyCon program to set up the communication module SyCon is a universal Fieldbus configuration tool developed by Hilscher C
25. IFFERENT 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 Software Setup 38 Turbo PMAC2 Realtime Express Controller Supplemental Motor Setup I Variables 16800 1685
26. If you do not have the MACRO option comment out this whole line define MACRO Clock Settings Line 54 It s possible to have different clock settings on the Turbo PMAC2 Realtime Express controller However here are the suggested values define MAXPHASE 7368 define MAXPHASE TO PHASE DIV 3 define PHASE TO SERVO DIV 0 CLK_DIV_SAVE_M 0 If you only have the Panasonic Realtime Express network these settings will always work for you and no changes are required If you have the MACRO option in addition to Realtime Express and you want to have higher PWM Phase Servo clock frequencies than the Panasonic Realtime Express default you can choose a setting from the following table Software Setup 28 Turbo PMAC2 Realtime Express Controller Update Period ms 1 000 1 000 0 500 0 167 0 167 Software Setup Com Servo Phase MAXPHASE MAXPHASE_TO_PHASE_DIV PHASE_TO_SERVO_DIV CLK_DIV_SAVE_M Period Freq Freq ms kHz kHz 1 000 1 000 1 000 58982 0 1 0 0 500 1 000 2 000 29491 0 2 0 0 500 2 000 2 000 29491 0 1 0 0 167 6 000 6 000 9830 0 1 0 0 083 6 000 12 000 4915 0 2 0 Choose the best fitted PWM Phase clock for your system and set the MAXPHASE MAXPHASE_TO_PHASE_DIV PHASE_TO_SERVO_DIV and CLK_DIV_SAVE_M based upon the table The MAXPHASE parameter will be controlling the frequency of Max Phase clock of the PMAC which other clocks are divider from 16800 MAXPHASE_TO_PHASE_DIV specif
27. S Request to Send RTS 7 HilDSR Data Set Ready DSR 8 N A N C 9 GND Signal Ground 10 5V 5 VDC output Fieldbus Connection J4 Fieldbus option required This Female DB 9 connector is connected to the Fieldbus module inside the board and the communication to the network will be conducted through this port This will have different pin out descriptions based on the module installed in the controller Profibus J4 DB9 Female Pin Symbol Function 1 N C 2 5VDC Positive Power Supply 3 RXD TXD P RS 485 Receive Send Data P 4 CNTR P Control Counter TTL 5 DGND Reference Ground 6 5VDC Positive Power Supply 7 N C 8 RXD TXD N RS 485 Receive Send Data N 9 N C E8 jumper should be in 1 2 position Hardware Setup 10 Turbo PMAC2 Realtime Express Controller Hardware Setup 11 Turbo PMAC2 Realtime Express Controller Hardware Setup CANopen J4 IAAT DB9 Female Pin Symbol Function 1 N C 2 CAN L CAN L Bus line ISO 11898 3 CAN_GND CAN Ground 4 N C 5 N C 6 N C H CAN H CAN_H Bus line ISO 11898 8 N C 9 N C DeviceNet J4 0000o DB9 Female Pin Symbol Function 1 V DeviceNet 24V Power Supply 2 CAN_H CAN High Signal 3 V DeviceNet V Reference Potential 4 N C 5 SHELL Shield 6 CAN_H CAN High Signal 7 N C 8 N C 9 C
28. SENE 21 Thumbwheel Multiplexer Port JTHW Port JO 22 KAIRWERZDKT K ME 24 Host Gottes ege ENEE EET EE EE EE 24 Pewin32PRO2 Communication Setup 24 Realtime Express Network Specific Configuration Setup ceescesssecsseeseseeceseeeesaeecsseesseeeeseeensaes 27 Realtime Express Network Setup Step by Sien 28 Variable De niton Sience n N E N T a rod asa a A eed 33 Using PMAC Motor Backlash Feature eceeeccesssecesseecsseeesseessseeeesseecsaeecseecsseecesaeessaeessaeessneeessaes 42 Reading Writing A4N A5N Drive Parameters over the network esseeeseesrsesrserrresrrerrseresereerrrsrreereeee 43 Accessing Returning Data from A4N ASN Drives cescceescecsscceesseeesseecsseecsceceseeeesaeessaeecsaeessneeensaee 45 Using Absolute Feedback With A4N ASN Drive 47 Detecting Errors on A4N ASN Network A 47 Table of Contents i Turbo PMAC2 Realtime Express Controller INTRODUCTION Overview The Turbo PMAC2 Realtime Express Controller is a member of the Turbo PMAC family of boards optimized for interface to the system through Panasonic s Realtime Express Network It can command up to 32 axes through Realtime Express Network This controller is also capable of communicating and control of MACRO drives and IO modules if ordered with the MACRO option The Turbo PMAC2 Realtime Express Controller is a stand alone unit which can be communicated with via RS 232 USB or Ethernet connections with or without the optional
29. adrature input B 8 DGND Digital Ground 9 ADC1 Analog to Digital input positive signal 10 ADC2 Analog to Digital input positive signal 11 DAC1 10VDC output 12 DIRI Direction output 13 PULI Pulse output 14 HW1_CHAI Handwheel Quadrature input A 15 HW1_CHB Handwheel Quadrature input B to use the ADCs with single ended signal connect the ADC1 and ADC2 to pin 8 DGND Handwheel Wiring The handwheel wiring should be done as shown in the following figure You can use differential or single ended signals from any quadrature encoder Make sure that you tie the ground connection of the encoder to the ground connection of the J8 if you re planning to use single ended encoder Since there is no power output pin available on J8 you need to power up the encoder from a separate source a e JTHW OOO0O0000 O O OOOO N Quadratue Encoder Handwheel Wiring To read the handwheel counts you need to implement these settings in Encoder Conversion Table I8000 78410 M1010 gt X 3501 0 24 s Hardware Setup 16 Turbo PMAC2 Realtime Express Controller You can access the position of the handwheel You can also use the same address 3501 as a master address for any of the motors Ixx05 Analog to Digital Connections Option 12 required There are two analog to digital circuits on J8 which can have 12 bit or 16 bit resolution based on the requested options The signal can be either differential or si
