^ USER MANUAL ^2 Accessory 24E2 ^3 Axis Expansion Board ^4 3Ax-603397-xUxx ^5 October 10, 2003 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 © 2003 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.
Accessory 24E2 Table of Contents INTRODUCTION .......................................................................................................................................................1 Overview ...................................................................................................................................................................1 Features .................................................................................................................................
Accessory 24E2 Conversion Table Processing I-Variables ..........................................................................................................26 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.
Accessory 24E2 Option 1D: If Option 1D Piggyback Board is ordered, the circuitry and input/output connectors are provided for the third and fourth channels associated with the Servo IC on the main ACC-24E2. 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.
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
Accessory 24E2 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 Mod
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 the ACC-24E2 and its Option 1 daughter card has a socketed driver IC in a 8-pin DIP socket at component U27. This IC gives a fast CMOS driver.
Accessory 24E2 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.
Accessory 24E2 Encoder 2 Encoder 3 Encoder 4 RP24 RP22 RP24 6-pin 6-pin 6-pin 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.
Accessory 24E2 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. Sinking, Separate Supply Sourcing, Separate Supply 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 a 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_10 2 RP24 Y:$B8C9,5 Y:$B8CD,5 QL_20 3 RP22** Y:$B8CA,5 Y:$B8CE,5 QL_30 4 RP24** Y:$B8CB,5 Y:$B8CF,5 QL_40 *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 o
Accessory 24E2 10 Hardware Setup
Accessory 24E2 CONNECTIONS This diagram shows the location of connections and jumpers for both the base ACC-24E2 and its Option 1D piggyback board.
Accessory 24E2 Mating Connectors Terminal Block Connectors Name Manufacturer Pins TB1- Top TB2- Top Phoenix Contact Phoenix Contact 12 12 TB3- Top TB1- Front Phoenix Contact Phoenix Contact Phoenix Contact 3 5 5 TB2 Front Type Details FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/12-ST3,81 Encoder 1 Inputs Encoder 2 Inputs FRONT-MC1,5/3-ST3,81 FRONT-MC1,5/5-ST3,81 FRONT-MC1,5/5-ST3,81 Compare Outputs Channel 1 Flags Channel 2 Flags DB15 Connector Option Name Manufacturer Type Details J1- Top AMP
Accessory 24E2 Overall Wiring Diagram T W V U GND 5V C/ C B/ B A/ A Shield 12 11 10 9 8 7 6 5 4 3 2 1 TB1 Top ACC-24E2 5 4 TB1 Front 3 2 1 FLG_RTN PLIM MLIM HOME USER AMP1 AMP2 12V to 24V Supply GND +V Amplifier LOAD y y y Float Shield 15V AGND Neg Limit Home Flag Pos Limit Connections Servo Motor Float Shield 13
Accessory 24E2 Sample Wiring Diagrams This section has typical wiring diagrams for the TTL level inputs, flags and limits and PFM outputs.
Accessory 24E2 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 FLG_RTN_1 HOME1 MLIM1 PLIM1 USER1 5 4 Home 3 2 Neg 1 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 Di
Accessory 24E2 Servo IC Configuration I-Variables Turbo PMAC I-variables in the range I7000 – I7999 control the configuration of the Servo ICs. The hundreds digit represents the number of the Servo IC (0 to 9) in the system. Servo ICs 0 and 1 are (or can be) on board the Turbo PMAC board itself. Servo ICs 2 through 9 are (or can be) on external devices such as the ACC-24E2.
Accessory 24E2 2 * PWMFreq( kHz ) = { Integer } PhaseFreq I7m01: Servo IC m Phase Clock Frequency Control Even though the IC is receiving an external phase clock (see I7m07, above), usually it is best to create the same internal phase clock frequency in the Servo IC.
Accessory 24E2 Encoder Conversion Table I-Variables To use feedback or master position data from an ACC-24E2, add entries to the encoder conversion table (ECT) using I-variables I8000 – I8191 to address and process this data. The default conversion table in the Turbo PMAC does not contain these entries; it only contains entries for the eight channels on board the Turbo PMAC.
Accessory 24E2 Usually, the Ixx03, Ixx04, and Ixx05 variables contain the address of a processed position value in the encoder conversion table, even when the raw data comes from the ACC-24E2. The first line of the encoder conversion table is at address $003501; the last line is at address $0035C0. Ixx10: Motor xx Power-On Position Address Ixx10 tells the Turbo PMAC where to read absolute power-on position, if any.
