Delta Tau PMAC2 User Manual download pdf (Page 23)

Turbo PMAC2 Realtime Express Controller

Hardware Setup

To write into the DAC output:

I6816=0 ;set the channel output type to PWM output

M1005->Y:$78414,8,16,S

By changing the value of M1005 in a range of ±I6800, you can have ±10VDC output on your

DAC output.

Note:

Please note that the DAC output is a filtered PWM signal and is limited

by the max phase settings which cannot be changed because of

Realtime Express network requirements.

Pulse and Direction Output

This output can be connected to any stepper motor amplifier or can be used to generate pulses for

any other application. Since the phase and servo clock cycle times is preset at Realtime Express

network’s update rate, the maximum output frequency with default settings is 327kHz which can

be increased to 1.31 MHz by changing the PFM clock divider (I6803)

12345678

9101112131415

DIR-

DIR+

Pulse -

Pulse +

GND

Pulse & Direction Wiring

To output Pulse and Direction on the handwheel port :

I6826=3 ;set the channel output to PFM mode

M1006->Y:$7841C,0,24,s

By changing the value of m1006 you can select the direction and the frequency of the pulses.

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Delta Tau PMAC2 User Manual Page 23