Delta Tau 24E2A User Manual
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Delta Tau 24E2A User Manual

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Accessory 24E2A
Single Source Machine Control
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
USER MANUAL
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Axis Expansion Board
4Ax-603398-xUxx
June 7, 2006
Power // Flexibility // Ease of Use
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  • Page 1 USER MANUAL Accessory 24E2A Axis Expansion Board 4Ax-603398-xUxx June 7, 2006 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.com...
  • Page 2 Copyright Information © 2006 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...
  • Page 3 REVISION HISTORY REV. DESCRIPTION DATE APPVD ADDED CE DECLARATION 06/07/06 S. FIERO...

  • Page 5: Table Of Contents

    Amplifier Enable Circuit ............................11 Loss of Encoder Circuit ............................11 Acc-24E2A Encoder Loss Detection with UMAC Turbo CPU.................12 Acc-24E2A Encoder Loss Detection with UMAC MACRO CPU ..............12 Position Compare Port Driver IC ..........................12 CONNECTIONS ..............................13 Acc-24E2A Board Layout -Terminal Block Option .....................13 Acc-24E2A Board Layout -DB15 Option......................13...
  • Page 6 Output Mode Select (MSn,MI916) ........................30 MACRO Station Encoder Conversion Table (MSn,MI120-MI151)..............30 MLDT FEEDBACK FOR UMAC-TURBO & UMAC-MACRO ...............31 MLDT Hardware Setup of the Acc-24E2A ......................31 MLDT Software Setup of the UMAC Turbo ......................31 Hardware Setup I-Variables for Servo IC m ....................31 Conversion Table Processing I-Variables......................31...
  • Page 7 Accessory 24E2A DECLARATION OF CONFORMITY .........................52 SCHEMATICS ................................54 Table of Contents...

  • Page 9: Introduction

    • Pulse and direction outputs for stepper systems or MLDTs Features The Acc-24E2A board can be used with any UMAC or MACRO Station CPU, interfacing through the expansion port. The Acc-24E2A supports a wide variety of servo and stepper interfaces: •...

  • Page 10: Board Configuration

    Eight input flags, two output flags Option 1A: If Option 1A 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-24E2A. The command signals for this option are ±10V.

  • Page 11: Specifications

    Accessory 24E2A SPECIFICATIONS Environmental Specifications Description Specification Notes 0°C to 45°C, Operating Temperature -25°C to 70°C Storage Temperature 10% to 95 % non-condensing Humidity Physical Specifications Description Specification Notes Length: 16.256 cm (6.4 in.) Dimensions w/o Option 1A Height: 10 cm (3.94 in.) Width: 2.03...

  • Page 12: Electrical Specifications

    -15V @ 0.12A (±10%) Warning If more than four ACC-24E2A’s with Option 1A are used in a UMAC system, the ACC-E1 or ACC-F1 power supplies will not have enough 15V power. Delta Tau recommends using an external ±15V power supply for systems with more than four ACC-24E2A boards.

  • Page 13: E-Point Jumper Settings

    Accessory 24E2A E-POINT JUMPER SETTINGS Acc-24E2A Base Board (Channels* 1 and 2) Jumper Config. Description Default No Jumper for TTL Level input for CHU1 flag No jumper Jumper 1-2 for DIR1+ output in Stepper Mode No Jumper for TTL Level input for CHV1 flag...

  • Page 14: Acc-24E2A Option 1 Board (Channels 3 And 4)

    Accessory 24E2A Acc-24E2A Option 1 Board (Channels 3 and 4) Jumper Config. Description Default No Jumper for TTL Level input for CHU3 flag No jumper Jumper 1-2 for DIR3+ output in Stepper Mode No Jumper for TTL Level input for CHV3 flag...