30. ating it cannot verify the compatibility of the driver with Windows XP Click on Continue Anyway button and the driver will be installed on your computer You should then be able to see the device in the Windows Device Manager 2 Device Manager Eek File Action View Help a 628 Sa Se Keyboards 75 Mice and other pointing devices Monitors Si Motion Controllers Si Network adapters 1 Ports COM amp LPT SR Processors Sound video and game controllers System devices Universal Serial Bus controllers Intel R 82801EB USB Universal Host Controller 24D2 Intel R 82801EB USB Universal Host Controller 24D4 Intel R 82801EB USB Universal Host Controller 24D7 Intel R 82801EB USB Universal Host Controller 24DE Intel R 828016 USB2 Enhanced Host Controller 24DD OOPS QMAC USB Root Hub USB Root Hub USB Root Hub USB Root Hub USB Root Hub Once you have established the connection between the controller and the computer start your software by clicking on Pewin32PRO2 icon either from your desktop or from the Start menu Je Pewin32PRO2 From the Setup menu select on Force All Windows to Device Number Z PEWIN32PRO2 C PROGRAM FILESWDELTA TAU PMAC EXECUTIVE PRO2 SUITE File Configure View PMAC Resources Backup EET Tools Window Help General Setup and Options vice Number v Show Message Window Show Project Manager Software Setup 25 Turbo PMAC2 Realti
31. ctor ZEC 1 5 3 ST 5 0 C2 R1 3 with Delta Tau part number 014 188305 001 and Phoenix part number 18883051 J9 24V DC Input ari 4 Phoenix PCB Edge Connector 17 5 4 Pin Symbol Function 1 GND Ground Connection from power supply 2 N C 3 24V 24VDC input from power supply MACRO Connector Based on the option that you have either the MACRO fiber connector or the MACRO RJ45 connector will be installed on the controller e Option A provides the MACRO ring fiber optic SC style interface connector The key component on the board is U49 MACRO SC Style Fiber Connector CN3 and CN4 Front View OUT IN Pin Symbol Function 1 IN MACRO Ring Receiver 2 OUT MACRO Ring Transmitter 1 The fiber optic version of MACRO uses 62 5 125 multi mode glass fiber optic cable terminated in an SC style connector The optical wavelength is 1 300nm 2 It is possible to adapt wire to fiber operation when using OPT B Hardware Setup 19 Turbo PMAC2 Realtime Express Controller e Option C provides the MACRO ring RJ 45 electrical interface connectors The key components on the board are CN3 and CN4 c216 our Hardware Setup 85505 0
32. d Play system will detect the controller and install the appropriate driver for communication If you install the PMAC Executive Pro2 Suite before connecting the USB connection Windows will detect the communication driver automatically Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for OOPS QMAC If your hardware came with an installation CD lt gt or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue Select the automatic installation of the drivers and click Next Software Setup 24 Turbo PMAC2 Realtime Express Controller Found New Hardware Wizard Please wait while the wizard installs the software Ke OOPS QMAC te Hardware Installation The software you are installing for this hardware OOPS QMAC has not passed Windows Logo testing to verify its compatibility with Windows XP Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing L Continue Anyway J l STOP Installation A window will appear st
33. dual ported RAM This controller is also capable of Fieldbus communications when the appropriate option is ordered The form factor of this connection is dependent on which Fieldbus protocol is being utilized and it supports the following protocols e ProfiBus Master Opt 1 e ProfiBus Slave Opt 2 e DeviceNet Master Opt 3 e DeviceNet Slave Opt 4 e CANopen Master Opt 5 e CANopen Slave Opt 6 e CC Link Slave Opt 11 The protocol is dependent upon which hardware and option are selected The hardware cannot be programmed for an alternate protocol including master slave Compatibility This controller can be used to control Panasonic A4N A5N Drives over the Realtime Express network This network utilizes the Ethernet type CAT 5 cable as the communication medium but should not be connected to any other Ethernet network Note Currently the controller only supports single block slave nodes If ordered with the MACRO option this controller can control MACRO drives and I O devices over either the fiber optic MACRO ring or copper MACRO ring Introduction l Turbo PMAC2 Realtime Express Controller Configuration Base Version The base version of the Turbo PMAC2 Realtime Express Controller provides 80 MHz DSP56303 CPU 128k x 24 SRAM compiled assembled program memory 128k x 24 SRAM user data memory 1M x 8 flash memory for user backup amp firmware 32k x 16 bank of dual ported RAM Latest released firmware version RS 232 serial i
34. e action based upon the following error of each motor Panasonic suggests that the drive will determine the following error and this feature not to be used in PMAC hence the value is set to zero However if the user decides to use the PMAC s following error monitor this I variable can be used 1112 PanasonicMtrs 100 0 12 Ixx11 s saved value during Homing Starting at line 386 If the user chooses to use Ixx11 by setting it to a value other than zero the same value should be assigned to Ixx32 1132 PanasonicMtrs 100 0 13 Ixx12 s saved value during Homing Starting at line 391 If the user chooses to use Ixx12 by setting it to a value other than zero the same value should be assigned to Ixx35 1135 PanasonicMtrs 100 0 14 MACRO Settings Starting at line 402 If the user has MACRO communication option enabled the most common settings are pointed out after this section of the file For more detailed information on MACRO setup refer to the Delta Tau MACRO Software Reference Manual and the MACRO hardware specific manual 15 Save the file Save the modified file under the original name 16 Reset the controller Software Setup 32 Turbo PMAC2 Realtime Express Controller Reset the controller by issuing a command in the terminal window 17 Download the configuration file 18 Save the configuration to the PMAC Save the configuration to the PMAC by issuing a SAVE
