^1 USER MANUAL ^2 Accessory 24E2A ^3 Axis Expansion Board ^4 4Ax-603398-xUxx ^5 April 15, 2010 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 © 2010 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.
REVISION HISTORY REV. 1 DESCRIPTION ADDED CE DECLARATION DATE CHG APPVD 06/07/06 CP S. FIERRO 2 ADDED UL APPROVAL & AGENCY SAFETY INFO 09/30/09 CP S. FIERRO 3 CORRECTED “BEQU2” ERROR, P. 47 02/04/10 CP S. MILICI 4 UPDATED CONNECTION DIAGRAM, P. 13 CP R.
Accessory 24E2A Table of Contents INTRODUCTION .....................................................................................................................................................1 Overview .................................................................................................................................................................1 Features ....................................................................................................................................
Accessory 24E2A Encoder Conversion Table I-Variables ............................................................................................................23 Motor Addressing I-Variables ..........................................................................................................................23 UMAC Turbo Example Setups .............................................................................................................................25 ULTRALITE/MACRO STATION SETUP ..........
Accessory 24E2A DECLARATION OF CONFORMITY .................................................................................................................52 SCHEMATICS ........................................................................................................................................................
Accessory 24E2A INTRODUCTION Overview The Acc-24E2 Axis Expansion Board provides two or four channels of PMAC2-style servo interface circuitry for UMAC and Ultralite/MACRO Station controllers. The Acc-24E2 is part of the UMAC or MACRO Pack 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 JEXP expansion bus or UBUS.
Accessory 24E2A Board Configuration An Acc-24E2A comes standard with one Servo IC providing four servo interface channels, which are brought out on terminal blocks (standard) or DB15 connector.
Accessory 24E2A SPECIFICATIONS Environmental Specifications Description Specification Notes Operating Temperature Storage Temperature Humidity 0°C to 45°C, -25°C to 70°C 10% to 95 % non-condensing Physical Specifications Description Specification Dimensions w/o Option 1A Length: 16.256 cm Notes (6.4 in.) Height: 10 cm (3.94 in.) Dimensions with Option 1A Width: 2.03 cm (0.8 in.) Length: 16.256 cm (6.4 in.) Height: 10 cm (3.94 in.) Width: 4.06 cm (1.6 in.
Accessory 24E2A Electrical Specifications Description Specification ACC-24E2A Power Requirements 5V @ +15V -15V 5V @ +15V -15V ACC-24E2A with Option 1A Power Requirements Notes 0.55A (±10%) @ 0.16A (±10%) @ 0.07A (±10%) 0.95A (±10%) @ 0.30A (±10%) @ 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.
Accessory 24E2A E-POINT JUMPER SETTINGS Acc-24E2A Base Board (Channels* 1 and 2) Jumper Config.
Accessory 24E2A Acc-24E2A Option 1 Board (Channels 3 and 4) 6 Jumper Config.
Accessory 24E2A HARDWARE SETUP Switch Configuration UMAC Address DIP Switch S1 S1, S1-3, S1-4 are used to address the Acc-24E2A as shown in the table below. S1-1 S1-3 S1-4 Board No. IC No. I-Var.
Accessory 24E2A Resistor Pack Configuration Differential or Single-Ended Encoder Selection The differential input signal pairs to the PMAC have user-configurable pull-up/pull-down resistor networks to permit the acceptance of either single-ended or differential signals in one setting, or the detection of lost differential signals in another setting. • The ‘+’ inputs of each differential pair each have a hard-wired 1 kΩ pull-up resistor to +5V. This cannot be changed.
Accessory 24E2A 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. Channel Specific Resistor Packs Channel 1 Channel 2 RP22 RP24 SIP Description 2.
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 optoisolator 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). A sample of the positive limit circuit is shown below. The 4.7K resistor packs used will allow 12-24V flag inputs.
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 +5V AFAULT_1R13 2.2K FAULT_1 FAULT_2 R12 2.2K FAULT_1 8 7 FAULT_2 6 5 R20 1K U21 C1 E1 ACI1A ACI1B C2 E2 ACI2A ACI2B 1 2 1 3 5 7 3 4 R21 1K PS2705-2NEC-ND RP36 2 4 6 8 AFAULT_1+ AFAULT_2+ 4.
Accessory 24E2A This technique requires that both signal lines of the pair have pull-up resistors. Note that this is not the default configuration of a PMAC as it is shipped. The complementary lines (A/ and B/) are pulled to 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.
