Delta Tau Accessory 51E User Manual
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Delta Tau Accessory 51E User Manual

Delta Tau Accessory 51E User Manual

Umac 4096 interpolator
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Delta Tau Accessory 51E User Manual

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  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 USER MANUAL Accessory 51E UMAC 4096 Interpolator 3Ax-603438-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 3 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 4 REVISION HISTORY REV. DESCRIPTION DATE APPVD UPDATED PARTS INFO FOR REV 104 & 105 05/17/06 S. MILICI ADDED CE DECLARATION OF CONFORMITY 07/06/06 S. FIERRO ADDED UL SEAL TO MANUAL COVER 09/30/09 S.FIERRO UPDATED AGENCY APPROVAL/SAFETY SECTION UPDATED HIPERFACE ABSOLUTE POSITION EXAMPLE 11/25/09 R.NADDAF UPDATED JUMPER DESCRIPTION –...

  • Page 5: Table Of Contents

    Accessory 51E Table of Contents INTRODUCTION ............................... 1 Features..................................1 Limitations when Used With Original UMAC MACRO CPU (602804) ..............1 Board Configuration ..............................2 Base Configuration ..............................2 Options ..................................2 Indicators .................................. 2 SPECIFICATIONS ..............................3 Environmental Specifications ............................3 Physical Specifications ..............................
  • Page 6 Accessory 51E Encoder Conversion Table (in UMAC MACRO CPU) ................... 25 Method 2: Set Registers Using MI198 and MI199 ..................... 26 Configure UMAC MACRO Station MI-Variables for Acc-51E ................27 Configure Registers Inside the Acc-51E ........................28 Configure Registers Inside the UMAC MACRO Station Processor ................ 28 Example Program to Configure Registers MI198 &...

  • Page 8: Introduction

    (optionally four) analog quadrature encoders to Delta Tau Data System’s UMAC Euro card style devices. The Acc-51E is a 3U size card that mounts in the same racks as Delta Tau’s Turbo UMAC or MACRO station processors. Features The Interpolator accepts inputs from two (optionally four) sinusoidal or quasi-sinusoidal encoders and provides encoder position data to the motion processor.

  • Page 9: Board Configuration

    Accessory 51E Board Configuration Base Configuration The base version of the Acc-51E consists of a 3U-size board with two sinusoidal encoder inputs, each individually configurable to accommodate 1V p-p sinusoidal encoders. Options 301-603195-OPT Additional two axes (Axis 3 and 4)

  • Page 10: Specifications

    Accessory 51E 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 Height: 10 cm (3.94 in.) Width: 2.03...

  • Page 11: Agency Approval And Safety

    Accessory 51E 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 12: Layout Of Acc-51E, Ubus Interpolator

    Accessory 51E LAYOUT OF ACC-51E, UBUS INTERPOLATOR This diagram shows jumpers and connectors on the Acc-51E for rev 4 and below. This diagram shows jumpers and connectors on the Acc-51E for rev 5. Layout of Acc-51E UBus Interpolator...

  • Page 13: Dipswitch And E1 Jumper Configuration

    Accessory 51E Dipswitch and E1 Jumper Configuration S1 is a 6-point dipswitch that determines how the Acc-51E is to be mapped to a Turbo UMAC processor or MACRO station processor. Jumper E1 selects between MACRO station and Turbo UBUS backplane addressing.

  • Page 14: Acc-51E Mappings When Used With Umac Turbo Cpu

    Accessory 51E Acc-51E Mappings when Used with UMAC Turbo CPU The table below shows the addresses and switch settings used for the Turbo UMAC models: Acc-51E Mapping Table {CS2, CS3 Mappings When Used With UMAC Turbo CPU} Turbo CS16 Interp SW1 Settings...

  • Page 15: Jumper Configurations

    Accessory 51E Jumper E1 should be placed in the Turbo (1-2) select mode for MACRO Station processors that are revision 5 and higher. Older revision MACRO Station processors (revision 4 and lower) should have jumper E1 in the MACRO position (2-3).

  • Page 16: E8, E9, E10 - Index Capture Select For Channel 1

    Accessory 51E E8, E9, E10 - Index Capture Select for Channel 1 These jumpers allow the user to select whether channel 2 is used for an encoder input or index capture for channel 1. This mode is not supported by software.