35. ght additional servo nodes and 8 additional I O nodes 64 nodes total 32 servo and 32 I O The key component on the board is U43 Options 1A and 1B are pre requisites Introduction 2 Turbo PMAC2 Realtime Express Controller Option 5 CPU and Memory Configurations Different versions of Option 5 provide different CPU speeds and main memory sizes Only one Option 5xx may be selected for the board The CPU is a DSP563xx IC as component U1 The CPU is available in two speed options 80MHz CPU is a DSP56303 Option 5C0 240 MHz CPU is a DSP56321 Option 5F3 The Maximum frequency of operation is indicated with a sticker on the CPU in U1 The compiled assembled program memory SRAM ICs are located in U30 U31 and U32 These ICs form the active memory for the firmware compiled PLCs and user written phase servo algorithms These can be 128k x 8 ICs for a 128k x 24 bank fitting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint The user data memory SRAM ICs are located in U27 U28 and U29 These ICs form the active memory for user motion programs uncompiled PLC programs and user tables and buffers These can be 128k x 8 ICs for a 128k x 24 bank fitting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint The flash memory IC is located in U26 This IC forms the non volatile memory for the board s firmware
36. ies the divider from Max Phase clock to Phase clock and PHASE_TO_SERVO_DIV will determine the divider which generates the Servo clock from the Phase clock As shown in the table the CLK_DIV_SAVE_M variable defines an additional divider from Phase clock to Realtime Express clock Because of the architecture of the Panasonic s Realtime Express this clock needs to be set at 2 kHz the update rate of the data from PMAC to Panasonic Please note that since the Servo clock in some cases might be faster than what Panasonic drives accept we should adjust the Servo calculation frequency of Panasonic motors by changing their Ixx60 value The proper value for Ixx60 is provided in the table Please note that changing of Ixx60 is only needed for Panasonic motors on the Realtime Express network and not on any other motor on the MACRO ring Flag Mode Control Line 97 Please refer to the Turbo PMAC Software Reference Manual for detailed information on setting this parameter Remember that the Panasonic s A4N AS5N drives have high true amplifier fault signal so the default value will be 800000 Here is a quick guide on setting Ixx24 of the motors Hex 8 0 0 0 0 0 Bin 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Use amplifier enable function Gate Type 1 Don t use amplifier enable function 0 PMAC1 i 1 PMAC2
37. inal window but then must reload Panasonic SAVE and power cycle To recover set M8123 5 Ctrl D To recover power cycle Any move until trigger Programming DISPLAY commands RESERVED PMAC I VARIABLES FOR PANASONIC IMPLEMENTATION General Global Setup I Variables These I variables should not be changed They are specifically set for Realtime Express Network I5 PLC Program Control Default 3 Range lor3 17 Phase Cycle Extension Default 0 110 Servo Interrupt Time Set for Panasonic rate Default 8388607 Motor Setup I Variables Ixx00 Motor Activation Control Must be set to 1 for each active motor Software Setup 34 Turbo PMAC2 Realtime Express Controller 1100 Motor 1 Activation Control should always be equal to 1 Meaning at least 1 drive motor should be connected to the controller This setting is done in the PANADWLD PMC file Ixx01 Motor xx Commutation Enable This should be 0 for all the motors except motor 1 for which the default value is 1 and should not be changed 1101 Motor 1 Commutation Enable should always be 1 Ixx03 Motor xx Position Loop Feedback Address Ixx04 Motor xx Velocity Loop Feedback Address Ixx08 Motor xx Position Scale Factor Should be set to 8 Ixx09 Motor xx Velocity Loop Scale Factor Should be set to 8 Ixx10 Motor xx Power On Servo Position Address If you have absolute feedback and the value is being sent over the RX buffer in the same memory locat
38. input logic 1 3 Torque limit selection 1 43 Direction of motion 1 4 Over travel input inhibit 1 44 Numerator of output pulse ratio 2500 5 For manufacturer use 0 45 Denominator of output pulse ratio 0 6 Address indicated time at power up 0 546 Pulse output logic inversion 0 7 Speed monitor SP selection 3 47 Z phase of external scale setup 0 8 Torque monitor IM selection 0 548 For manufacturer use 10000 9 Unit of velocity 0 49 For manufacturer use 0 0A Inhibit parameter change via network 0 4A For manufacturer use 0 0B Absolute encoder set up 1 4B For manufacturer use 10000 0C Baud rate of RS232 2 AC Smoothing filter 1 0D Warning setup of cumulative COM error 0 4D FIR filter setup 0 0E Warning setup of continuous COM error 0 4E For manufacturer use 0 0F Update counter warning setup 0 4F For manufacturer use 0 10 lst position loop gain 63 32 50 For manufacturer use 500 11 Ist velocity loop gain 35 18 51 For manufacturer use 1 12 Ist velocity loop integration time constant 16 31 52 For manufacturer use 0 13 Ist speed detection filter 0 53 For manufacturer use 0 14 Ist torque filter time constant 65 126 554 For manufacturer use 0 15 Velocity feed forward 300 55 For manufacturer use 0 16 Feed forward filter time constant 50 556 For manufacturer use 0 17 For manufacturer use 0 57 For manufacturer use 0 18 2nd position loop gain 13 38 558 For manufacturer use 0 19 2nd velocity loop gain 35 18 59 For manufacturer use
