User`s manual

Installing and Configuring PMAC

Page - 24

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 you have a single-ended signal, leave the complementary signal pins floating -- do not ground them.

However, if single-ended encoders are used, please check the settings of the jumpers E18 to E21 and E24 to E27.

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.

3.7.2 - Checking the encoder inputs

Once the encoders have been properly wired, it is important to check its functionality and its polarity.

Make sure the motor is unpowered while performing this test.

In the PEWIN, open a “Position” window by pressing Alt+V and P from the terminal window. Rotating the encoder

monitor the corresponding position value of the motor in the “Position” window. Make sure that a rotation in the positive

direction increments the position values. Also, make sure that the number of counts per revolution of the encoder matches

the number read by PMAC when a complete revolution of the motor has been rotated. If necessary, for troubleshooting

purposes, place an oscilloscope in the encoder inputs to check the appropriate signals provided by the encoder:

3.7.3 - Checking the DAC outputs

Before connecting the DAC outputs to the amplifier, it is opportune to check the DAC outputs operation.

Make sure the amplifier is not connected while performing this test.

In the PEWIN terminal window, define the following M-variables for the DACs of the motors under consideration:

Motor #1 Motor #2 Motor #3 Motor #4

DAC output

M102->Y:$C003,8,16,S M202->Y:$C002,8,16,S M302->Y:$C00B,8,16,S M402->Y:$C00A,8,16,S

Motor #5 Motor #6 Motor #7 Motor #8

DAC output

M502->Y:$C013,8,16,S M602->Y:$C012,8,16,S M702->Y:$C01B,8,16,S M802->Y:$C01A,8,16,S

3.7.4 - DAC Output signals

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.

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's AGND line (pin 58). In this setup, leave the DAC1/ pin

floating; do not ground it.

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's AGND should still be connected to the

amplifier common.

If your 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

Example for encoder #1:

- Channel A in pin 25 of JMACH1 (ACC-8D or ACC-8P)

- Channel B in pin 21 of JMACH1 (ACC-8D or ACC-8P)

- Ground in pin 3 or 4 of JMACH1 (ACC-8D or ACC-8P)

Example for DAC #1. Type the following in the terminal window:

M102->Y:$C003,8,16,S

I100=0

M102=16383

M102=-16383

I100=1