  • Page 15: Hardware Setup

    $07A200 I7700 $07A300 I7800 $07B200 I7900 $07B300 S1-2, S1-5, and S1-6 are used to determine whether the Acc-24E2A is communicating to a Turbo 3U PMAC or a MACRO Station CPU. S1-2 S1-5 S1-6 Function 3U Turbo PMAC Use MACRO Station Address DIP Switch S1 S1-1, S1-2, S1-3, S1-4 are used to address the Acc-24E2A as shown in the table below.

  • Page 16: Resistor Pack Configuration

    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.

  • Page 17: Limit/Flag Voltage Level Resistor Packs

    Limit/Flag Voltage Level Resistor Packs The Acc-24E2A limit and flag circuits also give the flexibility to wire in standard 12V to 24V limits and flags or wire in 5V level limits and flags on a channel basis. The default is set for the standard 12V to 24V inputs but if the resistor pack is added to the circuit, the card can read 5V inputs.

  • Page 18: Acc-24E2 Limit And Flag Wiring

    Accessory 24E2A Acc-24E2 Limit and Flag Wiring The Acc-24E2 allows the use of sinking or sourcing position limits and flags to the controller. The opto- isolator IC used is a PS2705-4NEC-ND quad photo-transistor output type. This IC allows the current to flow from return to flag (sinking) or from flag to return (sourcing).

  • Page 19: Amplifier Fault Circuit

    Accessory 24E2A Amplifier Fault Circuit The amplifier fault circuit for the Acc-24E2A is functionally the same circuit as the limits and flag circuit. "AGND" PLANE AFAULT_1- 2.2K 2.2K RP36 FAULT_1 AFAULT_1+ FAULT_1 ACI1A ACI1B FAULT_2 AFAULT_2+ FAULT_2 ACI2A ACI2B 4.7KSIP8I...

  • Page 20: Acc-24E2A Encoder Loss Detection With Umac Turbo Cpu

    2.5V in a voltage-divider configuration as shipped to be able to accept both single-ended and normal differential inputs. This must be changed to a pull-up configuration which involves reversing a socketed resistor pack on the Acc-24E2A. Acc-24E2A Encoder Loss Detection with UMAC Turbo CPU Channel Resistor...

  • Page 21: Connections

    Accessory 24E2A CONNECTIONS These diagrams show the location of connections and jumpers for both the base Acc-24E2A and its Option 1D piggyback board. Acc-24E2A Board Layout -Terminal Block Option Acc-24E2A Board Layout -DB15 Option BOTTOM Connections...

  • Page 22: Mating Connectors

    Accessory 24E2A Mating Connectors Terminal Block Connectors Name Manufacturer Pins Type Details TB1- Top Phoenix Contact FRONT-MC1,5/12-ST3,81 Encoder 1 Inputs TB2- Top Phoenix Contact FRONT-MC1,5/12-ST3,81 Encoder 2 Inputs TB3- Top Phoenix Contact FRONT-MC1,5/3-ST3,81 Compare Outputs TB1- Bottom Phoenix Contact FRONT-MC1,5/12-ST3,81...

  • Page 23: Overall Wiring Diagram

    Float Shield This is a general example of a system with sourcing flags and normally open amplifier enable output from the Acc-24E2A. For opto-isolation an external power supply is used and E85, E87, and E88 have been removed from the Acc-24E2A.

  • Page 24: Sample Wiring Diagrams

    Position Compare Outputs Output Device 2 BEQU2 BEQU1 Output Device 1 Output Device 1 BEQU1 BEQU2 Output Device 2 Position Limits, Home Flag, and User Flag Acc-24E2A Sourcing Flags Acc-24E2A Sinking Flags 24V Supply 24V Supply FLG_RTN_1 FLG_RTN_1 Home Home HOME1 HOME1...