39. ion of Actual position you can set up the power on position address Ixx10 based on the following values Software Setup 35 Turbo PMAC2 Realtime Express Controller Motor Safety I Variables Ixx11 Motor xx Fatal Following Error Limit By default the controller will not check for following error and the drive will monitor for any following errors The reason is that the following error reported back to PMAC includes a delay because of the network update rate which can translate into unrealistic following errors at higher speeds You can always turn this feature on by setting it to any number greater than zero Make sure that the fatal following error is less than the following error set on the drive or the over current protection will stop the drive with error 16 Over Current Note 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 Ixx12 Motor xx Warning Following Error Limit By default the controller will not check for warning following error The reason is that the following error reported back to PMAC includes a delay because of the network update rate which can translate into unrealistic following errors at higher speeds Note When setting the Ixx12 make sure that you store the same value in Ixx35 as the default
40. ions era e en vende hase ent er A nh 2 Option 1 Additional MACRO Interface Is 2 Option 5 CPU and Memory Configurations eeseesseecsseeeeseecesseeceseecseeceseecesaeecsaeessaeessseeeesaeeesaeers 3 Option 10 Firmware Version Specification ceesesssecsseecsseecesseecsaeecseecsseecesaeecsseesseeesteeeesaeeesaeees 3 Option 12 Analog to Digital and Digital to Analog Converters 3 Part Number Definition edu eet degag ieren rees 4 HARDWARE OKT NI M 5 Receiving and Unpacking siio fessed ea ege oane EEE EAEE EAEE EEN 5 Nl gpng lee eege ege Ee SE E ET 5 Mechanical Klamere en Seege ence ees aed did de es else eae a 6 System WEIDER Sapien Ree E a EA EE e 7 Push button Switchies ii 0 Seege en eee Eege ede ines ENEE E A ees elses eene Beh 8 FW ROAD Switch iti DEE oa Sa ee i EE 8 EEN IR e EE 8 Connections yi i tu asi NA alte oe es Ss ek Eea 8 BK ER E DER EE 8 Ethernet Modbus Connection ID 9 Fieldbus Setup Connectors J3 aisee eeto enets ree EE bus EE ee seed 10 Fieldbus Connection J4 Fieldbus option reogured 10 General Purpose I O Connection J5 woo eeeeeeeseccsseeesseeesseecsseecsscecsseeeesaeecsaeecseecsseeeesaeessaeessaeessneeeesaes 13 Auxiliary Connectors EE 16 24 VDE Power Supply Input JE ssccec exeueds sssetsevessetedeosdehsvecodeesvescdessues cues des dE dE edd de 19 MACOS EN EEN Eege eege Eege 19 Realtime Express COmMector ec css ite eves eeaeee epo ee esien eE eA ee EREE aE KOSKEA KEENER np SARER E
41. ions 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 H Servo Active Returns at Servo ON state X 680XX 8 9 10 Home Returns when the sensor signal is active CCWL CWL CCWL CWL Active when Input photo coupler is OFF CWL CCWL CWL CCWL Note Returns the signal status even if Pr 04 Over travel input inhibit is 1 inhibit Depends on Pr 42 Home input logic The bit1 bitO allocation for CCWL and CWL depend on the value of Pr 43 Direction of motion Pr 43 Byte3 at Response Bitl Bit 0 0 1 CCWL CWL 23 CWL CCWL 11 EX IN1 Returns 1 at bit corresponding to each input when External input is ON Input 12 EX IN2 photo coupler ON 13 EX IN3 You can use EX IN4 as EX SON External Servo ON input when Pr 40 14 EX IN4 EX SON External servo on enable is 1 15 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 Software Setup 46 Turbo PMAC2 Realtime Express Controller 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 as
42. ive cooling and maintenance the control should be mounted on a smooth non flammable vertical surface e At least 3 inches 76mm top and bottom clearance must be provided for airflow At least 0 4 inches 10mm clearance is required between controls each side e Temperature humidity and Vibration specifications should also be taken in account The Turbo PMAC2 Realtime Express Controller can be mounted with a traditional 2 hole panel mount one U shape notch on the bottom and one pear shaped hole on top The controller is mounted to a back panel The back panel should be unpainted and electrically conductive to allow for reduced electrical noise interference The back panel should be machined to accept the mounting bolt pattern of the controller Make sure that all metal chips are cleaned up before the controller is mounted so there is no risk of getting metal chips inside the controller Hardware Setup 5 Turbo PMAC2 Realtime Express Controller The controller is mounted to the back panel with four M4 screws and internal tooth lock washers It is important that the teeth break through any anodization on the controller s mounting gears to provide a good electrically conductive path in as many places as possible Mount the controller on the back panel so there is airflow at both the top and bottom areas of the controller at least three inches Caution Units must be installed in an enclosure that meets the environmental IP rating
43. lexer select output 17 DAT7 Input Data 7 Input Data input from multiplexed accessory 18 SEL7 Output Select 7 Output Multiplexer select output 19 N C N C No Connection 20 GND Common PMAC Common 21 N C N C No Connection 22 GND Common PMAC Common 23 N C N C No Connection 24 GND Common PMAC Common 25 5V Output 5VDC Supply Power Supply output 26 INIT Input PMAC Reset Low is Reset The JTHW multiplexer port provides 8 inputs and 8 outputs at TTL levels While these I O can be used in unmultiplexed form for 16 discrete I O points most users will utilize PMAC software and accessories to use this port in multiplexed form to greatly multiply the number of I O that can be accessed on this port In multiplexed form some of the SELn outputs are used to select which of the multiplexed I O are to be accessed Hardware Setup Turbo PMAC2 Realtime Express Controller How to use THW Port with Acc 34 1 Set i29 78400 2 save 3 4 Follow the setup for Acc 34 How to use THW Port as general purpose IO 8 Input and 8 Output 1 WxX 78400 FFOO IO Direction Control 2 WY 78404 FFFF IO Data Type Control 3 WxX 78404 0 JO Inversion Control M1000 gt Y 78400 0 8 8 Inputs M1001 gt Y 78400 8 8 8 Outputs Hardware Setup 23 Turbo PMAC2 Realtime Express Controller SOFTWARE SETUP Host Communications To communicate with Turbo PMAC2 Realtime Express Controller from
