akirao

Encoder setting needs to be changed. I recommend you to contact to our local office. http://www.deltatau.com/DT_DistributorsAndIntegrators/DistributorsAndIntegrators.aspx

I think what it's happening is that you're setting up for 2nd channel but drive/motor is connected to 1st channel. Just in case, I put ACC-24E3 DAC output parameter example below. It should work with open-loop mode. If necessary, you may disable over travel limit with Motor[1].pLimits = 0. Before you do servo-on, please setup PID parameters with IDE auto tuning. /////////////////////////////// sys.WpKey=$AAAAAAAA; //;OPT-2A 16bitDAC gate3[0].DacStrobe=$FFFF0000; Motor[1].DacShift=0; Motor[2].DacShift=0; Motor[3].DacShift=0; Motor[4].DacShift=0; //;OPT-2B 18bitDAC /* gate3[0].DacStrobe=$FFFFFF00; Motor[1].DacShift=6; Motor[2].DacShift=6; Motor[3].DacShift=6; Motor[4].DacShift=6; */ Gate3[0].Chan[0].OutputMode=7; Gate3[0].Chan[1].OutputMode=7; Gate3[0].Chan[2].OutputMode=7; Gate3[0].Chan[3].OutputMode=7; sys.wpkey=0; Motor[1].ServoCtrl= 1; Motor[1].PhaseCtrl=0; Motor[1].pEncCtrl = Gate3[0].Chan[0].InCtrl.a; Motor[1].pDac = Gate3[0].Chan[0].Dac[0].a; Motor[1].pEnc = EncTable[1].a; Motor[1].pEnc2 = EncTable[1].a; Motor[1].pMasterEnc = EncTable[0].a; Motor[1].pEncStatus = Gate3[0].Chan[0].Status.a; Motor[1].pAmpEnable = Gate3[0].Chan[0].OutCtrl.a; Motor[1].pAmpFault = Gate3[0].Chan[0].Status.a; Motor[1].pLimits = Gate3[0].Chan[0].Status.a; Motor[1].pAdc=0; Motor[1].AmpEnableBit=8; Motor[1].LimitBits=9; Motor[1].ampfaultbit=7; Motor[1].pCaptFlag = Gate3[0].Chan[0].Status.a; Motor[1].CaptFlagBit=20; //Motor[1].Servo.Kp= 300; //Motor[1].Servo.Kvfb= 2000; //Motor[1].Servo.Ki= 0.0099999998; //Motor[1].Servo.Kvff= 40; EncTable[1].type=1; EncTable[1].pEnc=Gate3[0].Chan[0].ServoCapt.a; EncTable[1].ScaleFactor=0.00390625; ///////////////////////////////

As outputs, each line is an open collector that can be pulled up externally to 5V, and is capable of sinking 10 mA while holding a standard TTL “low” output level. Pin49 +V on J4 & J5 connector is internal +5V signal. I do not recommend you to apply external power to this pin.

Please make sure you have right interface board. ACC-59E3 does not support resolver feedback input. ACC-24E3 analog feedback board has resolver option : 3-4002Axxxx-4200-B00 or 3-4002Axxxx-4242-B00. If you don't have ACC-24E3 manual, please download from here: http://forums.deltatau.com/filedepot/ [FILE REMOVED] Here is for resolver setup with ACC-24E3. Please rotate motor by hand and see if you can read resolver feedback from position window. sys.wpkey=$aaaaaaaa Gate3[0].Resolverctrl=$F8500000 Gate3[0].Chan[0].InCtrl=$440047 EncTable[1].type=1 EncTable[1].pEnc=Gate3[0].Chan[0].atan.a //16bit read Enctable[1].index1=16 Enctable[1].index2=16 EncTable[1].ScaleFactor=1/65536 Motor[1].ServoCtrl= 1 Motor[1].pphaseEnc=Gate3[0].Chan[0].atan.a Motor[1].phasepossf=1/2097152

What is your max output frequency? Default is 9.8MHz. Out10 command should be 983KHz. If you need another frequency setting, please update MacroSlave0,I993. For IO node setting, please make sure MacroSlave0,I975=$CCCC. MacroSlave0,I996 would not change from $FCCFF to $F8CFF.

What is your max output frequency? Default is 9.8MHz. Out10 command should be 983KHz. If you need another frequency setting, please update MacroSlave0,I993. For IO node setting, please make sure MacroSlave0,I975=$CCCC. MacroSlave0,I996 would not change from $FCCFF to $F8CFF.

