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Summary of Contents for Axis 3Ax-603397-xUxx
- Page 1 USER MANUAL Accessory 24E2 Axis Expansion Board 3Ax-603397-xUxx 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.com...
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Page 2: Operating Conditions
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. -
Page 3: Table Of Contents
Accessory 24E2 Table of Contents INTRODUCTION ...............................1 Overview ...................................1 Features ..................................1 Board Configuration..............................1 ACC-24E2 Power Supply Requirements ........................2 E-POINT JUMPER SETTINGS ..........................3 ACC-24E2 Base Board (Channels* 1 & 2) .......................3 ACC-24E2 Option 1 Board (Channels 3 & 4)......................4 HARDWARE SETUP ..............................5 Position Compare Port Driver IC ..........................5 Switch Configuration ..............................5 UMAC Address DIP Switch S1 ..........................5... - Page 4 Accessory 24E2 Conversion Table Processing I-Variables ......................26 Motor I-Variables ...............................26 Pulse Output Frequency .............................27 PMAC2/Turbo PMAC2 Conversion Table & Motor I-variables ................28 MLDT Feedback for UMAC-MACRO........................28 MLDT Software Setup of the UMAC MACRO....................29 Station Hardware Setup I-Variables for Servo IC ....................29 Station Conversion Table Processing I-Variables....................29 Station Motor Node I-Variables .........................30 Power-On Feedback Address for PMAC2 Ultralite ...................30...
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Page 5: Introduction
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. -
Page 6: Acc-24E2 Power Supply Requirements
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. -
Page 7: E-Point Jumper Settings
Jump 1-2 for pulse and direction mode axis 2 * The channels refer to the Servo IC associated with the ACC-24E2 base board. For example, an 8-axis application would have two ACC-24E2s with option 1. The first ACC-24E2 would have axes 1-4 and the second ACC-24E2 would contain axes 5-8. -
Page 8: Acc-24E2 Option 1 Board (Channels 3 & 4)
Jump 2-3 for low true fault AMP4 E111 No jumper for direct PWM mode axis 3 No jumper Jump 1-2 for pulse and direction mode axis 3 E112 No jumper for direct PWM mode axis 4 No jumper Jump 1-2 for pulse and direction mode axis 4... -
Page 9: Hardware Setup
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. -
Page 10: Acc-24E2 Clock Settings
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. -
Page 11: Termination Resistors
Accessory 24E2 Encoder 2 RP24 6-pin Encoder 3 RP22 6-pin Encoder 4 RP24 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. -
Page 12: Connecting Limits/Flags To The Acc-24E2
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. -
Page 13: Acc-24E2 Encoder Loss Detection With Umac Macro Cpu
Accessory 24E2 ACC-24E2 Encoder Loss Detection with UMAC MACRO CPU Channel Resistor Status Bit Status Bit Address Status Bit Bit Error Pack Address (First- (Second Servo IC)* “Name” State Servo IC)* RP22 Y:$B8C8,5 Y:$B8CC,5 QL_1- RP24 Y:$B8C9,5 Y:$B8CD,5 QL_2- RP22** Y:$B8CA,5 Y:$B8CE,5 QL_3-... - Page 14 Accessory 24E2 Hardware Setup...
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Page 15: Connections
Accessory 24E2 CONNECTIONS This diagram shows the location of connections and jumpers for both the base ACC-24E2 and its Option 1D piggyback board. Connections... -
Page 16: Mating Connectors
Accessory 24E2 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 Encoder 2 Inputs FRONT-MC1,5/12-ST3,81 TB3- Top Phoenix Contact FRONT-MC1,5/3-ST3,81 Compare Outputs TB1- Front Phoenix Contact FRONT-MC1,5/5-ST3,81 Channel 1 Flags Phoenix Contact FRONT-MC1,5/5-ST3,81... -
Page 17: Overall Wiring Diagram
Accessory 24E2 Overall Wiring Diagram Shield 11 10 TB1 Top ACC-24E2 FLG_RTN PLIM MLIM HOME USER AMP1 AMP2 12V to 24V Supply Amplifier LOAD Float Shield AGND Neg Limit Home Flag Servo Motor Pos Limit Float Shield Connections... -
Page 18: Sample Wiring Diagrams
Accessory 24E2 Sample Wiring Diagrams This section has typical wiring diagrams for the TTL level inputs, flags and limits and PFM outputs. TTL Level Inputs and Outputs Quadrature Encoders BEQU2 BEQU1 Shield Shield Encoder Encoder Float Shield Float Shield TTL Hall Effect Sensors BEQU2 BEQU1 Float Shield... -
Page 19: Position Limits, Home Flag, And User Flag
Accessory 24E2 Position Limits, Home Flag, and User Flag ACC-24E2 Sourcing Flags ACC-24E2 Sinking Flags 24V Supply 24V Supply FLG_RTN_1 FLG_RTN_1 Home Home HOME1 HOME1 MLIM1 MLIM1 PLIM1 PLIM1 USER1 USER1 User User ACC-24E2 Stepper Motor Outputs (TTL level) ACC-24E2 PFM-Stepper Output BEQU2 BEQU1 Bus Voltage... -
Page 20: Servo Ic Configuration I-Variables
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. -
Page 21: Single-Channel I-Variables
Accessory 24E2 PWMFreq 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. This yields the following constraint: {UMAC Turbo} 7200 7201... -
Page 22: Encoder Conversion Table I-Variables
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;... - Page 23 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.
