Delta Tau Acc-24E2S User Manual
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Delta Tau Acc-24E2S User Manual

Delta Tau Acc-24E2S User Manual

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ccUSER MANUAL
^2
Accessory 24E2S
Single Source Machine Control
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 //
^3
Axis Expansion Board
^4
3Ax-603441-xUxx
^5
October 17, 2018
DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION ...
Power // Flexibility // Ease of Use
www.deltatau.com

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  • Page 1 MANUAL Accessory 24E2S Axis Expansion Board 3Ax-603441-xUxx October 17, 2018 DELTA TAU Data Systems, Inc. NEW IDEAS IN MOTION … Single Source Machine Control Power // Flexibility // Ease of Use 21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 //...
  • Page 2 Copyright Information © 2018 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 UPDATED TERMINAL BLOCK DESC., PP. 37-41 04-17-09 A. OHMORI UPDATED JUMPERS & RESISTOR PACK DESCR. 07/22/09 S. SATTARI ADDED UL SEAL TO MANUAL COVER 09/30/09 S.FIERRO UPDATED AGENCY APPROVAL/SAFETY SECTION CORRECTED RESISTOR PACK INFO, P.9 02/18/10 M.

  • Page 4: Table Of Contents

    Connecting Limits/Flags to the Acc-24E2 ......................9 Loss of Encoder Circuit ............................. 9 Acc-24E2S Discrete On-board Logic with UMAC Turbo CPU ................10 Acc-24E2S Discrete On-board Logic with UMAC MACRO CPU ..............10 Position Compare Port Driver IC ..........................10 CONNECTIONS ...............................
  • Page 5 Accessory 24E2S Output Mode Select (MSn,MI916).......................... 22 MACRO Station Encoder Conversion Table (MSn,MI120-MI151) ............... 23 Using Acc-24E2S with the MACRO Station/Ultralite or Turbo Ultralite Change Output Mode to PFM on the Third Channel ................................23 PMAC2 Ultralite ..............................23 PMAC2 Turbo Ultralite MACRO IC0 ........................ 23 PMAC2 Turbo Ultralite MACRO IC1 ........................

  • Page 6: Introduction

    12V-24V sensors or limit switches. Up to eight Acc-24E2S boards can be connected to one UMAC providing up to 32 additional channels of stepper interface circuitry. Because each MACRO Station CPU can service only eight channels of servo data, only two Acc-24E2S boards can be connected to the MACRO Station for stepper motor connection.

  • Page 7: Specifications

    FRONT-MC1,5/3-ST3,81 DB15 Female DB Option Connectors UL-94V0 The width is the width of the front plate. The length and height are the dimensions of the PCB. Electrical Specifications Description Specification Notes ACC-24E2S Power 5V @ 0.9 A (10%) Requirements Specifications...

  • Page 8: Agency Approval And Safety

    Accessory 24E2S Agency Approval and Safety Item Description CE Mark EN61326-1 EN55011 Class A Group 1 EN61000-4-2 EN61000-4-3 EN61000-4-4 EN61000-4-5 EN61000-4-6 UL 61010-1 File E314517 CAN/CSA C22.2 No. 1010.1-92 File E314517 Flammability Class UL 94V-0 EMI: KN 11 EMS: KN 61000-6-2 사...

  • Page 9: E-Point Jumper Settings

    For factory use only (jumper JP1-JP9) Factory set *The channels refer to the Servo IC associated with the individual Acc-24E2S board. For example, in an eight-axis application, there would be two Acc-24E2S boards. The first Acc-24E2S would have axes 1-4 and the second Acc-24E2S would contain axes 5-8.

  • Page 10: Hardware Setup

    3U MACRO Station use Acc-24E2 Clock Settings The Phase Clock and Servo Clock must be configured on each Acc-24E2S. 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.

  • Page 11: Resistor Pack Configuration

    6-pin Termination Resistors The Acc-24E2S 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.

  • Page 12: Acc-24E2 Limit And Flag Wiring

    Accessory 24E2S Acc-24E2 Limit and Flag Wiring The Acc-8F allows the use of sinking or sourcing position limits and flags to the PMAC2. 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 13: Acc-24E2S Discrete On-Board Logic With Umac Turbo Cpu

    This circuit will fire within 100 nsec of reaching the desired position. The position compare output ports on Acc-24E2S have driver IC at components U29 and U30. This IC gives a fast CMOS driver.

  • Page 14: Connections

    Accessory 24E2S CONNECTIONS Acc-24E2S Terminal Block Layout Diagram Designates Pin 1 Acc-24E2S DB15 Option Layout Diagram 10 9 11 12 BOTTOM 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...

  • Page 15: Connector Option

    Accessory 24E2S 5 Connector Option Name Manufacturer Pins Type Details J1- Top AMP 745072-2 Encoder 1 Inputs and Compare Outputs J2- Top AMP 745072-2 Encoder 2 Inputs and Compare Outputs J1- Bottom AMP 745072-2 Encoder 3 Inputs and Compare Outputs J2- Bottom AMP 745072-2 Encoder 4 Inputs and Compare Outputs...

