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Power PMAC Clipper
Delta Tau Power PMAC Clipper User Manual
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Single Source
Machine Contro
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Power // Flexibility
// Ease of Use
21314 Lassen S
t. Chatsworth
, CA 91311
// Tel. (818) 998-2095 Fax
. (818)
998-7807 //
www.de
ltatau.com
^1
User Manua
l
^3
Power PMAC Clipper
^4
4-4050xx
0-
xx0
-xxx0xx
April 15, 2016
DELTA TAU
Data System
s, Inc.
NEW IDEAS
IN MOTION …
^2
Power PMAC Clipper
2
Table of Contents
Default Chapter
6
Table of Contents
6
Introduction
9
Documentation
9
Downloadable Power PMAC Script
10
Specifications
11
Part Number
11
Standard Configuration
11
Options
12
Accessories
13
Environmental Specifications
16
Electrical Specifications
17
Digital Power Supply
17
DAC Outputs Power Supply
17
Flags Power Supply
17
Receiving and Unpacking
18
Use of Equipment
18
Mounting
19
Physical Specifications
20
Board Dimensions Rev101
20
Board Layout Rev101
20
Connections and Software Setup
21
Default Jumper Configurations
21
TB1 (JPWR): Power Supply Input
21
J2: Serial Port
23
J3: Machine Connector (JMACH1 Port)
24
Configuring Quadrature Encoders
27
Wiring the DAC Output
29
Amplifier Enable Signal (Aenan/Dirn)
31
Amplifier Fault Signal (FAULT-)
32
Analog Inputs
33
Setting up the Analog (ADC) Inputs
33
J4: Machine Connector (JMACH2 Port)
36
Overtravel Limits and Home Switches
37
Wiring the Limits and Flags
37
Limits and Flags [Axis 1- 4] Structure Elements
40
Step and Direction PFM Output (to External Stepper Amplifier)
41
Compare Equal Outputs
42
J7: Machine Connector (JMACH3 Port)
43
Brake Software Setup
44
Serial Encoder Software Setup
44
J8: Thumbwheel Multiplexer Port (JTHW Port)
50
Thumbwheel Port Digital Inputs and Outputs
51
Configuring Multiplexed I/O on the JTHW Port
51
J9: General-Purpose Digital Inputs and Outputs (JOPT Port)
53
General Purpose I/O (J6) Structures
54
J10: Handwheel and Pulse/Dir Connector (JHW/PD Port)
56
Handwheel Encoder Software Setup
57
Handwheel PFM Software Setup
57
Handwheel Option-12 DAC Software Setup
57
Handwheel 5Th Motor Using the Option -12 DAC
58
P2: USB Device Port
59
P20: Ethercat™/Ethernet Communications Port
59
P21: Ethernet Communications Port
59
P17: USB Communications Port
59
LED Indicators
59
Drive - Motor Setup
60
Filtered PWM Output (Analog ±10V)
61
Clock Settings, Output Mode, Command Limit
61
Typical Motor Specific Settings
61
Open Loop Test: Encoder/Decode
62
Position-Loop PID Gains
63
Typical Settings for Four Channels of Filtered PWM Setup
64
Pulse Frequency Modulation Output (Step and Direction)
66
Multi-Channel Setup Elements
66
Channel-Specific Setup Elements
66
Motor-Specific Setup Elements
67
Typical Settings for Four Channels of Open Loop PFM Setup
68
Acc-24S3 4-Channel Axis Expansion Stack Board
70
Hardware Assembly
70
Default Jumper Configurations
72
TB1 (JPWR): Power Supply Input
73
J3: Machine Connector (JMACH1 Port)
74
Configuring Quadrature Encoders
74
Wiring the DAC Output
74
Amplifier Enable Signal (Aenan/Dirn)
75
Amplifier Fault Signal (FAULT-)
75
Analog Inputs
75
Setting up the Analog (ADC) Inputs
75
J4: Machine Connector (JMACH2 Port)
77
Limits and Flags [Axis 1- 4] Structure Elements
77
Step and Direction PFM Output (to External Stepper Amplifier)
78
Compare Equal Outputs
78
J7: Machine Connector (JMACH3 Port)
79
Brake Software Setup
79
Serial Encoder Software Setup
79
J8: Thumbwheel Multiplexer Port (JTHW Port)
80
Thumbwheel Port Digital Inputs and Outputs
80
Configuring Multiplexed I/O on the JTHW Port
80
J9: General-Purpose Digital Inputs and Outputs (JOPT Port)
81
General Purpose I/O (J6) Structures
81
J10: Handwheel and Pulse/Dir Connector (JHW/PD Port)
82
Handwheel Encoder Software Setup
82
Motor Setup Code
83
Typical Settings for Four Channels of Filtered PWM Setup
83
Typical Settings for Four Channels of Open Loop PFM Setup
85
4
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Delta Tau Power PMAC Clipper Specifications
General
Brand
Delta Tau
Model
Power PMAC Clipper
Category
Controller
Language
English
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