44. me Express Controller PMAC Devices Pcomm Version 4 2 4 0 About Us Cancel Click Insert Available PMAC Devices Pmac ETHO IP 192 6 94 5 Pmac ETH1 IP 192 6 94 5 Pmac ETHS IP 192 6 94 5 Donan l CAN Dar MCCCN Loch JA Select the communication port from the list All the available Serial ports COM1 COM2 and Delta Tau USB products are present on this list When trying to communicate through an Ethernet port and the IP address for the PMAC is not in the list click New Select a PMAC Comm Type Serial Port COM Ethemet ETH Cancel Select the Ethernet Eth option and click OK PMAC Ethernet Enumeration H 4 IP ddress 192 6 94 5 Cancel Network Test Enter the IP address of the controller The Default IP address for all Delta Tau Products is 192 6 94 5 If you need to change this default address you can do so by using a Configure Ethernet 100BaseT software which can be accessed from PMAC Executive PRO 2 Suite Delta Tau Common folder under Start Menu After selecting the communication port with the controller click OK Available PMAC Devices 192 6 94 5 OxFFFO Intr N A The selected device is now added to the list and it is referred as PMAC You can have up to 32 PMAC devices defined on the software Software Setup 26 Turbo PMAC2 Realtime Express Controller PMAC Devices Pcomm Version 4 2 4 0 PMAC 00 ETHO 1P 1
45. ner and remove all packing materials Check all shipping material for connector kits documentation diskettes CD ROM or other small pieces of equipment Be aware that some connector kits and other equipment pieces may be quite small and can be accidentally discarded if care is not used when unpacking the equipment The container and packing materials may be retained for future shipment 3 Verify that the part number of the controller received is the same as the part number listed on the purchase order 4 Inspect the controller for external physical damage that may have been sustained during shipment and report any damage immediately to the commercial carrier that delivered the controller 5 Electronic components in this controller are design hardened to reduce static sensitivity However use proper procedures when handling the equipment 6 Ifthe controller is to be stored for several weeks before use be sure it is stored in a location conforming to published storage humidity and temperature specifications stated in this manual Mounting The location of the control is important Installation should be in an area that is protected from direct sunlight corrosives harmful gases or liquids dust metallic particles and other contaminants Exposure to these can reduce the operating life and degrade performance of the control Several other factors should be evaluated carefully when selecting a location for installation e For effect
46. ngle ended In single ended configuration the input range can be 10VDC in contrast with 5VDC in differential signal setting Single Ended Signal Differential Signal 000000 OOOG s 000e GND on the analog signal side To read the value of the ADCs make sure that you have the correct strobe word written to the ADCs The ADC values can be read using M variables with the following definitions Option 12 12 bit Analog to Digital option I6806 S1FFFFF M63 gt Y 5078406 8 8 Data type control SELO to SEL7 M63 S0 M1001 gt Y 78415 8 12 S M1002 gt Y 78416 8 12 S Digital to Analog Connection The digital to analog output has a range of 10VDC and can source 20mA current The output signal is in differential mode and can be used as either differential or single ended mode Digital to Analog Output Wiring O OOOOOO ERC J8 Hardware Setup 17 Turbo PMAC2 Realtime Express Controller To write into the DAC output T6816 0 set the channel output type to PWM output M1005 gt Y 78414 8 16 S By changing the value of M1005 in a range of 16800 you can have 10VDC output on your DAC output Note Please note that the DAC output is a filtered PWM signal and is limited by the max phase settings which cannot be changed because of Realtime Express network requirements Pulse and Direction Output This output can be connected to an
47. nterface USB 2 0 amp Ethernet Communication No on board axis interface circuitry Two channels supplemental interface circuitry each including o 2 channel differential single ended encoder input o One output command signal set configurable as pulse and direction or PWM top and bottom pair e Direct I O interface port e 1 year warranty from date of shipment Cables not included Macro Ring Connector Options If a MACRO interface is desired which is the usual reason for use of the board at least one of the MACRO connector options must be selected e Option A provides the MACRO ring fiber optic SC style interface connector The key component on the board is U49 e Option C provides the MACRO ring RJ 45 electrical interface connectors The key components on the board are CN3 and CN4 Option 1 Additional MACRO Interface ICs e Option 1A provides the first additional MACRO interface IC 2 total for 16 additional MACRO nodes eight additional servo nodes and eight additional I O nodes 32 nodes total 16 servo and 16 I O The key component on the board is U41 e Option 1B provides the second additional MACRO interface IC 3 total for 16 additional MACRO nodes eight additional servo nodes and eight additional I O nodes 48 nodes total 24 servo and 24 I O The key component on the board is U42 Option 1A is a pre requisite e Option 1C provides the third additional MACRO interface IC 4 total for 16 additional MACRO nodes ei