- Page 24 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...
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Page 25: Ultralite/Macro Station Setup
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. -
Page 26: Flag Capture Control (Msn,Mi911-Mi913)
Accessory 24E2 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. - Page 27 To capture on the LIMn flags, disable the normal functions with Ix25, or use a channel n where none of the flags is used for the normal axis functions Ultralite/MACRO Station Setup...
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Page 28: Output Mode Select (Msn,Mi916)
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. -
Page 29: Mldt Feedback For Umac-Turbo & Umac-Macro
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. -
Page 30: Conversion Table Processing I-Variables
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). -
Page 31: Pulse Output Frequency
Accessory 24E2 Ixx10 for ACC-24E2 MLDT Timer Registers (Ixx95=$180000) 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 $07A210 $07A218 $07A300 $07A308 $07A310... -
Page 32: Pmac2/Turbo Pmac2 Conversion Table & Motor I-Variables
Accessory 24E2 To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, 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 33: Mldt Software Setup Of The Umac Macro
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. MLDT Software Setup of the UMAC MACRO When the ACC-24E2 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... -
Page 34: Station Motor Node I-Variables
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. -
Page 35: Macro Parallel Absolute Position Setup
Accessory 24E2 Absolute Position for Ultralite Compact MACRO Station Feedback Type Ix10 Ix10 (firmware version 1.16H and above) (Unsigned) (Signed) ACC-8D Opt 7 Resolver/Digital Converter $73000n $F3000n ACC-8D Opt 9 Yaskawa Absolute Encoder Converter $72000n $F2000n ACC-8D Opt 10 Sanyo Absolute Encoder Converter $74000n $F4000n ACC-28B or ACC-28E Analog/Digital Converter... - Page 36 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 ($10 of ECT) MS0,MI121=$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.
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Page 37: Connector & Terminal Description
Accessory 24E2 CONNECTOR & TERMINAL DESCRIPTION Direct PWM Amplifier Connector J1- PWM AMP1 (36-pin Mini-D Connector) Notes Pin # Symbol Function Description Feedback 1 of 4 Fault Code Bits Optional Feedback 1 of 4 Fault Code Bits Optional ADC_CLK1+ Command A/D Converter Clock ADC_STB1+ Command... -
Page 38: J2- Pwm Amp2
Accessory 24E2 J2- PWM AMP2 (36-pin Mini-D Connector) Notes Pin # Symbol Function Description Feedback 1 of 4 Fault Code Bits Optional Feedback 1 of 4 Fault Code Bits Optional ADC_CLK2+ Command A/D Converter Clock ADC_STB2+ Command A/D Converter Strobe CURRENTA+ Feedback Phase A Actual Current Data... -
Page 39: Terminal Block Option For Encoders And Equ
Accessory 24E2 Terminal Block Option for Encoders and EQU Connector TB1 Top – Encoder 1 Pin # Symbol Function Description Notes CHA1+ Input Encoder 1 Positive A Channel CHA1- Input Encoder 1 Negative A Channel CHB1+ Input Encoder 1 Positive B Channel CHB1- Input Encoder 1 Negative B Channel... -
Page 40: Db15 Connector Option For Encoders And Equ
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. Connector J1 Top - Encoder 1 / EQU Pin # Symbol Function... -
Page 41: Flag And User Flag Terminal Block Inputs
Accessory 24E2 Flag and User Flag Terminal Block Inputs 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... - Page 42 Accessory 24E2 Connector and Terminal Description...
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Page 43: Schematics
Accessory 24E2 SCHEMATICS Schematics... - Page 44 Accessory 24E2 Schematics...
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