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Confusing issue with Power PMAC system


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We have a number of Delta Tau Power PMAC systems and I am having trouble getting these systems to work and among several different problems, there is one which I think should be easily solvable if I just knew where to look.


I have a 16 servo motor driver system and all the channels are activated. When I plug a servo motor into the odd channels, I am able to tune them and get them to function reliably. However, when I take the same motor and plug it into the even channels, I notice that if I ask the motor to move in the positive direction, the position changes in the negative direction and vice versa. This, of course will cause an immediate following error.


The problem cannot be the motor as it works fine on the odd channels. Furthermore, I looked at the configuration screens for the odd and even motors and I can't find any differences. I am pretty sure that there is something subtle or with a negative sign somewhere that just needs to be switched. Any ideas on how I can solve this?







Carlo U. Segre -- Illinois Institute of Technology

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