Delta Tau PMAC2A-PC/104 Instrukcja Obsługi Pobierz pdf (Strona 21)

PMAC2A-PC104 Hardware Manual

Machine Connections 15

Motor Signals Connections

Incremental Encoder Connection

Each JMACH1 connector provides two +5V outputs and two logic grounds for powering encoders and

other devices. The +5V outputs are on pins 1 and 2; the grounds are on pins 3 and 4. The encoder signal

pins are grouped by number: all those numbered 1 (CHA1+, CHA1-, CHB1+, CHC1+, etc.) belong to

encoder #1. The encoder number does not have to match the motor number, but usually does. Connect

the A and B (quadrature) encoder channels to the appropriate terminal block pins. For encoder 1, the

CHA1+ is pin 5, CHB1+ is pin 9. 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 resistor packs (see the Hardware Setup section for details). For a differential encoder, connect the

complementary signal lines -- CHA1- is pin 7, and CHB1- is pin 11. The third channel (index pulse) is

optional; for encoder 1, CHC1+ is pin 13, and CHC1- is pin 15.

Example: differential quadrature encoder connected to channel #1:

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

29) to the command input on the amplifier. Connect the amplifier's command signal return line to

PMAC's GND line (pin 48). In this setup, leave the DAC1- pin floating; do not ground it.

For a differential command using PMAC channel 1, connect DAC1 (pin 29) to the plus-command input

on the amplifier. Connect DAC1- (pin 31) to the minus-command input on the amplifier. PMAC's GND

should still be connected to the amplifier common.

If you need to limit the range of each signal to ±5V, you will do so with parameter Ix69. Any analog

output not used for dedicated servo purposes may be utilized as a general-purpose analog output. Usually

this is done by defining an M-variable to the digital-to-analog-converter register (suggested M-variable

definitions M102, M202, etc.), then writing values to the M-variable. The analog outputs are intended to

drive high-impedance inputs with no significant current draw. The 220Ω output resistors will keep the

current draw lower than 50 mA in all cases and prevent damage to the output circuitry, but any current

draw above 10 mA can result in noticeable signal distortion.

Example:

JMACH1

DAC1+

DAC1-

GND

Connect to the amplifier

±10 Volts command input

1 2 ... 16 17 18 19 20 21 22 23 24 25 26 ... 71 72

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