Delta Tau PMAC Pack, Hardware Reference Manual

Page: 73 / 121

PMAC-Pack
62 Troubleshooting
You Do Not See The Position Changing Check the following:
•
Is the encoder receiving power (+5V and GND)?
•
Are both quadrature channels connected properly?
•
If single-ended, are the complementary lines
floating?
•
If single-ended, has E24-E27 been changed for
operation with single-ended encoders?
•
If differential, has E24-27 set for differential
encoder operation?
•
Is the motor activated (I100=1)?
•
Is I103 set to the proper encoder input?
•
Is I900 set for proper decode of the signal?
•
Can a signal be detected with a scope or voltmeter?
You Have A Polarity Mismatch
(You get a potentially dangerous runaway
condition when you try to close the loop.) Change I900 (e.g. from 7 to 3, or 3 to 7) to reverse the
counting sense. This will change the positive direction of
the axis; if you do not wish to do this, you will need to
exchange the motor leads instead.
The Motor Does Not Move
Issue an O10 command to the motor which will not
move. Check the voltage on the output pin. It should be
approximately 1V relative to AGND.
If the DAC voltage HAS changed:
•
Recheck your amplifier and motor connections.
If the DAC voltage has not changed:
•
Recheck I102. You must tie the DAC output to the
motor through this variable. Check your limit-input
configuration.
•
Is your output limit (Ix69) too low? Try increasing
it to 32,767 (the maximum) to make sure PMAC
can output adequate voltage.
•
Check the analog power supply positive voltage.
Measure with a voltmeter b12V, (pin 2 of
any "FLAGS" connector) and AGND, (pin 1 of the
FLAGS port).
•
Open PMAC-Pack and check the analog power
supply voltage at the TB16 connector. You should
have approximately -12 V as measured between pin
6 and AGND (pin 5).