Accessory 24E2A CONNECTIONS Acc-24E2A Board Layout -Terminal Block Option Front Plane Back plane 1 1 GND EQU1 EQU2 Encoder 1 Encoder 2 Flags1 Flags2 1 -15 1 +15 AAGND Amplifier 2 Amplifier 1 Acc-24E2A Board Layout -DB15 Option 1 J1 TOP 1 J2 P1 J2 Connections 1 BOTTOM J1 1 13
Accessory 24E2A Mating Connectors Terminal Block Connectors Name Manufacturer Pins TB1- Top TB2- Top TB3- Top TB1- Bottom TB2- Bottom TB3- Bottom TB1- Front TB2 Front Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact 12 12 3 12 12 3 5 5 Type Details FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/3-ST3,81 FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/3-ST3,81 FRONT-MC1,5/5-ST3,81 FRONT-MC1,5/5-ST3,81 En
Accessory 24E2A 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-24E2A 3 TB1 Front 5 4 2 1 FLG_RTN PLIM MLIM HOME USER TB1 Bottom 2 1 Pin#2 AA-15V AAGND 3 GND -15V+15V *Remove E85, E87, and E88 for External Power Supply 12 11 10 9 8 7 6 5 4 3 2 1 AAGND Pin#3 AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+ +/- 15V Supply Shield Amplifier Float Shield LOAD y y y Float Shield 15V AGND Neg Limit Home
Accessory 24E2A Sample Wiring Diagrams This section has typical wiring diagrams for the TTL level inputs, flags and limits, DAC and PFM outputs, amplifier enable, and amplifier fault.
Accessory 24E2A Acc-24E2A DAC Ouputs Sample diagrams shown below utilize a separate ±15V power supply for opto-isolation. E85, E87, and E88 are removed from Acc-24E2A.
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.
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.
Accessory 24E2A 20 Connections
Accessory 24E2A UMAC SOFTWARE SETUP 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 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.
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; it only contains entries for the eight channels on board the Turbo PMAC.
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; 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 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.
Accessory 24E2A Example B: 2-axis PFM outputs and 2-axis PFM from base address $078200 (servo IC2). Assume DAC outputs on channels 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.
Accessory 24E2A ULTRALITE/MACRO STATION SETUP The Acc-24E2 family of JEXP accessories also can 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 set up its output and input channels automatically, MACRO Station firmware 1.114 or greater must be used.
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.
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.
Accessory 24E2A flags, disable their normal functions with Ix25, or use a channel n where none of the flags is used for the normal axis functions. 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 must be set up on MACRO Station variable MSn,MI916. The table below shows the output modes available for each of the Acc-24E2 boards.
Accessory 24E2A MLDT FEEDBACK FOR UMAC-TURBO & UMAC-MACRO The Acc-24E2A 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, because the Acc-24E2A 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-24E2A.
Accessory 24E2A Line 1 (Method and Address): This 24-bit value (6 hex digits) should begin with a “3” (filtered parallel data) followed by the address of the timer register.
Accessory 24E2A Ixx10 for Acc-24E2A MLDT Timer Registers (Ixx95=$180000) Acc-24 # Servo IC # Channel 1 Channel 2 Channel 3 Channel 4 1 2 3 4 5 6 7 8 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
Accessory 24E2A To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, we calculate: Mxx07 = 65 ,536 * 1.667 9 ,380 ≅ 11 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 24E2A MLDT Feedback for UMAC-MACRO The data from the MLDT is processed as a parallel word input at the MACRO Station and then transmitted back to the Ultralite using the traditional Servo Node. The encoder conversion table at the MACRO Station must be modified to process this data. From the Ultralite standpoint, nothing needs to be modified to read the position and velocity data.
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 1 2 $30C040 $30C060 $30C048 $30C068 $30C050 $30C070 $30C058 $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.
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 (firmware version 1.
Accessory 24E2A Remember, the output from the encoder conversion table will reside in the X register. For example, with the following entry: MS0,MI120=$30C040 MS0,MI121=$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 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.
Accessory 24E2A Connector TB1 Bottom Amp – Out 1 Pin# Symbol Function Output Output Output Output Output Input Output Input Input Input* Description Notes Phase A Analog Out Phase A Analog Out Phase B Analog Out Phase B Analog Out Amplifier Enable Amplifier Enable Amplifier Enable +/-10V, ref to AGND -/+10V; ref to AGND +/-10V, ref to AGND -/+10V; ref to AGND Normally closed Analog Positive Supply Voltage Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using ext
Accessory 24E2A 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 Input Input Input Input Acc-24E2 Terminal
Accessory 24E2A 42 Acc-24E2 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.
