^ USER MANUAL ^2 Accessory 24E2 ^3 Axis Expansion Board ^4 3Ax-603397-xUxx ^5 September 30, 2009 Single Source Machine Control Power // Flexibility // Ease of Use 21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.
Copyright Information © 2009 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues. To report errors or inconsistencies, call or email: Delta Tau Data Systems, Inc.
REVISION HISTORY REV. 1 DESCRIPTION ADDED UL SEAL TO MANUAL COVER DATE CHG APPVD 09/30/09 CP S.
Accessory 24E2 Table of Contents INTRODUCTION ................................................................................................................................................ 1 Overview ........................................................................................................................................................... 1 Features ..............................................................................................................................................
Conversion Table Processing I-Variables ..................................................................................................... 25 Motor I-Variables ........................................................................................................................................ 26 Pulse Output Frequency ...............................................................................................................................
Accessory 24E2 INTRODUCTION Overview The Acc-24E2 Axis Expansion Board provides two or four channels of PMAC2-style direct PWM servo interface circuitry for UMAC and Ultralite/MACRO Station controllers. The Acc-24E2 is part of the UMAC family of expansion cards and these accessory cards are designed to plug into an industrial 3U rack system. The information from these accessories is passed directly to either the UMAC or MACRO Station CPU via the high speed UBUS expansion bus.
Acc-24E2 Power Supply Requirements The following table lists the power requirements for the entire Acc-24E2 family of products for the UMAC Turbo and UMAC MACRO. Because of the flexibility of these products, the power requirements for all Acc-24E products are listed. Product Acc-24E2 Acc-24E2 opt. 1 Acc-24E2A Acc-24E2 opt.
Accessory 24E2 E-POINT JUMPER SETTINGS Acc-24E2 Base Board (Channels* 1 & 2) Jumper Configuration E1A 1-2 Description Default No Jumper for TTL Level input for CHU1 flag No jumper Jumper 1-2 for DIR1+ output in Stepper Mode E1B 1-2 No Jumper for TTL Level input for CHV1 flag No jumper Jumper 1-2 for DIR1- output in Stepper Mode E1C 1-2 No Jumper for TTL Level input for CHW1 flag No jumper Jumper 1-2 for PUL1+ output in Stepper Mode E1D 1-2 No Jumper for TTL Level input for CHT1 flag No jumper Jumper
Acc-24E2 Option 1 Board (Channels 3 & 4) 4 Jumper Configuration E1A 1-2 E1B 1-2 E1C 1-2 E1D 1-2 E2A 1-2 E2B 1-2 E2C 1-2 E2D 1-2 E7 1-2 E8 1-2 E10 1-2-3 E11 1-2-3 E111 1-2 E112 1-2 Description Default No Jumper for TTL Level input for CHU3 flag Jumper 1-2 for DIR3+ output in Stepper Mode No Jumper for TTL Level input for CHV3 flag Jumper 1-2 for DIR3- output in Stepper Mode No Jumper for TTL Level input for CHW3 flag Jumper 1-2 for PUL3+ output in Stepper Mode No Jumper for
Accessory 24E2 HARDWARE SETUP Position Compare Port Driver IC As with the other PMAC controllers, the UMAC has the high speed compare outputs which allows firing an output based on position. This circuit will fire within 100 nsec of reaching the desired position. The position compare output port on Acc-24E2x has driver IC at component U27. This IC gives a fast CMOS driver. This IC gives a fast CMOS driver.
Acc-24E2 Clock Settings The Phase Clock and Servo Clock must be configured on each Acc-24E2x base board. Each system can have only one source for the servo and phase clocks and jumpers must be set appropriately to avoid a timing conflict or a watchdog condition. Starting in UMAC Turbo firmware version 1.937, the firmware will set the clock settings automatically for the Acc-24E2 cards in the UBUS. To enable this feature, set jumper E13 from 2 to 3 for all of the Acc-24E2s plugged into the UMAC.