  • Page 25: Acc-24E2A Dac Ouputs

    AE_NC Float AE_NC Float DAC1B- Shield DAC1B- Shield DAC1B+ DAC1B+ DAC1A- DAC1A- DAC1A+ DAC1A+ Shield Shield Acc-24E2A DAC - Sinusoidal Commutation Mode +/- 15V +/- 15V Supply Supply -15V +15V -15V +15V AA-15V Amplifier Amplifier AA+15V AAGND AAGND Logic GND...

  • Page 26: Amplifier Fault Inputs

    Accessory 24E2A Amplifier Fault Inputs Sample diagrams shown below utilize a separate ±15V power supply for opto-isolation. E85, E87, and E88 are removed from Acc-24E2A. Acc-24E2A Sinking Amplifier Fault +/- 15V +/- 15V Supply Supply -15V +15V -15V +15V Amplifier...

  • Page 27: Amplifier Enable Outputs

    Accessory 24E2A Amplifier Enable Outputs Sample diagrams shown below utilize a separate ±15V power supply for opto-isolation. E85, E87, and E88 are removed from Acc-24E2A. Acc-24E2A Normally Open Amplifier Enable +/- 15V +/- 15V Supply Supply -15V +15V -15V +15V...
  • Page 28 Accessory 24E2A Connections...

  • Page 29: Umac Software Setup

    The most important are: I7m07: Servo IC m Phase/Servo Clock Direction This variable should be set to 0 on the Acc-24E2A generating the clocks (E13 set 2-3) and set to 3 for the Acc-24C2As to receive the clocks (E13 set 1-2).

  • Page 30: Single-Channel I-Variables

    Accessory 24E2A I7m00: Servo IC m MaxPhase/PWM Frequency Control Typically, this will be set to the same value as the variable that controls the system clocks: I7200 on a UMAC Turbo PMAC2, or I6800 on a Turbo PMAC2 Ultralite. If a different PWM frequency is desired...

  • Page 31: Encoder Conversion Table I-Variables

    Accessory 24E2A 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;...
  • Page 32 Accessory 24E2A Ixx05: Motor xx Master Position Address 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;...

  • Page 33: Umac Turbo Example Setups

    Accessory 24E2A Ixx81: Motor xx Power-On Phase Position Address Ixx81 tells Turbo PMAC2 where to read absolute power-on position for motor phase commutation, if any. Typically, it will contain the address of an Acc-24E2 register for only two types of absolute phasing...
  • Page 34 1 and 2 and PFM outputs on channels 3 and 4. Jumpers E1A through E2D must be jumpered on Acc-24E2A option 1 only. For this type of system, make sure I7mn6 is set for DAC and PFM output mode.

  • Page 35: Ultralite/Macro Station Setup

    There are several choices when it comes to the software setup for the MACRO Station. At the MACRO Station the ring frequency must be set up with MSn,MI992. The Acc-24E2A will have its MaxPhase Clock Frequency variables (MSn,MI900 and MSn,MI906) set to the same value as MSn,MI992 to ensure synchronous data exchange.

  • Page 36: Encoder/Timer N Decode Control (Msn,Mi910)

    Accessory 24E2A Encoder/Timer n Decode Control (MSn,MI910) MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts. As such, this defines the sign and magnitude of a count. The following settings may be used to decode an...

  • Page 37: Flag Capture Control (Msn,Mi911-Mi913)

    Accessory 24E2A Flag Capture Control (MSn,MI911-MI913) The flag capture registers must also be set up at the MACRO Station for proper homing, encoder capturing, and setting compare outputs. MI911 determines which encoder input the position compare circuitry for the machine interface channel mapped to the specified node uses.

  • Page 38: Output Mode Select (Msn,Mi916)

    ±10V Outputs with MLDT Feedback A and B are DAC C is PFM The default output at the MACRO Station is PWM (MSn,I916=0). DAC Output Mode Example for Acc-24E2A at MACRO Station MS0,MI916=3 ;DAC output for Channel 1 MS1,MI916=3 ;DAC output for Channel 2 MS4,MI916=3 ;DAC output for Channel 3...

