Delta Tau Turbo PMAC Clipper, Hardware Reference Manual

Page: 7 / 84

Turbo PMAC Clipper
Table of Contents
vii
J10: Handwheel and Pulse/Dir Connector (JHW/PD Port) ......................................................................... 43
J12: Ethernet Communications Port ........................................................................................................... 44
J13: USB Communications Port ................................................................................................................. 44
JP11: OPT-11 Shunt ................................................................................................................................... 44
LED Indicators ............................................................................................................................................ 44
DRIVE - MOTOR SETUP ....................................................................................................................... 45
Filtered PWM Output (Analog ±10V) ........................................................................................................ 46
Clock Settings, Output Mode, Command Limit ..................................................................................... 47
Flag Control, Ixx24 ............................................................................................................................... 47
I2T Protection: Ixx57, Ixx58 .................................................................................................................. 48
Open Loop Test: Encoder/Decode ......................................................................................................... 48
Position-Loop PID Gains: Ixx30…Ixx39 ............................................................................................... 50
True DAC Output (±10V) ........................................................................................................................... 51
Clock Settings, Output Mode ................................................................................................................. 51
Flag Control, Ixx24 ............................................................................................................................... 51
I2T Protection: Ixx57, Ixx58 .................................................................................................................. 51
Open Loop Test: Encoder/Decode ......................................................................................................... 52
Position-Loop PID Gains: Ixx30…Ixx39 ............................................................................................... 53
Pulse and Direction Output (PFM) ............................................................................................................. 55
PFM Clock Settings Example ................................................................................................................ 55
PFM Setup Example .............................................................................................................................. 56
Writing directly to the PFM register ..................................................................................................... 56
Issuing Open-Loop Commands .............................................................................................................. 57
Issuing Closed-Loop Commands ........................................................................................................... 57
Setup of a Fifth Motor Using Opt-12 on the Clipper Board ....................................................................... 60
LASER CONTROL OUTPUT ................................................................................................................ 62
Understanding Option-11A Capabilities ..................................................................................................... 63
Clock Settings ............................................................................................................................................. 64
Controlling the output ................................................................................................................................. 65
TROUBLESHOOTING ........................................................................................................................... 67
Serial Number and Board Revisions Identification .................................................................................... 67
Write-Protect Disable – E8 Jumper ............................................................................................................ 68
Changing IP Address, Gateway IP, Gateway Mask .............................................................................. 69
Enabling ModBus .................................................................................................................................. 70
Reloading Boot and Communication Firmware .................................................................................... 71
Reloading PMAC firmware – E13 Jumper ............................................................................................ 72
Re-initialization jumper (Factory Reset) ............................................................................................... 74
Watchdog Timer ......................................................................................................................................... 74
APPENDIX A: E-POINT JUMPERS ..................................................................................................... 75
E0: Forced Reset Control ........................................................................................................................... 75
E1 – E2: Serial Port Selection (rev 102 and below only) .......................................................................... 75
E3: Normal/Re-Initializing Power-Up/Reset ............................................................................................. 75