  • Page 17: Table Of Jumpers For Rev 105

    Accessory 51E Table of Jumpers for rev 105 Nomenclatur Physical Description Factory Layout Default 1 - 2 - 3 MACRO station / Turbo Select 1 - 2 1 - 2 Turbo UMAC Controller and MACRO Station Controllers (Rev 5 and up)

  • Page 18: E11, E12, E13, E14, E15, E16 - Sin/Cos Encoder Input Select (Option 1- Additional Two Channels)

    Accessory 51E E11, E12, E13, E14, E15, E16 – SIN/COS Encoder Input Select (Option 1- Additional Two Channels) These jumpers allow the selection of which type of input loading is to be used for the encoder. A 120 termination is selectable. The inputs are approx 20K when not terminated.

  • Page 19: Encoder Connections

    Accessory 51E ENCODER CONNECTIONS 1. Be sure to use shielded, twisted pair cabling for sinusoidal encoder wiring. Double insulated is the best. The sinusoidal signals are very small and must be kept as noise free as possible. Avoid cable routing near noisy motor or driver wiring. Refer to the appendix for tips on encoder wiring.
  • Page 20 Accessory 51E The diagram shown below is a simple single-ended encoder-wiring interface. This encoder has SIN and COS outputs that provide a 1V peak-to-peak output with a voltage offset of 2.5 Vdc. Note that the SIN-, COS-, and INDEX- lines are tied to the 2.5V internal references on the interpolator card.

  • Page 21: Type Of Cable For Encoder Wiring

    Therefore, the following recommendations are based upon some experiences that we at Delta Tau Data Systems have acquired. If possible, the best cabling to use is a double-shielded twisted pair cable. Typically, there are four pairs used in a differential encoder's wiring.
  • Page 22 Accessory 51E The shield wires should be tied to ground (Vcc return) at the interpolator end. It is acceptable to tie the shield wires together if there are not enough terminals available. Keep the exposed wire lengths as close as possible to the terminals on the interpolator.

  • Page 23: Principle Of Operation

    Accessory 51E PRINCIPLE OF OPERATION Decoder/ Counter Comparator 1-Bit A/D n-bit Sin/Cos Analog Differential n-bit Signals Photo Amplifier Current Encoder Controller The sine and cosine signals from the encoder are processed in two ways in the Acc-51 board (see diagram). First, they are sent through comparators that square up the signals into digital quadrature and sent into the quadrature decoding and counting circuit of the Servo IC on the Acc-51.
  • Page 24 Accessory 51E The following equations express the relationships between the different units when using the Acc-51: 1 line = 4 hardware counts = 128 software counts = 4096 states (LSBs) ¼-line = 1 hardware count = 32 software counts = 1024 states (LSBs)

  • Page 25: Turbo Umac And The Umac Interpolator

    Accessory 51E TURBO UMAC AND THE UMAC INTERPOLATOR I-Variables for Turbo UMAC Processor Refer to the Turbo PMAC Software Reference Manual for a more detailed description of the use of the I- Variables as described below. To process the interpolator’s data properly, several I-Variables must be set: Encoder Decode Control I-Variables (I7mn0) I7mn0 is used to establish encoder decoding.

  • Page 26: Encoder Conversion Table

    Accessory 51E The table below shows the addresses of the quadrature register in the Acc-51E: Interp SW1 Settings Turbo PMAC Channel Channel Channel Channel Servo IC # (m) $78201 $78209 $78211 $78219 $78301 $78309 $78011 $78319 $79201 $79209 $79211 $79219...
  • Page 27 Accessory 51E The following table shows the possible entries when PMAC2-style Servo ICs are used, as in the Acc-51E: Servo IC # Channel 1 Channel 2 Channel 3 Channel 4 $FF8200 $FF8208 $FF8210 $FF8218 $FF8300 $FF8308 $FF8310 $FF8318 $FF9200 $FF9208...

  • Page 28: Using The Pmac Executive

    Accessory 51E Conversion Result: The result of the conversion is placed in the X-register of the third line of the entry. Careful attention must be paid to the scaling of this 24-bit result. The least significant bit (Bit 0) of the result represents 1/4096 of a line of the sine/cosine encoder.

  • Page 29: Example: Turbo Pmac With Acc-51E For Two Encoders

    Accessory 51E Example: Turbo PMAC with Acc-51E for two Encoders Two 3-line encoder table entries starting at the ninth line in the Encoder Conversion Table. Turbo PMAC - I Variable Turbo PMAC Memory Location I8008=$FF8200 $3509 I8009=$078205 $350A I8010=$000000 $350B ;data for I103 &...