  • Page 39: Mldt Feedback For Umac-Turbo & Umac-Macro

    I7mn6 (Output Format Select): For Servo IC m Channel n to be used for MLDT feedback, I7mn6 must be set to 1 or 3 for the C sub-channel to be used for PFM-format output. On an Acc-24E2A, I7mn6 must then be set to 3 for the A and B sub-channels to be used for DAC-format output.

  • Page 40: Motor I-Variables

    The possible values for this line are shown in the following table: Encoder Conversion Table Parallel Filtered Data Format First Line for Acc-24E2A Boards with Servo IC m Channel n Acc-24 #...

  • Page 41: Pulse Output Frequency

    Accessory 24E2A Ixx10 for Acc-24E2A MLDT Timer Registers (Ixx95=$180000) Acc-24 # Servo IC # Channel 1 Channel 2 Channel 3 Channel 4 $078200 $078208 $078210 $078218 $078300 $078308 $078310 $078318 $079200 $079208 $079210 $079218 $079300 $079308 $079310 $079318 $07A200 $07A208...

  • Page 42: Pmac2/Turbo Pmac2 Conversion Table And Motor I-Variables

    Accessory 24E2A To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, we calculate: ≅ Mxx07 To write this value to the register, a power-on PLC routine is suggested; this can also be done with on- line commands from the host computer.

  • Page 43: Mldt Feedback For Umac-Macro

    MLDT feedback, MI916 must be set to 1 or 3 for the C sub-channel to be used for PFM-format output. On an Acc-24E2A, I7mn6 must then be set to 3 for the A and B sub-channels to be used for DAC-format output.

  • Page 44: Station Motor Node I-Variables

    Accessory 24E2A Encoder Conversion Table Parallel Filtered Data Format First Line for Acc-24E2A Boards Acc-24 # Channel 1 Channel 2 Channel 3 Channel 4 $30C040 $30C048 $30C050 $30C058 $30C060 $30C068 $30C070 $30C078 Line 2 (Bits Used Mask): This 24-bit value should be set to $07FFFF to specify the use of the low 19 bits of the 24-bit source word.

  • Page 45: Macro Parallel Absolute Position Setup

    Accessory 24E2A Ultralite is used, Ixx95 must also be set appropriately. The Compact MACRO Station has a corresponding variable I11x for each node that must be set. Absolute Position for Ultralite Compact MACRO Station Feedback Type Ix10 (Unsigned) Ix10 (Signed) (firmware version 1.16H and above)
  • Page 46 Accessory 24E2A Remember, the output from the encoder conversion table will reside in the X register. For example, with the following entry: MS0,MI120=$30C040 ($10 of ECT) MS0,MI121=$FFFFFF ($11 of ECT) MS0,MI122=32 ($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.

  • Page 47: Acc-24E2A Terminal Block Description

    Accessory 24E2A ACC-24E2A TERMINAL BLOCK DESCRIPTION The terminal blocks on the Acc-24E2A are described as TB1 Top, TB2 Top, TB3 Top, TB1 Bottom, TB2 Bottom, TB3 Bottom, TB1 Front and TB2 Front. The top connectors have the Encoder signals, the bottom connectors have the Amplifier signals, and the front connectors contain the Limit and Flag signals.

  • Page 48: Connector Tb1 Bottom Amp - Out 1

    Accessory 24E2A Connector TB1 Bottom Amp – Out 1 Pin# Symbol Function Description Notes DAC1A+ Output Phase A Analog Out +/-10V, ref to AGND DAC1A- Output Phase A Analog Out -/+10V; ref to AGND DAC1B+ Output Phase B Analog Out...

  • Page 49: Connector Tb1 Front- Limits 1

    Accessory 24E2A Connector TB1 Front- Limits 1 Pin# Symbol Function Description Notes USER1 Input General Capture Flag Sinking or sourcing PLIM1 Input Positive Limit Flag Sinking or sourcing MLIM1 Input Negative Limit Flag Sinking or sourcing HOME1 Input Home Flag...
  • Page 50 Accessory 24E2A Acc-24E2 Terminal Block Description...

