Power PMAC Clipper User Manual
Table Of Contents vii
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
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