  • Page 30: Encoder Servo Feedback I- Variables

    Accessory 51E A status flag is addressed by Ixx25 points to the address of the flags for software or index capture. If limit switches are used on the axis, Ixx25 must point to the address at which the limit switches occur. If the encoder’s index channel is desired for software based homing, and limit switches are used on the axis,...

  • Page 31: Umac Macro Station Processor And The Umac Interpolator

    Accessory 51E UMAC MACRO STATION PROCESSOR AND THE UMAC INTERPOLATOR There are two ways to establish a setup for the Acc-51E when it is used with the UMAC MACRO Station Processor. Method 1: Assign Acc-51E into Four Axes The easiest way to configure the interface requires that the Acc-51E appears as four axes to the MACRO station processor.

  • Page 32: Encoder Conversion Table (In Umac Macro Cpu)

    Accessory 51E Ix25 Notes Ix25 is set to the address of the flag inputs. This does not need to be the same address as Ix03. However, if the value of Ix25 is different from Ix03, the Index input on the Acc-5E must be wired to the channel that is pointed to by Ix25.

  • Page 33: Method 2: Set Registers Using Mi198 And Mi199

    Accessory 51E Note: The UMAC MACRO CPU has the encoder conversion table that is located inside the MACRO station. The actual data conversion is performed inside the station and gets shifted to the appropriate MACRO registers as feedback to the PMAC2 Ultralite controller. The encoder table in the PMAC Ultralite controller usually needs no modification from factory default values to receive data from a MACRO Station.

  • Page 34: Configure Umac Macro Station Mi-Variables For Acc-51E

    Accessory 51E Since it is possible to have a UMAC MACRO Station that has two 4-axis stack cards, it is possible to insert up to two Acc-51E cards into the MACRO station and not have any address conflicts. This will allow up to eight axes with dual-encoder feedback to be used where each axis has a single quadrature encoder and a sinusoidal encoder.

  • Page 35: Configure Registers Inside The Acc-51E

    Accessory 51E Configure Registers Inside the Acc-51E To set up the registers in the Acc-51E accessory card, the data in the following table is recommended: Register Address Value Description X:$C064 $0038D2 Global Clock Control for Channels 1 - 4 X:$C065...

  • Page 36: Example Program To Configure Registers Mi198 & Mi199

    Accessory 51E If the base address of the encoder conversion table entry is at MI120, then the value of the control word (recommended in the above section as $000007) should be poked into the MACRO Station processor's memory at X:$0010.

  • Page 37: Hiperface Interface Option (Opt2)

    Accessory 51E HIPERFACE INTERFACE OPTION (OPT2) The Hiperface interface option is designed to operate the digital portion of SINCOS and SINCODER devices from Stegmann Corporation. The High Resolution Interpolator with Hiperface option supports commands that apply to the motion needs of PMAC products. These commands include absolute position, encoder temperature, sine-output mux (sincoder), index on RS485 lines (sincoder), encoder reset, error status, and encoder type.

  • Page 38: Using Hiperface

    Accessory 51E Using Hiperface Upon power-up the Hiperface interface performs a Read Position Shifted command and leaves its data in the output registers. Hiperface is defined as a 32-bit protocol. Therefore, in the 24-bit PMAC environment there are two sets of 24-bit registers needed for Hiperface transactions.

  • Page 39: Hiperface Absolute Position Read Example

    Accessory 51E When the commanded operation is complete, the LSB and MSB registers will contain data and the flag register will be set to 0. If the flag register remains a 1 and the LSB register has a number other than 000000 then there is an error on that encoder’s response.

  • Page 40: Hiperface Commands

    Accessory 51E Hiperface Commands Refer to the encoder’s manual for the details of each Hiperface command. The following commands are available for Hiperface Encoders: Value Description Byte Byte Byte Byte (8 Bits) (8 Bits) (8 Bits) (8 Bits)  030h...

  • Page 41: 050H Read Encoder Error Status Register

    Accessory 51E 050h Read Encoder Error Status Register This command returns the value that is stored in an error register inside the Hiperface encoder. After reading, this register is reset to 00. No Errors Encoder analog signals are unreliable Wrong synchronization or offset...