  • Page 51: Acc-24E2 Option 1A Terminal Block Description

    Accessory 24E2A ACC-24E2 OPTION 1A TERMINAL BLOCK DESCRIPTION The terminal blocks on the Acc-24E2 option 1A are described as TB1 Top, TB2 Top, TB3 Top, TB1 Bottom, TB2 Bottom, TB3 Bottom, TB1 Front and TB2 Front. The top connectors have the Encoder signals, the bottom connectors have the Amplifier signals, and the front connectors contain the Limit and Flag signals.

  • Page 52: Connector Tb1 Bottom Amp-Out 3

    Accessory 24E2A Connector TB1 Bottom Amp-Out 3 Pin# Symbol Function Description Notes DAC3A+ Output Phase A Analog out +/-10V, ref to AGND DAC3A- Output Phase A Analog out -/+10V; ref to AGND DAC3B+ Output Phase B Analog out +/-10V, ref to AGND...

  • Page 53: Connector Tb1 Front - Limits 3

    Accessory 24E2A Connector TB1 Front - Limits 3 Pin# Symbol Function Description Notes USER3 Input General Capture Flag Sinking or sourcing PLIM3 Input Positive Limit Flag Sinking or sourcing MLIM3 Input Negative Limit Flag Sinking or sourcing HOME3 Input Home Flag...
  • Page 54 Accessory 24E2A Acc-24E2 Option 1A Terminal Block Description...

  • Page 55: Acc-24E2A Db15 Connector Option

    Accessory 24E2A ACC-24E2A DB15 CONNECTOR OPTION DB15 Style Connector J1 Top - Encoder 1 / EQU Pin# Symbol Function Description Notes CHT1+/PUL_1- Supplemental Flag T or Pulse Output 1- Also pulse output CHV1+/DIR_1- Supplemental Flag V or Direction 1- Also direction output...

  • Page 56: Db15 Style Connector J1 Bottom Amp - Out 1/Analog Power

    Analog Reference Voltage Remove jumpers E85, E87, E88 if using external power AA+15V Input* Analog Positive Supply Voltage Remove jumpers E85, E87, E88 if using external power *External power supply inputs for opto-isolation from the digital ground plane. Acc-24E2A DB15 Connector Option...

  • Page 57: Connector Tb1 Front-Limits 1

    Sinking or sourcing PLIM2 Input Positive Limit Flag Sinking or sourcing MLIM2 Input Negative Limit Flag Sinking or sourcing HOME2 Input Home Flag Sinking or sourcing FLG_2_RET Input Return For All Flags +V (12 to 24V) or 0V Acc-24E2A DB15 Connector Option...
  • Page 58 Accessory 24E2A Acc-24E2A DB15 Connector Option...

  • Page 59: Ubus Pinouts

    Accessory 24E2A UBUS PINOUTS P1 UBUS (96- Pin Header) Front View Pin # Row A Row B Row C +5Vdc +5Vdc +5Vdc BD01 DAT0 BD00 BD03 SEL0 BD02 BD05 DAT1 BD04 BD07 SEL1 BD06 BD09 DAT2 BD08 BD11 SEL2 BD10...
  • Page 60 Manufacturers Name: Delta Tau Data Systems, Inc. Manufacturers Address: 21314 Lassen Street Chatsworth, CA 91311 We, Delta Tau Data Systems, Inc. hereby declare that the product Accessory 24E2A Product Name: Model Number: 603398 And all of its options conforms to the following standards:...
  • Page 61 Accessory 24E2A Declaration of Conformity...
  • Page 62 Accessory 24E2A SCHEMATICS Schematics...
  • Page 63 Accessory 24E2A Schematics...

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