Accessory 24E2 Termination Resistors The Acc-24E2A provides sockets for termination resistors on differential input pairs coming into the board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances into the Acc-24E2A board and ringing at signal transitions is a problem, SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing.
Connecting Limits/Flags to the Acc-24E2 The following diagram illustrates the sinking and sourcing connections to an Acc-24E2. This example uses 12-24V flags. Loss of Encoder Circuit The encoder-loss detection circuitry works for differential incremental encoders only. In proper operation, the digital states of the complementary inputs for channel (e.g. A and A/) should always be opposite: when one is high, the other is low.
Accessory 24E2 Acc-24E2 Encoder Loss Detection with UMAC MACRO CPU Channel Resistor Pack Status Bit Address (FirstServo IC)* Status Bit Address (Second Servo IC)* Status Bit “Name” Bit Error State 1 RP22 Y:$B8C8,5 Y:$B8CC,5 QL_12 RP24 Y:$B8C9,5 Y:$B8CD,5 QL_23 RP22** Y:$B8CA,5 Y:$B8CE,5 QL_34 RP24** Y:$B8CB,5 Y:$B8CF,5 QL_4*First Servo IC has base address $C040; second Servo IC has base address $C060 **These resistor packs are on the Option 1A piggyback board (if present) of the module, not on the ba
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Accessory 24E2 CONNECTIONS This diagram shows the location of connections and jumpers for both the base Acc-24E2 and its Option 1D piggyback board.
Mating Connectors Terminal Block Connectors Name TB1- Top TB2- Top TB3- Top TB1- Front TB2 Front Manufacturer Pins Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact 12 12 3 5 5 Type Details FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/3-ST3,81 FRONT-MC1,5/5-ST3,81 FRONT-MC1,5/5-ST3,81 Encoder 1 Inputs Encoder 2 Inputs Compare Outputs Channel 1 Flags Channel 2 Flags DB15 Connector Option Name Manufacturer Type Details J1- Top AMP Pins 15 AMP 745072-2
Accessory 24E2 Sample Wiring Diagrams This section has typical wiring diagrams for the TTL level inputs, flags and limits and PFM outputs.
Position Limits, Home Flag, and User Flag ACC-24E2 Sourcing Flags 5 4 3 2 1 FLG_RTN_1 HOME1 MLIM1 PLIM1 USER1 ACC-24E2 Sinking Flags 24V Supply 24V Supply 0V 0V 24V 5 Home 4 3 2 1 Neg FLG_RTN_1 HOME1 MLIM1 PLIM1 USER1 24V Home Neg Pos Pos User User Acc-24E2 Stepper Motor Outputs (TTL level) ACC-24E2 PFM-Stepper Output 8 BEQU2 BEQU1 GND A A/ B B/ C C/ 5V GND Dir+ DirPulse+ Pulse- 15 1 2 3 4 5 6 7 8 9 10 11 Bus Voltage Stepper Amplifier 9 12 A A/ B B/ C C/ 5V GND Dir+ DirPulse+ Puls
Accessory 24E2 Servo Channel Numbering Each Servo IC has four channels of servo interface circuitry. The tens digit n of the I-variable configuring the IC represents the channel number on the IC (n = 1 to 4). For example, Channel 1 of the Standard Servo IC on the first Acc-24E2 is configured by variables I7210 – I7219. These channelspecific I-variables are represented generically as I7mn0 – I7mn9, where m represents the Servo IC number (0 – 9) and n represents the IC channel number (1-4).
Single-Channel I-Variables The single-channel setup I-variables for Channel n of Servo IC m work the same on an Acc-24E2 as they do on a Turbo PMAC2 itself. Each Servo IC has four channels n, numbered 1 to 4. For the first (standard) Servo IC on the Acc-24E2, the channel numbers 1 – 4 on the Servo IC are the same as the channel numbers 1 – 4 on the board.
Accessory 24E2 The following table shows the address of the A output register for each channel of each Acc-24E2. These addresses can be used for single analog outputs, double analog outputs, or direct PWM outputs. Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan.