  • Page 16: Acc-24E2S Stepper Motor Outputs (Ttl Level)

    Accessory 24E2S Acc-24E2S Stepper Motor Outputs (TTL level) ACC-24E2S PFM -Stepper Output Bus Voltage Bus Voltage BEQU2 BEQU1 AENA+ AENA- AENA+ AENA- Dir+ Dir- Stepper Dir+ Pulse+ Amplifier Stepper Dir- Pulse- Amplifier Pulse+ Pulse- Channel1: Jumper E1 & E11 Channel2: Jumper E2 & E12 Channel3: Jumper E3 &...

  • Page 17: Umac Software Setup

    Accessory 24E2S UMAC SOFTWARE SETUP System Configuration I-Variables Starting in Turbo PMAC firmware version V1.934, the Turbo PMAC determines automatically which Servo and MACRO ICs are present on power-up/reset and enables the I-variables for these ICs. In previous versions, I65 had to be set manually to tell the Turbo PMAC which ICs were present so that the proper I-variables could be enabled.

  • Page 18: Multi-Channel I-Variables

    Accessory 24E2S Multi-Channel I-Variables There are several multi-channel I-variables that must be set up properly for proper operation of the Acc- 24E2 in a Turbo PMAC system. The most important are: I7m07: Servo IC m Phase/Servo Clock Direction This variable should be set to 3 for any Servo IC on an Acc-24E2 so it inputs its phase and servo clocks from signals generated on the Turbo PMAC itself.

  • Page 19: Encoder Conversion Table I-Variables

    Accessory 24E2S I7mn0: Servo IC m Channel n Encoder Decode Control Typically, I7mn0 is set to 3 or 7 for x4 quadrature decode, depending on which way is up. If the channel is used for open-loop stepper drive, I7mn0 is set to 8 to accept internal pulse-and-direction, or to 0 to accept external pulse-and-direction (e.g.
  • Page 20 Accessory 24E2S The following table shows the address of the C output register for each channel of each Acc-24E2S. These addresses can be used for single analog outputs, double analog outputs, or direct PWM outputs. Servo Chan. 1 Chan. 2 Chan.
  • Page 21 Accessory 24E2S The following table shows the address of the flag register for each channel of each Acc-24E2. Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes $078200 $078208 $078210 $078218 Acc-24E2x Channel n Flag Set $078300 $078308 $078310 $078318...

  • Page 22: Umac Turbo Example Setups

    The following section shows how to quickly setup the key variables for a stepper motor (PFM) system. The Acc-24E2S has three modes of outputs which are setup by either the Turbo UMAC or the MACRO CPU. The output modes available for the Acc-24E2S are Direct PWM, DAC, or PFM, but only use the PFM output because of the hardware limitations.

  • Page 23: Ultralite/Macro Station Setup

    Currently there are three types of Acc-24Es to be used with the MACRO Station: Direct PWM commutation outputs Acc-24E2 10V Outputs for torque, velocity and sinusoidal input amplifiers Acc-24E2A Acc-24E2S Dedicated 4-channel stepper interface card MACRO Station Gate Array Locations for Acc-24E2 Chan # [$C040]...

  • Page 24: Flag Capture Control (Msn,Mi911-Mi913)

    Accessory 24E2S 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.

  • Page 25: Output Mode Select (Msn,Mi916)

    Acc-24E2 boards. The output mode select will be set up automatically if using either the P2Setup or the Turbo Setup programs. Board Direct PWM Mode DAC Mode Pulse and Direction Acc-24E2 Acc-24E2A Acc-24E2S Ultralite/MACRO Station Setup...

  • Page 26: Macro Station Encoder Conversion Table (Msn,Mi120-Mi151)

    1. Change Encoder decode to read Pulse and Direction (if using simulated feedback): MSn, MI910 = 8 2. Change PID gains as specified in the Acc-24E2S Manual. 3. Change Motor Command Output Address at the Ultralite (Ix02) or Turbo Ultralite (Ixx02) to pulse and direction output.

  • Page 27: Pmac2 Turbo Ultralite Macro Ic1

    Accessory 24E2S PMAC2 Turbo Ultralite MACRO IC1 Motor Node Address Motor Node Address $079422 $079432 $079426 $079436 $07942A $07943A $07942E $07943E PMAC2 Turbo Ultralite MACRO IC2 Motor Node Address Motor Node Address $07A422 $07A432 $07A426 $07A436 $07A42A $07A43A $07A42E $07A43E PMAC2 Turbo Ultralite MACRO IC3 Motor Node...

  • Page 28: Motor Parameter Setup For Umac And Macro

    Accessory 24E2S MOTOR PARAMETER SETUP FOR UMAC AND MACRO The motor parameter setup is identical for both the Turbo PMAC and the Ultralite/MACRO Station systems. The key motor parameters to setup are the maximum pulse frequency output and the PID gains. Ix69 is the motor x output command limit for motor number x.

