PMAC Quick Reference Guide Example for DAC #1: Type the following in the terminal window: M102->Y:$C003,8,16,S I100=0 M102=16383 measure 5V between pins 43 and 58 of JMACH1, (Acc-8D or Acc-8P) > M102=-16383 measure -5V between pins 43 and 58 of JMACH1, (Acc-8D or Acc-8P) > I100=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 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 be still connected to the amplifier common. If the 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 format requires some parameter changes on PMAC; (See Ix02 and Ix25.).
Jumper E17 controls the polarity of the direction output; this may have to be changed during the polarity test. This magnitude-and-direction mode is suited for driving servo amplifiers that expect this type of input, and for driving voltage-to-frequency (V/F) converters, such as PMAC’s Acc-8D Option 2 board, for running stepper motor drivers. If using PMAC to commutate the motor, use two analog output channels for the motor. Each output may be single-ended or differential, just as for the DC motor. The two channels must be numbered consecutively, with the lower-numbered channel having an odd number (e.g.
use DAC1 and DAC2 for a motor, or DAC3 and DAC4, but not DAC2 and DAC3, or DAC2 and DAC4). For motor #1 example, connect DAC1 (pin 43) and DAC2 (pin 45) to the analog inputs of the amplifier. If using the complements as well, connect DAC1/ (pin 45) and DAC2/ (pin 46) the minus-command inputs; otherwise leave the complementary signal outputs floating. To limit the range of each signal to +/- 5V, use parameter I169. Amplifier Enable Signal (AENAx/DIRn) Most amplifiers have an enable/disable input that permits complete shutdown of the amplifier regardless of the voltage of the command signal. PMAC’s AENA line is meant for this purpose.
If not using a direction and magnitude amplifier or voltage-to-frequency converter, use this pin to enable and disable the amplifier (wired to the enable line). AENA1/DIR1 is pin 47. This signal is an open-collector output and requires a pull up resistor to A+15V. For early tests, this amplifier signal should be under manual control. Jumper E17 controls the polarity of the signal. The default is low-true (conducting) enable. For any other kind of amplifier enable signal, a dry contact of a relay or a solid-state relay can be used: Installing and Configuring PMAC 27