Dzrong, Here is clock parameters for PowerPMAC and MACRO16. Phase 9KHz and Servo 4.5KHz. Please re-tune PID loop after you update phase & servo clock. ////Make sure these parameters are detected automatically. //Gate3[0].PhaseServoDir = 0; //Gate1[4].PhaseServoDir = 3; //Gate1[6].PhaseServoDir = 3; //Gate1[8].PhaseServoDir = 3; //Gate1[10].PhaseServoDir = 3; //Gate1[12].PhaseServoDir = 3; Sys.ServoPeriod=0.22222222222222222; Gate3[0].PhaseFreq=9000; // 9.0KHZ Phase Gate3[0].PhaseClockDiv=0; // Internal same as external Gate3[0].PhaseClockMult=0; // Internal same as external Gate3[0].ServoClockDiv=1; // Servo Clock 4.5KHz Gate3[0].MacroModeA=$403000; Gate3[0].MacroEnableA=$FC03300; Gate1[4].PwmPeriod = 6527; Gate1[4].PhaseClockDiv =0; Gate1[4].ServoClockDiv =1; Gate1[4].HardwareClockCtrl=2258; Gate1[6].PwmPeriod = 6527; Gate1[6].PhaseClockDiv =0; Gate1[6].ServoClockDiv =1; Gate1[6].HardwareClockCtrl=2258; Gate1[8].PwmPeriod = 6527; Gate1[8].PhaseClockDiv =0; Gate1[8].ServoClockDiv =1; Gate1[8].HardwareClockCtrl=2258; Gate1[10].PwmPeriod = 6527; Gate1[10].PhaseClockDiv =0; Gate1[10].ServoClockDiv =1; Gate1[10].HardwareClockCtrl=2258; Gate1[12].PwmPeriod = 6527; Gate1[12].PhaseClockDiv =0; Gate1[12].ServoClockDiv =1; Gate1[12].HardwareClockCtrl=2258; ////Issue "MacroSlaveCLRF0" after download, save, $$$. ////Make sure these parameters in MACRO station. //MacroSlave0,i900=$197F ; //6527 //MacroSlave0,i992=$197F ; //6527 //MacroSlave0,i995=$4080 //MacroSlave0,i996=$FCCFF ; //Same value with Gate3[0].MacroEnableA //MacroSlave0,i998=1

Dzrong, Here is clock parameters for PowerPMAC and MACRO16. Phase 9KHz and Servo 4.5KHz. Please re-tune PID loop after you update phase & servo clock. ////Make sure these parameters are detected automatically. //Gate3[0].PhaseServoDir = 0; //Gate1[4].PhaseServoDir = 3; //Gate1[6].PhaseServoDir = 3; //Gate1[8].PhaseServoDir = 3; //Gate1[10].PhaseServoDir = 3; //Gate1[12].PhaseServoDir = 3; Sys.ServoPeriod=0.22222222222222222; Gate3[0].PhaseFreq=9000; // 9.0KHZ Phase Gate3[0].PhaseClockDiv=0; // Internal same as external Gate3[0].PhaseClockMult=0; // Internal same as external Gate3[0].ServoClockDiv=1; // Servo Clock 4.5KHz Gate3[0].MacroModeA=$403000; Gate3[0].MacroEnableA=$FC03300; Gate1[4].PwmPeriod = 6527; Gate1[4].PhaseClockDiv =0; Gate1[4].ServoClockDiv =1; Gate1[4].HardwareClockCtrl=2258; Gate1[6].PwmPeriod = 6527; Gate1[6].PhaseClockDiv =0; Gate1[6].ServoClockDiv =1; Gate1[6].HardwareClockCtrl=2258; Gate1[8].PwmPeriod = 6527; Gate1[8].PhaseClockDiv =0; Gate1[8].ServoClockDiv =1; Gate1[8].HardwareClockCtrl=2258; Gate1[10].PwmPeriod = 6527; Gate1[10].PhaseClockDiv =0; Gate1[10].ServoClockDiv =1; Gate1[10].HardwareClockCtrl=2258; Gate1[12].PwmPeriod = 6527; Gate1[12].PhaseClockDiv =0; Gate1[12].ServoClockDiv =1; Gate1[12].HardwareClockCtrl=2258; ////Issue "MacroSlaveCLRF0" after download, save, $$$. ////Make sure these parameters in MACRO station. //MacroSlave0,i900=$197F ; //6527 //MacroSlave0,i992=$197F ; //6527 //MacroSlave0,i995=$4080 //MacroSlave0,i996=$FCCFF ; //Same value with Gate3[0].MacroEnableA //MacroSlave0,i998=1