48. of the end product ventilation or cooling may be necessary to prevent enclosure ambient from exceeding 45 C 113 F Mechanical Drawing The figures below show the mounting dimensions of the controller j 781 gt Heo H100 063 R 094 e Fh R172 4 epes 10125 10 30 GI El BR o 2 R094 Fy les H Note For more detailed drawings SolidWorks eDrawings DXF visit our website at http www deltatau com Hardware Setup Turbo PMAC2 Realtime Express Controller System Wiring 8 Inputs 8 Outputs TTL Level 8 Sinking Sourcing Digital Inputs Handwheel typically used to 4 Sourcing Sinking Digital Outputs DAC output create multiplexed UO Watchdog relay contacts ADC Input with accessory boards 1 Sinking Sourcing Input Pulse and Direction popnannnpnnnng 0000000000000 G OOO0000 nooponnogonogng OoOoOoOooOOoOOOOO OOOOOoOO J10 JTHW J5 General UO J8 AUX Motion And Cont Ring Optical The Light Link in Motion The Macro Connector will be used to form a ring between all the MACRO components of the system For RJ 45 connector standard CAT 5 or CAT 6 cables with standard RJ 45 connection can be used to form the ring For FIBER option fiber cable with SC
49. ol to 1 meaning outputs M61 SFF Setting data type to DATA on DATO to DAT M62 S0 Data inversion control for DATO to DAT In addition to the I O points and the E stop on General Purpose I O connector the user can monitor the status of the controller by accessing the watchdog relay As long as the controller is powered up and the watchdog has not been tripped indicating a functional controller the relay is energized As soon as the watchdog trips the relay will be de energized Both normally closed and normally open contacts are available on pins 24 and 12 consequently with common contact on pin 11 5V D27 MMBD301L SOT23 woo gt gt Wee EE2 5ND Hardware Setup WDO COM 15 Turbo PMAC2 Realtime Express Controller Auxiliary Connector J8 The 15 pin DB style female connector contains connections for handwheel quadrature input two ADC inputs one DAC output and one pulse and direction output Please check the software setup and connector pin out sections for more information on how to use each of these features ZEN OOOOO00O DB15 Female OOO Pin Symbol Function 1 ADC1 Analog to Digital input negative signal or DGND 2 ADC2 Analog to Digital input negative signal or DGND 3 DACI 10VDC output inverted 4 DIRI Direction output inverted 5 PULI Pulse output inverted 6 HW1_CHAI Handwheel Quadrature input A 7 HW1_CHB1 Handwheel Qu
50. om Delta Tau s website www deltatau com Once you open the PANADWLD PMC file with PEWIN32Pro or Pro2 software and download it to the controller you need to issue a Save command After the save command has been issued issue a command cycle power on the controller Software Setup 27 Turbo PMAC2 Realtime Express Controller Realtime Express Network Setup Step by Step Although the software package needed for Realtime Express setup includes several files you only need to modify one file in order to set up the controller The file to modify based upon the settings of your network is called PANADLWD PMC First establish communication with the controller through the PEWIN32PRO2 software From the File menu then select Open File and open PANADLWD PMC Make sure that you have unpacked all the files included in the package under the same folder and that you have read write access to that folder There is sufficient explanation included in the file in order for you to edit the file easily Here are the main changes needed for system setup 1 Number of Panasonic Motors Line 45 Define the number of Panasonic A4N A5N drives on the Realtime Express network the number of Panasonic motors you have on the ring define PanasonicMtrs 4 In this example we have 4 motors on the Realtime Express network MACRO option Line 50 Define whether or not you have the MACRO ring option define MACRO
51. or xx Overtravel Limit Flag Address NOT USED FOR PANASONIC Motor xx Commutation Table Address Offset NOT USED FOR PANASONIC Motor xx Commutation Delay Compensation NOT USED FOR PANASONIC Motor xx Continuous Current Limit NOT USED FOR PANASONIC Motor xx Integrated Current Limit NOT USED FOR PANASONIC Motor xx Servo Cycle Period Extension Period NOT USED FOR PANASONIC Motor xx Current Loop Integral Gain NOT USED FOR PANASONIC Motor xx Current Loop Forward Path Proportional Gain NOT USED FOR PANASONIC Motor xx Integration Limit NOT USED FOR PANASONIC Motor xx Deadband Gain Factor NOT USED FOR PANASONIC Motor xx Deadband Size NOT USED FOR PANASONIC Motor xx PWM Scale Factor NOT USED FOR PANASONIC Motor xx Position Error Limit NOT USED FOR PANASONIC Motor xx Friction Feed forward NOT USED FOR PANASONIC Motor xx Output Command Limit NOT USED FOR PANASONIC Software Setup 70 Turbo PMAC2 Realtime Express Controller Motor Commutation Setup I Variables Ixx70 Ixx71 Ixx72 Ixx73 Ixx74 Ixx75 Ixx76 Ixx77 Ixx78 Ixx79 Ixx80 Ixx81 Ixx82 Ixx83 Ixx84 Motor xx Number of Commutation Cycles N NOT USED FOR PANASONIC Motor xx Counts per N Commutation Cycles NOT USED FOR PANASONIC Motor xx Commutation Phase Angle NOT USED FOR PANASONIC Mo
52. orporation used to configure the PMAC Gateway Delta Tau has licensed SyConas part of the PMAC Gateway product The Hilscher license agreement which will be presented during the installation process still applies Besides being able to configure Fieldbus systems like ProfiBus DeviceNet CANopen and ControINET SyCon can also configure Interbus SDS etc The usefulness is that SyCon becomes a common tool providing consistent user interface for all protocols for both masters and slaves SyCon checks the dependencies between the devices checks for configuration conflicts and warns of possible errors Some protocols support standardized files containing information about all features and limitations of the slave device SyCon uses these files for the configuration After the configuration switch SyCon into a diagnostic mode In diagnostic mode you can monitor status information of all devices connected to the network For example the node list or slave diagnostic information can be monitored If a slave is not operating correctly it will be displayed in a different color normally red The base address for master modules is located at memory location 6D000 and for slave modules at 6D700 J3 10 pin Male Flat ribbon header S 4 a a 5 connector IDC Pin Symbol Function 1 N A N C 2 HilDTR Data terminal ready DTR 3 HilTxD Transmit Data TXD 4 HilCTS Clear to Send CTS 5 HilRxD Receive Data RXD 6 HilRT
