Delta Tau 3Ax-602646-xUxx - Manual (Page 29)

Quad Amp Hardware Reference Manual
Installation 25
Grounding
General
It is important to follow some precautions to avoid ground loops or unwanted electrical noise disturbances.
• All signal cables must be shielded.
• Two or more power wires in the same sleeve must be twisted and shielded.
• A shield that does not carry current can be connected at both ends
• A cable with low power electrical signals should never run in the same proximity of high power cables.
Main Power Supply (DC Bus)
The Quad Amplifier chassis must be connected to earth (ground). A ground screw, designated E on the
Quad Amplifier, has been provided for this and is located on the top panel of the amplifier.
Motor
Each motor housing must be connected to Chassis Ground. A Chassis Ground terminal is provided for each
motor at the motor output terminal block. Motor leads should be shielded to help avoid stray electrical
noise and electrical radiation.
PMAC2 I-Variables Setup
Reference the PMAC2 Family Addendum to the PMAC User Manual and Software Reference for
information on how to set up all the I-variables and other necessary parameters. The preferred method for
tuning the amplifier is to use the P2 Setup software package available from Delta Tau. There are several
PMAC2 I-variables we emphasize for proper operation of the Quad Amplifier.
Ix00
This parameter determines whether a motor is active (Ix00=1) or inactive (Ix00=0). An active motor may
be enabled (either in open or closed loop) or disabled, depending on commands or events.
Ix01
Must be set to 1 to enable commutation for any motor connected to the Quad Amplifier.
Ix02
Must contain the address of the A output register for the machine interface channel n used to connect to the
amplifier. Usually, channel number n equals motor number x. The default values of Ix02 are valid when n
= x.
Ix25
Must contain the address of the flag register for the machine interface channel n used to connect to the
Amplifier. The same interface channel number must be used for the flags and the command outputs!
Default values for Ix25 are valid when n = x.
Ix82
Must contain the address of the B current feedback register for the machine interface channel n used to
connect to the amplifier. Usually, channel number n equals motor number x. The default values of Ix82 are
valid when n = x.
I900
I900 controls the maximum phase clock frequency for PMAC2 and the PWM frequency for machine
interface channels 1-4. Refer to PMAC2 Family Addendum to User Manual and Software Reference for
further information. If I900 is accidentally set above approximately 15 kHz, the Quad Amplifier will
disable all enabled axes and the LED display will show a code 9.