  • Page 29: Ix33 Motor X Integral Gain

    Accessory 24E2S Note: If Ix30 were set differently than the above calculation, then Ix32 would change inversely. For instance, if Ix30 were twice the above calculation, then Ix32 would be half its calculation. Ix33 Motor x Integral Gain Typically, this I-variable should be set to 0. The digital electronic loop does not present offsets or disturbances, which need correction in the PMAC2.

  • Page 30: Mldt Feedback For Umac-Turbo & Umac-Macro

    MLDT Hardware Setup of the Acc-24E2S The Acc-24E2S must be set up to output the differential pulse on what is normally the T and W input flags on the encoder connector. This is done by setting the jumper setting to 1-2 on E-points E1 for channel 1, E2 for channel 2, E3 for channel 3, and E4 for channel 4.

  • Page 31: 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-24E2S Boards with Servo IC m Channel n Acc-24 #...

  • Page 32: Pulse Output Frequency

    M-variable after every power-up/reset. The suggested M-variable for the Motor xx using this register is: Mxx07->Y:{address},8,16,S where {address} is specified according to the following table: Mxx07 for Acc-24E2S MLDT Pulse-Output Registers Acc-24 # Servo IC # Channel 1...

  • Page 33: Pmac2/Turbo Pmac2 Conversion Table And Motor I-Variables

    MLDT Software Setup of the UMAC MACRO When the Acc-24E2S is used for MLDT feedback in a UMAC MACRO system, there are a few MI- variables in the MACRO Station, and a few in the PMAC2 or Turbo PMAC2 driving the Station, that must be set up properly.

  • Page 34: Station Conversion Table Processing I-Variables

    Accessory 24E2S 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.

  • Page 35: Power-On Feedback Address For Pmac2 Ultralite

    Accessory 24E2S 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.

  • Page 36: Macro Parallel Absolute Position Setup

    Accessory 24E2S Compact MACRO Station Feedback Type Ixx95 (Unsigned) Ixx95 (Signed) Acc-8D Opt 7 Resolver/Digital Converter $730000 $F30000 Acc-8D Opt 9 Yaskawa Absolute Encoder Converter $720000 $F20000 Acc-8D Opt 10 Sanyo Absolute Encoder Converter $740000 $F40000 Acc-28B Analog/Digital Converter $740000 $F40000 MACRO Station Option 1C/Acc-6E A/D Converter $740000...

  • Page 37: Example Mldt Setup For Umac-Macro

    Accessory 24E2S 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. If the MSB is 1, which adds $80 to the high eight bits of MI11x, the value read from the sensor is treated as a signed, twos-complement quantity.

  • Page 38: Acc-24E2S Terminal Block Description

    Accessory 24E2S ACC-24E2S TERMINAL BLOCK DESCRIPTION The terminal blocks on the Acc-24E2S are described as TB1 Top, TB2 Top, TB3 Top, TB1 Bottom, TB2 Bottom, TB3 Bottom, and TB1 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 39: Connector Tb1 Bottom Encoder 3

    Supplemental Flag W or Pulse Output 4+ Also Pulse Output CHT1+/PUL_4- Supplemental Flag T or Pulse Output 4- Also Pulse Output Connector TB3 Bottom- Compare Outputs Pin # Symbol Function Description Notes Common Digital Reference BEQU3 Output Compare Output 3 BEQU4 Output Compare Output 4 Acc-24E2S Terminal Block Description...

  • Page 40: Connector Tb1 Front- Limits 1

    Digital Supply Power for encoder CHC1+/AENA1+ Input Enc 1 Pos. C Chan. or AENA1+ Also Amplifier Enable CHB1+ Input Enc 1 Pos. B Chan. CHA1+ Input Enc 1 Pos. A Chan. BEQU1 Output Compare Output 1 Acc-24E2S Terminal Block Description...

  • Page 41: Db15 Style Connector J2 Top - Encoder 2 / Equ

    Output Digital Supply Power for encoder CHC3+/AENA3+ Input Enc 3 Pos. C Chan. or AENA3+ Also Amplifier Enable CHB3+ Input Enc 3 Pos. B Chan. CHA3+ Input Enc 3 Pos. A Chan. BEQU3 Output Compare output3 Acc-24E2S Terminal Block Description...

  • Page 42: Db15 Style Connector J2 Bottom - Encoder 4 / Equ

    ENCPWR Output Digital Supply Power for encoder CHC4+/AENA4- Enc 4 Pos. C Chan. or AENA4+ Also Amplifier Enable CHB4+ Input Enc 4 Pos. B Chan. CHA4+ Input Enc 4 Pos. A Chan. BEQU3 Output Compare output3 Acc-24E2S Terminal Block Description...

  • Page 43: Ubus Pinouts

    Accessory 24E2S 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 BD13 DAT3 BD12 BD15...

  • Page 44: Schematics

    Accessory 24E2S SCHEMATICS Schematics...
  • Page 45 Accessory 24E2S Schematics...

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