53. put range Introduction 3 Turbo PMAC2 Realtime Express Controller Part Number Definition Based on the different options of Turbo PMAC 2 Realtime Express Controller there will be a single line part number which is used for ordering and identification The part number is assigned based on the following chart Turbo PMAC2 Realtime Express Ye SOOO Vw OOo 9 3 8 6 2 0 S CO Opt SCH 80MHz DSP563xx CPU 256Kx24 SRAM 1Mx8 flash Standard C3 Opt 5C3 80MHz DSP563xx CPU 1024Kx24 SRAM 4Mx8 flash F3 Opt 5F3 240MHz DSP563xx CPU 1024Kx24 SRAM 4Mx8 flash 2 PMAC2 Standard Q d Q C 0 No Option 3 Opt 18A Electronic board Identification CPU Memory Firmware Options 4 Realtime Express Only Standard 5 Realtime Express With Opt A MACRO ring fiber optic interface 6 Realtime Express With Opt C MACRO ring RJ 45 electrical interf If 5 amp 6 then Must Select Opt 1A 1B 1C or 1D For G C 0 Realtime Express Only No MACRO Standard 2 Opt 1A 8 servo 6 I O and 2 communic Nodes 3 Opt 1B 16 servo 12 I O and 4 communic Nodes 4 Opt 1C 24 servo 18 I O and 6 communic Nodes 5 Opt 1D 32 servo 24 I O and 8 communic nodes If 2 5 then Must Select Opt A or Opt C For E 0 No Options 1 Opt 12
54. sume 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 S1 write to parameter M8182 S0B parameter number M8183 S0 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 S0 parameter number must be 0 for writing to EEPROM M8183 S0 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 1133 31 Multi turn data clear in absolute encoder homing mode T1124 120000 set bit 20 to high in order to ignore the error 40 or else the next command will be ignored 1hm 1124 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
55. the user setup variables and for user programs tables and buffers It can be 1M x 8 2M x 8 or 4M x 8 in capacity e Option SCH Default CPU speed and memory configuration 830MHz DSP56303 CPU 8Kx24 internal memory 128Kx24 SRAM compiled assembled program memory 128Kx24 SRAM user data memory 1Mx8 flash memory e Option SCH Default CPU speed and memory configuration 830MHz DSP56303 CPU 8Kx24 internal memory expanded 512Kx24 SRAM compiled assembled program memory expanded 512Kx24 SRAM user data memory 4Mx8 flash memory e Option 5F3 240MHz DSP56321 CPU 192Kx24 internal memory expanded 512Kx24 SRAM compiled assembled program memory expanded 512Kx24 SRAM user data memory 4Mx8 flash memory Option 10 Firmware Version Specification Normally the Turbo PMAC2 Eth Ultralite is provided with the newest released firmware version The response to the VERSION query command shows which firmware revision is presently installed Option 10 provides for a user specified firmware version Option 12 Analog to Digital and Digital to Analog Converters Option 12 permits the installation of two channels of on board analog to digital converters and one channel of on board digital to analog converter The analog inputs are not optically isolated and each can have a 10V input range or a 5V input range if differential signal is used individually selectable with a 12 bit resolution The analog output is a 12 bit DAC have 10V out
56. tor xx Phase Finding Output Value NOT USED FOR PANASONIC Motor xx Phase Finding Time NOT USED FOR PANASONIC Motor xx Phase Position Offset NOT USED FOR PANASONIC Motor xx Current Loop Back Path Proportional Gain NOT USED FOR PANASONIC Motor xx Magnetization Current NOT USED FOR PANASONIC Motor xx Slip Gain NOT USED FOR PANASONIC Motor xx Second Phase Offset NOT USED FOR PANASONIC Motor xx Power Up Mode NOT USED FOR PANASONIC Motor xx Power On Phase Position Address NOT USED FOR PANASONIC Motor xx Current Loop Feedback Address NOT USED FOR PANASONIC Motor xx Commutation Position Address NOT USED FOR PANASONIC Motor xx Current Loop Feedback Mask Word NOT USED FOR PANASONIC Software Setup 41 Turbo PMAC2 Realtime Express Controller Further Motor I Variables Ixx91 Motor xx Power On Phase Position Format NOT USED FOR PANASONIC Ixx97 Motor xx Position Capture amp Trigger Mode 197 NOT USED FOR PANASONIC 13300 to 14899 should not be used Conversion Table I Variables 18000 18191 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
57. ts 19 OUTI EMT Sourcing output 1 20 OUT2 EMT Sourcing output 2 21 OUT3 EMT Sourcing output 3 22 OUT4 EMT Sourcing output 4 23 N C 24 WDO NC Normally Closed Contact 25 ESTOP 24 V input from Normally Closed E Stop Button to use sourcing outputs connect the 12 to 24V to pin 18 and use pins 19 20 21 amp 22 as your sourcing outputs touse sinking outputs connect the GND to pin 10 and use pins 6 7 8 amp 9as your sinking outputs Emergency Stop Input This input must be powered in order for the Panasonic Realtime Express to function Any disconnection of the power on this input will kill the servo on all A4N A5N drives This input can be reached at Y 70801 4 OOO0OO0OO0OO0O0000000 OCOOOOOOO0OO0OO0OO0OO 12 24VDC Sourcing Input Hardware Setup OOO0OO0OOO0OO0OO0O00000 OOOODOOOOOOO Sinking Input 13 Turbo PMAC2 Realtime Express Controller Inputs wiring There are 8 inputs on the I O connector which can be used as sinking or sourcing inputs 0000000000000 00000000j0 Sourcing Input 12 24VDC GND To read the inputs assign the following M variables Outputs wiring 0000000000999 000000 OOO O O desse GND Sinking Inputs MO gt Y S78401 0 gt input 1 J9 Pan I M1 gt Y 78401 1 Input 5 J5 Pin 14 M2 gt Y S578401 2 z Input 2 J5 Pin 2 M3 gt Y S578401 3 Input 6 J5 Pin