The following table shows the address of the flag register for each channel of each Acc-24E2. Servo IC # Chan. 1 2 3 4 5 6 7 8 9 $078200 $078300 $079200 $079300 $07A200 $07A300 $07B200 $07B300 Chan. 2 $078208 $078308 $079208 $079308 $07A208 $07A308 $07B208 $07B308 Chan. 3 Chan.
Accessory 24E2 Ixx83: Motor xx Phase Position Address Ixx83 tells Turbo PMAC where to get its commutation position feedback every phase update cycle. Usually, this contains the address of an encoder phase position register. The following table shows the possible values of Ixx83 for Acc-24E2 encoder phase position registers: Turbo PMAC Ixx83 Acc-24E2 Encoder Register Settings Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan.
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Accessory 24E2 ULTRALITE/MACRO STATION SETUP The Acc-24E2 family of JEXP accessories can also be used with MACRO Station to breakout the standard amplifier, flag, and encoder signals. The gate arrays on the Acc-24E2 family of accessories are located in the traditional channel 9-16 locations of the PMAC2 memory map. Note: In order for the MACRO Station to setup its output and input channels automatically, MACRO Station firmware 1.114 or greater must be used.
8: 9: 10: 11: 12: 13: 14: 15: Internal pulse and direction Not used Not used Not used MLDT pulse timer control (internal pulse resets timer; external pulse latches timer) Not used Not used Not used In any of the quadrature decode modes, PMAC is expecting two input waveforms on CHAn and CHBn, each with approximately 50% duty cycle, and approximately one-quarter of a cycle out of phase with each other.
Accessory 24E2 When MI911 is set to 1, the channel’s position compare register is tied to the first encoder counter on the ASIC (Encoder 1 for channels 1-4, Encoder 5 for channels 5-8, or Encoder 9 for channels 9-10) and the position compare signal appears both on EQUn, and combined into the EQU output for the first channel on the IC (EQU1 or EQU5); executed as a logical OR. MI911 for the first channel on an ASIC performs no effective function, so is always 1. It cannot be set to 0.
The PMAC2 Style outputs allow the PMAC to control up to three individual output channels based on the mode. These outputs are described as output A, output B, and output C.
Accessory 24E2 MLDT FEEDBACK FOR UMAC TURBO AND UMAC MACRO The Acc-24E2 can provide direct interface to magnetostrictive linear displacement transducers (MLDTs) through its encoder connectors. This interface is for MLDTs with an external excitation format (often called RS-422 format because of the signal levels). The Acc-24E2 provides the excitation pulse, and receives the echo pulse, both with RS-422 signal formats. This section provides basic information for using MLDTs with the Acc-24E2.
Line 1 (Method and Address): This 24-bit value (6 hex digits) should begin with a 3 (filtered parallel data) followed by the address of the timer register.
Accessory 24E2 Ixx81 and Ixx91 (Power-On Phase Position Address and Format) Occasionally the MLDT is used to establish an absolute phase reference position for Turbo-PMACcommutated motors. In this case, Ixx81 and Ixx91 are set to the same values as Ixx10 and Ixx95, respectively (see above). Pulse Output Frequency The pulse-output frequency is established by assigning an M-variable to the C sub-channel command register, and writing a value to that M-variable after every power-up/reset.
PMAC2/Turbo PMAC2 Conversion Table and Motor I-variables Once the MACRO Station has been set up to process the MLDT feedback, the PMAC2 or Turbo PMAC2 can process the ongoing position feedback with its conversion table, Ix03, and Ix04 just as for any other feedback from a MACRO Station.
Accessory 24E2 MS{anynode},MI904/MI908 (PFM Pulse Width) The pulse width, set by MI904/MI908 in units of PFM clock cycles must be set long enough for the MLDT to see, and long enough to contain the rising edge of the RPM start echo pulse, or the rising edge of the single DPM echo pulse. For example, if this edge can come up to 2 sec after the start of the excitation pulse and the PMAC clock cycle is at its default of about 0.1 sec, then I7m04 must be set at least to 20.