  • Page 42: 05Fh Set Sincoder To Index Output Permanently

    Accessory 51E The low signal occurs approximately 6mS after the command is received at the Sincoder. The output will go to high level to show the index mark present for the duration of the active index mark location. When the Sincoder is removed from the index mark, the signal will go low for approximately 5mS and then revert to the digital RS485 mode and await more Hiperface commands.

  • Page 43: Connector Descriptions

    Accessory 51E CONNECTOR DESCRIPTIONS P1: UBUS Interface Connector (96 pin EURO-Connector) Front View on Accessory Card Pin # Row A Row B Row C +5Vdc +5Vdc +5Vdc BD01 DAT0 BD00 BD03 SEL0 BD02 BD05 DAT1 BD04 BD07 SEL1 BD06 BD09...

  • Page 44: Home Flag Circuit For Rev 104 And Below

    Accessory 51E Home Flag Circuit for rev 104 and below The circuit used for the home flag inputs is shown below for reference. This circuit is used when the home capture firmware is implemented (Second Quarter 2000). 4.7KSIP8I HOME1+ HOME1...

  • Page 45: J3, J4 Encoder Inputs For Rev 104 And Below

    Accessory 51E J3, J4 Encoder Inputs for rev 104 and below (14 pin Mini-Combicon) Front View Pin # Symbol Function Description Notes SIN+ Analog Input Sinusoidal input+ SIN- Analog Input Sinusoidal input- COS+ Analog Input Cosine input+ COS- Analog Input...

  • Page 46: J5, J6 Encoder Inputs (Opt 1) For Rev 104 And Below

    Accessory 51E J5, J6 Encoder Inputs (Opt 1) for rev 104 and below (14 pin Mini-Combicon) Front View Pin # Symbol Function Description Notes SIN+ Analog Input Sinusoidal input+ SIN- Analog Input Sinusoidal input- COS+ Analog Input Cosine input+ COS-...

  • Page 47: Db15 Style Connector J1A, J2A Bottom - Encoder 3 & 4

    Accessory 51E DB15 Style Connector J1A, J2A Bottom - Encoder 3 & 4 Pin# Symbol Function Description Notes No Connection DATA- RS485 digital - Hiperface (Option 2) HOMERET Input Home circuit return This circuit return is connected to J3, J4,...

  • Page 48: Db15 Style Connector J3, J4 Encoder Inputs Rev 105

    Accessory 51E DB15 Style Connector J3, J4 Encoder Inputs rev 105 (14 pin Mini-Combicon) Front View Pin # Symbol Function Description Notes SIN+ Analog Input Sinusoidal input+ SIN- Analog Input Sinusoidal input- COS+ Analog Input Cosine input+ COS- Analog Input...

  • Page 49: Db15 Style Connector J1A, J2A Top - Enc 1 & 2 For Rev 105

    Accessory 51E DB15 Style Connector J1A, J2A Top - Enc 1 & 2 for rev 105 Pin# Symbol Function Description Notes No Connection DATA- RS485 digital - Hiperface/ENDAT (Option 2) CLK- Input RS485 digital - ENDAT (Option 3) Digital ground...

  • Page 50: J8 Equ1-4 Header

    Accessory 51E J8 EQU1-4 Header Pin# Symbol Function Description Notes EQU1 Output TTL EQU Signal EQU2 Output TTL EQU Signal EQU3 Output TTL EQU Signal EQU4 Output TTL EQU Signal Digital ground Digital ground Connector Descriptions...

  • Page 51: Appendices

    Accessory 51E APPENDICES Offset Register Mapping Definitions Most of the registers in the table below are located inside the DSPGATE1. Refer to the DSPGATE1 in the Turbo Software Reference Manual under PMAC2 I/O Control Registers for details on the use of these registers.

  • Page 52: Board Configuration Memory Map

    Accessory 51E Board Configuration Memory Map The board configuration memory mapping for UMAC Turbo models contains data pertaining to the configuration of products that are plugged into the UBUS backplane. On power-up or at any time that is needed, the UBUS processor (normally a Turbo UMAC processor) is capable of polling this block of memory to establish the mapping of hardware.
  • Page 53 Bank: Place a 0 into this bit to select BANK 0. Place a 1 into this bit to select BANK 1. Vendor Code: Delta Tau Data Systems Inc. products will always have a 1 in this 4 bit address field.
  • Page 54 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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