Accessory 24E2A Connector TB1 Bottom Amp-Out 3 Pin# Symbol Function 1 2 3 4 5 6 7 8 9 10 DAC3A+ DAC3ADAC3B+ DAC3BAE_NC_3 AE_COM_3 AE_NO_3 AFAULT_3+ AFAULT_3AA+15V Output Output Output Output Output Output Output Input Input Input* Description Notes Phase A Analog out Phase A Analog out Phase B Analog out Phase B Analog out Amplifier Enable Amplifier Enable Amplifier Enable +/-10V, ref to AGND -/+10V; ref to AGND +/-10V, ref to AGND -/+10V; ref to AGND Normally closed Analog Positive Supply Voltag
Accessory 24E2A Connector TB1 Front - Limits 3 Pin# Symbol Function 1 2 3 4 5 USER3 PLIM3 MLIM3 HOME3 FLG_3_RET Input Input Input Input Input Description General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return for All Flags Notes Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V Connector TB2 Front - Limits 4 Pin# Symbol Function 1 2 3 4 5 USER4 PLIM4 MLIM4 HOME4 FLG_4_RET Input Input Input Input Input Description Genera
Accessory 24E2A 46 Acc-24E2 Option 1A Terminal Block Description
Accessory 24E2A ACC-24E2A DB15 CONNECTOR OPTION DB15 Style Connector J1 Top - Encoder 1 / EQU Pin# Symbol Function Description Notes 1 2 3 4 5 6 7 8 9 CHT1+/PUL_1CHV1+/DIR_1GND CHC1CHB1CHA1GND BEQU2 CHW1+/PUL_1+ I/O I/O Common Input Input Input Common Output I/O Also pulse output Also direction output 10 11 12 13 14 15 CHU1+/DIR_1+ ENCPWR CHC1+ CHB1+ CHA1+ BEQU1 I/O Output Input Input Input Output Supplemental Flag T or Pulse Output 1Supplemental Flag V or Direction 1Digital Reference Enc 1 Neg
Accessory 24E2A DB15 Style Connector J1 Bottom Amp – Out 1/Analog Power Pin# Symbol Function 1 2 3 4 5 6 DAC1A+ DAC1B+ AE_NC_1 AE_NO_1 AFAULT_1AA-15V Output Output Output Output Input Input* Phase A Analog Out Phase B Analog Out Amplifier Enable Amplifier Enable +/-10V, ref to AGND +/-10V, ref to AGND Normally closed Normally open Analog Negative Supply Voltage 7 AAGND Input* Analog Reference Voltage 8 AA-15V Input* Analog Negative Supply Voltage 9 10 11 12 13 DAC1ADAC1BAE_COM_1 AFAULT_1+
Accessory 24E2A 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 General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return For All Flags Notes 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 Input Input Input Input Acc-24E2A DB15 Connect
Accessory 24E2A 50 Acc-24E2A DB15 Connector Option
Accessory 24E2A UBUS PINOUTS P1 UBUS (96Pin Header) Front View Pin # Row A Row B Row C 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 +5Vdc GND BD01 BD03 BD05 BD07 BD09 BD11 BD13 BD15 BD17 BD19 BD21 BD23 BS1 BA01 BA03 BX/Y CS3BA05 CS12CS16BA13 BRDBS3 WAITPHASE+ PHASEANALOG -15Vdc GND +5Vdc +5Vdc GND DAT0 SEL0 DAT1 SEL1 DAT2 SEL2 DAT3 SEL3 DAT4 SEL4 DAT5 SEL5 DAT6 SEL6 DAT7 SEL7 BA06 BA07 BA08 BA09 BA10 BA11 MEMCS0MEMCS1IREQ1IREQ2GND IREQ3PWRGND GND +5Vdc +5Vd
Accessory 24E2A DECLARATION OF CONFORMITY Application of Council Directive: 89/336/EEC, 72/23/EEC Manufacturers Name: Manufacturers Address: Delta Tau Data Systems, Inc. 21314 Lassen Street Chatsworth, CA 91311 USA We, Delta Tau Data Systems, Inc.
Accessory 24E2A Declaration of Conformity 53
Accessory 24E2A SCHEMATICS 54 Schematics
Accessory 24E2A Schematics 55