Accessory 24E2 flags on an ACC-24E2 channel, or the encoder counter filled by simulated quadrature from a Yaskawa absolute encoder connected to the ACC-24E2 through an ACC-57E board. The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa absolute encoders: Turbo PMAC Ixx81 ACC-24E2 Encoder Register Settings (Ix91=$480000 - $580000) Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan.
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.
Accessory 24E2 7: 8: 9: 10: 11: 12: 13: 14: 15: x4 quadrature decode CCW 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 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. MI912 determines which signal or combination of signals, and which polarity, triggers a position capture of the counter for the encoder mapped to the specified node.
Accessory 24E2 Output Mode Select (MSn,MI916) The ACC-24E2 family of boards can be used for multiple mode outputs. At the MACRO Station, the output mode on MACRO Station variable MSn,MI916 must be set up. The table below shows the output modes available for each of the ACC-24E2 boards. The output mode select will be set up automatically if using either the P2Setup or the Turbo Setup programs.
Accessory 24E2 MLDT FEEDBACK FOR UMAC-TURBO & 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.
Accessory 24E2 Conversion Table Processing I-Variables The pulse timer for Servo IC m Channel n holds a number proportional to the time and therefore the position. This must be processed in the conversion table before it can be used by the servo loop. It is best to use the filtered parallel data conversion, a 3-line entry in the table (three consecutive I-variables).
Accessory 24E2 Ixx10 for ACC-24E2 MLDT Timer Registers (Ixx95=$180000) Servo IC # Channel 1 Channel 2 Channel 3 Channel 4 2 3 4 5 6 7 8 9 $078200 $078300 $079200 $079300 $07A200 $07A300 $07B200 $07B300 $078208 $078308 $079208 $079308 $07A208 $07A308 $07B208 $07B308 $078210 $078310 $079210 $079310 $07A210 $07A310 $07B210 $07B310 $078218 $078318 $079218 $079318 $07A218 $07A318 $07B218 $07B318 Ixx80 (Power-On Mode) Set Ixx80 to 4 to delay the absolute power-on position read until the pulse-output fr
Accessory 24E2 To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, calculate: Mxx07 = 65 ,536 * 1.667 ≅ 11 9 ,380 To write this value to the register, a power-on PLC routine is suggested; this can also be done with online commands from the host computer.
Accessory 24E2 power-on-position is the same. The information must be retrieved from MACRO Station variable MSn,MI920 for each node transfer as specified by Ix10 at the Ultralite. MSn,MI920 does not need to be set up because the MACRO Station will place the power-on position the appropriate register at power-up.
Accessory 24E2 The result of this conversion is in the X-register of the third line. Any functions using this value should address this register. For example, if this were the first entry in the table, which starts at $000010, the result would be in X:$0012.
Accessory 24E2 Absolute Position for Ultralite Compact MACRO Station Feedback Type (firmware version 1.
Accessory 24E2 Remember, the output from the encoder conversion table will reside in the X register. For example, with the following entry: MS0,MI120=$30C040 MS0,MI121=$FFFFFF MS0,MI122=32 ($10 of ECT) ($11 of ECT) ($12 of ECT) The output from the ECT will reside in X:$12 and this will be the register to obtain the absolute data from. MI11x consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the MACRO Station from which the absolute position information is read.
Accessory 24E2 CONNECTOR & 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 ena
Accessory 24E2 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+
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 CHA1+ CHA1CHB1+ CHB1CHC1+ CHC1ENCPWR GND CHU1+/DIR_1+ CHV1+/DIR_1CHW1+/PUL_1+ Input Input Input Input Input Input Output Common Input/Output Input/Output Input/Output 12 CHT1+/PUL_1- Description 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 Negative C Channel
Accessory 24E2 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 Flag and User Flag Terminal Block Inputs Connector TB1 Front- Limits 1 Pin # Symbol Function 1 2 3 4 5 USER1 PLIM1 MLIM1 HOME1 FLG_1_RET Input Input Input Input Input 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 Connector TB2 Front- Limits 2 Pin # Symbol Function 1 2 3 4 5 USER2 PLIM2 MLIM2 HOME2 FLG_2_RET Input I
Accessory 24E2 38 Connector and Terminal Description
Accessory 24E2 SCHEMATICS Schematics 39
Accessory 24E2 40 Schematics