58. u provides accessory boards and software structures special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination 1 26 pin female flat cable connector T amp B Ansley P N 609 2641 2 Standard flat cable stranded 26 wire T amp B Ansley P N 171 26 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J10 Thumbwheel Port 26 Pin IDC Header Reciprocal Pin Symbol Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DATO Input Data 0 Input Data input from multiplexed accessory 4 SELO Output Select 0 Output Multiplexer select output 5 DATT Input Data 1 Input Data input from multiplexed accessory 6 SEL Output Select 1 Output Multiplexer select output 7 DAT2 Input Data 2 Input Data input from multiplexed accessory 8 SEL2 Output Select 2 Output Multiplexer select output 9 DAT3 Input Data 3 Input Data input from multiplexed accessory 10 SEL3 Output Select 3 Output Multiplexer select output 11 DAT4 Input Data 4 Input Data input from multiplexed accessory 12 SEL4 Output Select 4 Output Multiplexer select output 13 DATS5 Input Data 5 Input Data input from multiplexed accessory 14 SEL A Output Select 5 Output Multiplexer select output 15 DAT6 Input Data 6 Input Data input from multiplexed accessory 16 SEL6 Output Select 6 Output Multip
59. ue from PARAM_DATA M8183 Otherwise the writing or saving is done Accessing Returning Data from A4N A5N Drives The communication to each drive is taking place using two buffers the TX buffer and RX buffer These buffers are accessible to the user and some useful information can be retrieved from these buffers Although reading these buffers is harmless to the performance and functionality of the Realtime Express network and controller we would strongly discourage writing to these locations The received data from each drive consists of 16 bytes These 16 bytes are transferred to PMAC through Dual Ported RAM style memory mapping meaning lower 16 bits of X and Y memory locations X Memory Y Memory el Tm De Le 680XX 3 Byte 15 Byte 14 Byte 13 Byte 12 The 680XX represents the memory location for different RX block numbers The block number of each motor is defined by the user by setting the Ixx30 of each motor If the default values in the PANADWLD PMC file are used the block 0 represents motor 1 block 1 represent motor 2 and so on Block No 0 i 2 3 4 5 6 7 ae 68080 68084 68088 6808C 68090 68094 68098 6809C Block No 3 9 10 TI 12 B 14 15 Ce 680A0 680A4 680A8 680AC 680B0 680B4 680B8 680BC Block No 16 17 18 19 20 21 22 2 CC 680C0 680C4 680C8 680CC 680D0 680D4 680D8 680DC Block No 74 25 26 27 28 29 30 31 eeu 680E0 680E4 680E8 680EC 680F0 68
60. y stepper motor amplifier or can be used to generate pulses for any other application Since the phase and servo clock cycle times is preset at Realtime Express network s update rate the maximum output frequency with default settings is 327kHz which can be increased to 1 31 MHz by changing the PFM clock divider 16803 ODOOOO000 O O O Pulse amp Direction Wiring To output Pulse and Direction on the handwheel port T6826 3 set the channel output to PFM mode M1006 gt Y 7841C 0 24 s By changing the value of m1006 you can select the direction and the frequency of the pulses Hardware Setup 18 Turbo PMAC2 Realtime Express Controller 24 VDC Power Supply Input J9 An external 24VDC power supply is required to power the Turbo PMAC2 Eth Ultralite The 24V is wired into connector J9 The polarity of this connection is extremely important Carefully follow the instructions in the wiring diagram This connection can be made using 16 AWG wire directly from a protected power supply In situations where the power supply is shared with other devices it may be desirable to insert a filter in this connection The power supply providing this 24V must be capable of providing an instantaneous current of at least 900 mA In the case where multiple devices are driven from the same 24V supply it is recommended that each device be wired back to the power supply terminals independently The connector for J9 is a Phoenix PCB Edge conne
61. your host computer you can use any of the provided communication ports The choice only affects the speed at which you will be talking to the controller You can communicate with the controller over the Serial communication or Ethernet ports without any special software A standard communications program such as HyperTerminal can be used on these ports but the PMAC Executive PRO 2 Suite is still recommended for development For Serial RS 232 communications please check the J7 pin outs for proper serial communication For Ethernet communication the default IP address is 192 6 94 5 You can use any terminal program to talk to the controller over these ports In order to get the most out of the controller we recommend using Delta Tau s PMAC Executive Pro2 Suite for communication The PMAC Executive Pro2 Suite is designed to communicate with all Delta Tau products Although the suite includes setup software programs for different types of controllers you will not be using all of them The PEWIN32PRO2 is the main program used to set up your system and is needed for your application development and troubleshooting You can also use the PMAC Plot Pro2 to use the powerful functionality of gathering information on the controller Pewin32PRO2 Communication Setup First connect the controller to your PC You don t need any driver to get connected to the controller using the Serial or Ethernet port Once you plug in the USB port the Windows Plug an

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