Delta Tau PMAC2 User Manual download pdf (Page 22)

Turbo PMAC2 Realtime Express Controller

Hardware Setup

You can access the position of the handwheel. You can also use the same address ($3501) as a

master address for any of the motors (Ixx05)

Analog-to-Digital Connections (Option 12 required)

There are two analog-to-digital circuits on J8 which can have 12-bit or 16-bit resolution based on

the requested options. The signal can be either differential or single-ended. In single-ended

configuration, the input range can be ±10VDC in contrast with ±5VDC in differential signal

setting.

Single-Ended Signal

+10VDC

-10VDC

GND on the analog

signal side

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Differential Signal

Differential

Signal 2

Differential

Signal 1

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To read the value of the ADCs, make sure that you have the correct strobe word written to the

ADCs. The ADC values can be read using M-variables with the following definitions:

Option 12 : 12 bit Analog to Digital option

I6806=$1FFFFF

M63->Y:$078406,8,8 ; Data type control SEL0 to SEL7

M63=$0;

M1001->Y:$78415,8,12,S

M1002->Y:$78416,8,12,S

Digital-to-Analog Connection

The digital-to-analog output has a range of ±10VDC and can source 20mA current. The output

signal is in differential mode and can be used as either differential or single-ended mode.

DAC-

DAC+

GND

Digital to Analog Output Wiring

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Delta Tau PMAC2 User Manual Page 22