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PMAC2 User Manual

Basic Motor Setup on PMAC2 7

BASIC MOTOR SETUP ON PMAC2

Controlling Motors

PMAC2 has many modes for controlling motors. A major part of the initial setup of a PMAC2 is the

hardware and software configuration to specify a specific mode of operation. The commonly used modes

of operation are:

• Analog command of velocity-mode drives

• Analog command of torque-mode drives

• Analog command of sine-wave input drives

• Direct-PWM control of power-block drives

• Pulse-and-direction command of stepper or stepper-replacement servo drives

Hardware Setup

The machine interface ports on the PMAC2 itself are not designed to be connected directly to drives,

encoders, flags, etc. Almost always an interface board is required. Delta Tau provides a family of 2-axis

interface boards (the Acc-8 family) that cover most common interfaces; large-volume users may want to

design and build their own interface boards optimized for their own purposes. The interface boards

currently available from Delta Tau are:

• Acc-8E: Dual analog output per axis for velocity, torque, or sine-wave commands; encoder, hall, and

optically isolated flag feedback; DIN-rail mountable

• Acc-8F: Direct PWM output; serial digital current feedback; encoder, hall, and optically isolated flag

feedback; DIN-rail mountable

• Acc-8FP: Direct PWM output; serial digital current feedback; encoder, hall, and optically isolated

flag feedback; panel-mountable

• Acc-8K1: Fanuc C/S-Series interface; direct PWM output, analog current feedback; encoder, hall,

and optically isolated flag feedback; DIN-rail mountable

• Acc-8K2: Kollmorgen IPB interface; direct PWM output, analog current feedback; encoder, hall,

and optically isolated flag feedback; DIN-rail mountable

• Acc-8S: Pulse-and-direction output; encoder feedback by option only; optically isolated flag

feedback; DIN-rail mountable

There is a single flat-cable connection from the 100-pin JMACHn connector on the PMAC2 to the

matching connector on the Acc-8 board. The details of the connection between the Acc-8 board and the

drives, encoders, hall sensors (if any), and flags are covered in the appropriate Acc-8 manual and the

Hardware Setup section for each mode description, below.

PMAC2 Parameter Setup

Several PMAC2 I-variables must be specified for proper operation of the card in the desired operating

modes. This section simply lists the important variables; details of how to set them up are covered in the

appropriate section of the User’s Guide, and in the I-Variable Specification of the Software Reference.

Parameters to Set up Global Hardware Signals

I-variables in the range I900-I909 (I990-I999 for a PMAC2 Ultralite) control operation of PMAC2 global

and multi-channel hardware operation. These variables form the control registers of the DSPGATE1 and

2 ASICs on the PMAC2.

I900 (I992 for an Ultralite) controls the maximum possible phase frequency (MaxPhase) for the card, and

the PWM frequency for channels 1-4.

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