MS{anynode}, MI16x (xth Motor Node MLDT Frequency Control) This variable establishes the frequency of the excitation pulse sent to the MLDT. Its value is written automatically to the full 24-bit C sub-channel command register for the channel assigned to this node, so the PFM circuit will create a pulse train at this frequency.
Accessory 24E2 Compact MACRO Station Feedback Type Ixx95 (Unsigned) Ixx95 (Signed) $730000 $720000 $740000 $740000 $740000 $740000 $F30000 $F20000 $F40000 $F40000 $F40000 $F40000 Acc-8D Opt 7 Resolver/Digital Converter Acc-8D Opt 9 Yaskawa Absolute Encoder Converter Acc-8D Opt 10 Sanyo Absolute Encoder Converter Acc-28B Analog/Digital Converter MACRO Station Option 1C/Acc-6E A/D Converter MACRO Station Parallel Input, MLDT, SSI When PMAC or PMAC2 has Ix10 set to get absolute position over MACRO, it e
X/Y Address Bit If bit 22 of Ix10 is 0, the PMAC looks for the parallel sensor in its Y address space. This is the standard choice, since all I/O ports map into the Y address space. If this bit is 1, PMAC looks for the parallel sensor in its X address space. Signed/Unsigned Bit If the most significant bit (MSB - bit 23) of MI11x is 0, the value read from the absolute sensor is treated as an unsigned quantity.
Accessory 24E2 Connector and Terminal Description Direct PWM Amplifier Connector J1- PWM AMP1 (36-pin Mini-D Connector) Pin # Symbol Function Description Notes 1 FC0 Feedback 1 of 4 Fault Code Bits Optional 2 FC2 Feedback 1 of 4 Fault Code Bits Optional 3 ADC_CLK1+ Command A/D Converter Clock 4 ADC_STB1+ Command A/D Converter Strobe 5 CURRENTA+ Feedback Phase A Actual Current Data Serial digital 6 CURRENTB+ Feedback Phase B Actual Current Data Serial digital 7 AENA1+ Command Amplifier Enable High is e
J2- PWM AMP2 (36-pin Mini-D Connector) Pin # Symbol Function Description Notes 1 FC0 Feedback 1 of 4 Fault Code Bits Optional 2 FC2 Feedback 1 of 4 Fault Code Bits Optional 3 ADC_CLK2+ Command A/D Converter Clock 4 ADC_STB2+ Command A/D Converter Strobe 5 CURRENTA+ Feedback Phase A Actual Current Data Serial digital 6 CURRENTB+ Feedback Phase B Actual Current Data Serial digital 7 AENA2+ Command Amplifier Enable High is enable 8 FAULT2+ Feedback Amplifier Fault High is fault 9 PWMATOP2+ Command Phase A
Accessory 24E2 Terminal Block Option for Encoders and EQU Connector TB1 Top – Encoder 1 Pin # Symbol Function 1 2 3 4 5 6 7 8 9 10 11 12 CHA1+ CHA1CHB1+ CHB1CHC1+ CHC1ENCPWR GND CHU1+/DIR_1+ CHV1+/DIR_1CHW1+/PUL_1+ CHT1+/PUL_1- Input Input Input Input Input Input Output Common Input/Output Input/Output Input/Output Input/Output Description Notes Encoder 1 Positive A Channel Encoder 1 Negative A Channel Encoder 1 Positive B Channel Encoder 1 Negative B Channel Encoder 1 Positive C Channel Encoder 1
DB15 Connector Option for Encoders and EQU If the board is ordered with part number 603397-DBx, the feedback and supplemental flags use a DB15 connector. The following are the pinouts for the DB15 connectors.
Accessory 24E2 Connector TB2 Front- Limits 2 Pin # Symbol Function 1 2 3 4 5 USER2 PLIM2 MLIM2 HOME2 FLG_2_RET Input Input Input Input Input Connector and Terminal Description Description Notes General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return For All Flags Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V
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Accessory 24E2 SCHEMATICS Schematics 39
Accessory 24E2 40 Schematics
