Gregs

You should be able to find something suitable that uses the 5 volt TTL I/O on either the JTHW or JIO port. For example, there is the Phoenix Contact PLC-OSC-24DC/300DC/1 relay. 32 of those should measure 198.4 x 86 mm (almost). I suggest checking with a vendor like that. Also, you could use a Modbus or Ethercat I/O device.

JTHW can be set up as general purpose TTL I/O as described on page 51 in the Clipper User manual. Or, are you wanting to design your own I/O device utilizing the multiplex feature?

Tech Support is better suited to handle this issue. Please email the step responses and setup information to Support@DeltaTau.com. Clopedandle, thanks for the input. Wow, another appearance of the rare and legendary Clopedandle, the only one known of in existence!

In the Current Loop Step Parameter Setup, try setting Rough Phasing Magnitude to 0 bits (phasing is done in the motor).

Hello Francois, The main thing is that I am not sure about the interface for those drives, but one of our CNC guys will be able to look into this next week. I suggest sending an email to Support@DeltaTau.com with any extra information you can provide, such as including I/O requirements. There will be questions regarding getting integrator assistance, and how much, based on your Delta Tau experience and on how much you want to learn or get training.

Turbo is different from Non-Turbo. Each has a section in the manual giving I/O addresses.

If you are talking about the Option 1 I/O on the JOPTO and JTHW ports, that is shown under the heading "General-Purpose Digital Inputs and Outputs" in the ACC-1P Hardware Reference Manual (attached).PMAC2A PC104 AXIS HRM.pdf

Make sure that the MacroEnableX nodes enabled on the Slave are also enabled on the Ring Master. The "AuxSlaveConfigFault" set means it observed another Slave on this node which is Bit 10 of the MacroFlags going across the ring. See if “CLRF” on the Master and or the Slave clears the problem.

Gate3[1].DacStrobe=$FFFFC000 or =$FFFFE000. Motor[x].DacShift=0. I will work on a configuration, but meanwhile, please email your configuration to Support@Deltatau.com.

Anyone tested or using LabView 2013 with PMAC Panel Pro2?

You can read the current commanded position or the target (end) position. These are mapped in the suggested M-variables in the Turbo Software Reference manual as shown in the attached screenshot from the manual.

Check for "in position" status and perhaps check that following error is minimal before issuing HMZ. I believe it is Ix10 that should be 0 to disable absolute position sensor setup. Note that Ix95 in Non-Turbo is different than Ixx95 in Turbo.

A good method might be to break the move into many small moves that are executed in a while loop. Stay in the loop until the sensor signal is seen, and follow with a command(s) for the return vector.

Note that this question is more of a tech support matter and has been moved to Support@DeltaTau.com.

Synchronous M-var assignments only execute at the start of a move or dwell. See the description in the Turbo Software Ref manual under M{data}=={expression} on page 446.

Based on the attached table from the Modbus Definitions and Design document, I think you need X:10795,8,4.Modbus Definition & Design-Regs.doc

I believe that the inputs are at X:$10795, not $10796.

I see M4018=0 and M4029=0 in other places in the config, so I wonder if that "If" condition, i.e. IF(M12=1ANDM4023=1), is really evaluating true. What happens if you set some other variable (unused) in there as a test?

No, I am the one with the out of date manual. Probably, the best description is in the Power Brick Ac manual under the "On-going Phase Position" heading (p.125), as Richard referred a few posts back.

Thanks for pointing that out. Are you referring to the Turbo to Power I-var equivalents table near the end of the Software Reference manual? You gave a different page number than the current manual has (page 1416 versus 1295).

Thank you KMonroe023. Excellent point! Mathewreck, it took me a while to get this all straightened out myself. Hopefully, my explanations will not confuse you more! Based on your question, I am assuming that you were reading the ACC-51E manual. As for software and hardware counts, the main confusion in the ACC-51E manual arises because software counts are considered to be 1/32 of a whole count. But that only applies to Turbo PMACs and can be disregarded for Power PMACs. In Power PMACs, software count scaling is determined by EncTable[n].ScaleFactor. Hardware counts (and sub-counts) are counts produced in hardware, and software counts in software, ultimately coming from the ECT (encoder conversion table). Hardware whole counts are decoded from the sine/cosine signals, 4 counts per line, like with digital quadrature encoders. Software sub-counts (or fractional counts) are produced by “arctangent” processing of the sine and cosine ADC values (note Gate3 does this in hardware). Hardware 1/T sub-counts are optionally used for position compare (or capture). Hardware sub-counts (and/or whole counts) must be used for position compare. (Side note: one big advantage of arctangent sub-counts over 1/T sub-counts is that arctangent can be used to hold position whereas 1/T is useless when not moving). Whole counts are the same as hardware counts as described in the ACC-51E manual, and sub-counts are the same as states. I copied the following from the ACC-51E manual, removing the software counts because in Power PMACs, EncTable[n].ScaleFactor determines software count scaling. 1 line = 4 hardware counts = 4096 states (LSBs) ¼-line = 1 hardware count = 1024 states (LSBs) 1/4096-line = 1/1024-hardware count = 1 state (LSB) In the Power PMAC Users manual: For details, see the sections “Hardware Position-Compare Functions” and “Setup on a PMAC2-Style IC” on page 774. For using fractional counts, read the section titled “Optional Fractional Count Registers” on page 776. For a description of ongoing commutation phase position, refer to page 147. For a description of ongoing servo position, refer to page 149.

Using a sine encoder has no limitation with respect to a digital encoder. One line of a sine encoder is decoded into four hardware counts, just like a digital quadrature encoder. These counts are used for position compare when not using fractional counts. There are 32 software counts per hardware count, so When using fractional counts, there are 1024 fractional counts, i.e. states, per hardware count. Therefore, there are 1 line = 4 hardware counts = 128 software counts = 4096 states (LSBs) ¼-line = 1 hardware count = 32 software counts = 1024 states (LSBs) 1/128-line = 1/32-hardware count = 1 software count = 32 states (LSBs) 1/4096-line = 1/1024-hardware count = 1/32-software count = 1 state (LSB)

It works much the same with sine encoders but does not work with Biss. The only option with Biss would be with user code, say in a fast PLC.

Try using a synchronous M variable assignment instead, e.g. M2000==1.

Note that the Power Brick Controller User manual has a "Manual Motor Setup" section with step by step instructions.