User's Manual

PMAC User Manual
Getting Started with PMAC 11
Connect the A and B (quadrature) encoder channels to the appropriate terminal block pins. For encoder 1,
the CHA1 is pin 25, CHB1 is pin 21. If using a single-ended signal, leave the complementary signal pins
floating. Do not ground them. For a differential encoder, connect the complementary signal lines (CHA1/
is pin 27, and CHB1/ is pin 23). The third channel (index pulse) is optional; for encoder 1, CHC1 is pin 17,
and CHC1/ is pin 19.
Amplifier Connection
If PMAC is not performing the commutation for the motor, only one analog output channel is required to
command the motor. This output channel can be either single-ended or differential, depending on what the
amplifier is expecting.
Single-Ended Command Signal
For a single-ended command using PMAC channel 1, connect DAC1 (pin 43) to the command input on the
amplifier. Connect the amplifier’s command signal return line to PMAC AGND line (pin 58). In this
setup, leave the DAC1/ pin floating. Do not ground it.
Differential Command Signal
For a differential command using PMAC channel 1, connect DAC1 (pin 43) to the plus-command input on
the amplifier. Connect DAC1/ (pin 45) to the minus-command input on the amplifier. PMAC AGND
should still be connected to the amplifier common.
Sign and Magnitude Command Signal
If the amplifier is expecting separate sign and magnitude signals, connect DAC1 (pin 43) to the magnitude
input. Connect AENA1/DIR1 (pin 47) to the sign (direction input). Amplifier signal returns should be
connected to AGND (pin 58). This format requires some parameter changes on PMAC; refer to variable
Ix02 and Ix25 below. Jumper E17 controls the polarity of the direction output; this may have to be
changed during the polarity test.
Motor Commutated by PMAC
If using PMAC to commutate the motor, use two analog output channels for the motor. Each output may
be single-ended or differential, just as for the DC motor. The two channels must be consecutively
numbered, with the lower-numbered channel having an odd number (e.g., use DAC1 and DAC2 for a
motor, or DAC3 and DAC4, but not DAC2 and DAC3, or DAC2 and DAC4).
For motor #1 example, connect DAC1 (pin 43) and DAC2 (pin 45) to the analog inputs of the amplifier.
Do not worry about the phasing polarity yet; it will be checked later. If using the complements as well,
connect DAC1/ (pin 45) and DAC2/ (pin 46) the minus-command inputs; otherwise leave the
complementary signal outputs floating. To limit the range of each signal to +/- 5V, do so with parameter
I169, as discussed below.
Auxiliary Connections
There are several other lines for each motor that are important. These are:
Limit Signals (+LIMn and -LIMn)
PMAC has two inputs for each motor intended for the hardware overtravel limit switches. These lines must
actively be held low (to draw current through the LED in the optoisolator) in order for the motor to able to
move. This requires the use of normally closed (or normally conducting, if solid state) limit switches.
These inputs are direction sensitive; they only stop movement in one direction.
To implement limit switches, wire the -LIM1 input (pin 53) to one side (positive-voltage end if there is a
polarity) of the limit switch expected to be on the positive end of travel; wire the +LIM1 input (pin 51) to
the equivalent side of the limit switch expected to be on the negative end of travel. Wire the other side of
the limit switches (negative-voltage end if there is a polarity) to PMAC AGND (pin 58), unless keeping the
flags on the digital circuit side, isolated from the analog circuitry, in which case, wire the other side to
PMAC GND line (pins 3 and 4).