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^1 USER MANUAL ^2 Accessory 24V Version 2

1. P2C 96 Pin Header Pin Symbol Function Description Notes COI 45V Output 5V Power For Encoders CO2 GND Common PMAC Common CO3 CH3C Input Encoder C Ch Positive Axis 3 CO4 CH3C Input Encoder C Ch Negative Axis 3 Do not GND if not used CO5 CH3B Input Encoder B Ch Positive Axis 3 CO6 CH3B Input Encoder B Ch Negative Axis 3 Do not GND if not used CO7 CH3A Input Encoder A Ch Positive Axis 3 CO8 CH3A Input Encoder A Ch Negative Axis 3 Do not GND if not used CO9 CHIC Input Encoder C Ch Positive Axis 1 C10 CH1C Input Encoder C Ch Negative Axis 1 Do not GND if not used C11 CH1B Input Encoder B Ch Positive Axis 1 C12 CH1B Input Encoder B Ch Negative Axis 1 Do not GND if not used C13 CH1A Input Encoder A Ch Positive Axis 1 C14 CH1A Input Encoder A Ch Negative Axis 1 Do not GND if not used C15 DAC3 Output Ana Out Positive 3 10V to AGND C16 DAC3 Output Ana Out Negative 3 10V to AGND C17 AENA 3 DIR3 Output Amp Enable Dir 3 Jumperable Polarity C18 FAULT3 Input Amp Fault 3 High True C19 PLIM3 Output Positive Limit 3 Failsafe High True C20 NLIM3 Input Negative Limit 3 Failsafe C21 HMFL3 Input Home Flag 3 Programmable Polarity C22 DACI Output Ana Out Positive 1 10V to AGND C23 DACI Output Ana Out Negative 10V to AGND C24 AENA1 DIR1 Output Amp Enable Dir 1 Jumperable Polarity C25 FAULTI Input Amp Fault 1 Hig
2. P2A 96 Pin Header on Option 1V Pin Symbol Function Description Notes A01 5V Output 5V Power For encoders A02 GND Common PMAC Common A03 CH8C Input Encoder C Ch Positive Axis 8 A04 CH8C Input Encoder C Ch Negative Axis 8 Do not GND if not used A05 CH8B Input Encoder B Ch Positive Axis 8 A06 CH8B Input Encoder B Ch Negative Axis 8 Do not GND if not used A07 CH8A Input Encoder A Ch Positive Axis 8 AUS CH8A Input Encoder A Ch Negative Axis 8 Do not GND if not used A09 CH6C Input Encoder C Ch Positive Axis 6 A10 CH6C Input Encoder C Ch Negative Axis 6 Do not GND if not used All CH6B Input Encoder B Ch Positive Axis 6 A12 CH6B Input Encoder B Ch Negative Axis 6 Do not GND if not used A13 CH6A Input Encoder A Ch Positive Axis 6 A14 CH6A Input Encoder A Ch Negative Axis 6 Do not GND if not used A15 DACH Output Ana Out Positive 8 10V to AGND A1l6 DAC8 Output Ana Out Negative 8 10V to AGND A17 AENA 8 DIR8 Output Amp Ena Dir 8 Jumperable Polarity A18 FAULTS Input Amp Fault 8 High True A19 LIM8 Input Positive Limit 8 Failsafe High True A20 LIM8 Input Negative Limit 8 Failsafe A21 HMFL8 Input Home Flag 8 Programmable Polarity A22 DAC6 Output Ana Out Positive 6 10V to AGND A23 DAC6 Output Ana Out Negative 6 10V to AGND A24 AENA6 DIR6 Output Amp Enable Dir 6 Jumperable Polarity A25 FAULT6 Input Amp Fault 6 High True A26 LIM6 Input Positive Limit 6 Failsafe High True A27
3. E89 Analog Supply for Input Flag Select E Point amp Physical Location Description Default Layout E89 C2 Jump pin 1 to pin 2 to supply optically Jumper installed isolated flags from A 15V input A 15V on P2 JMACH pin C30 E90 must have jump pins 1 to 2 Jump pins 2 to 3 to supply optically isolated flags from A V input on the piggyback board P2A pin C30 Note This jumper setting is only relevant if E90 connects pin 1 to 2 28 Acc 24P Jumper and Switch Description Accessory 24V Version 2 E90 Input Flag Supply Select E Point amp Physical Location Description Default Layout E90 C2 Jump pin 1 to pin 2 to allow 1 2 Jumper A 15V OPT V on P2 JMACH pin installed C30 also installed see E89 to power e Opto switch sensor inputs including limits 3 Jump pin 2 to 3 to allow 12V from VME bus connector to power Opto switch sensor inputs including limits Optical isolation is then lost See also E85 E87 and E88 E93 95 Compare Equal Output Voltage Configure E Point amp Physical Location Description Default Layout E93 B2 Jump pin to pin 2 to apply V 5V 1 to 2 jumper to 24V to pin 11 of U28 should be installed di ULN2803A for sink output configuration Q Jump pin 2 to 3 to apply GND to pin 11 3 of U28 S B UDN2981A for source output configuration E94 B2 Jump pin 1 to 2 to apply GN
4. ON ON 4TH QO N gt N MO QJI j Qh Wo 07B200 07B300 Acc 24P Jumper and Switch Description 23 Accessory 24V Version 2 E17A D Individual Amplifier Enable Direction Polarity Control E Point amp Physical Layout Location Description Default E17A Q B2 Jump pins 1 2 for non conducting on enable AENA1 when global jumper E17 is ON default for conducting on enable AENA1 when E17 is OFF Remove jumper for conducting on enable AENA1 when global jumper E17 is ON default for non conducting on enable AENA1 when E17 is OFF No jumper installed CO B2 Jump pins 1 2 for non conducting on enable AENA2 when global jumper E17 is ON default for conducting on enable AENA2 when E17 is OFF Remove jumper for conducting on enable AENA2 when global jumper E17 is ON default for non conducting on enable AENA2 when E17 is OFF No jumper installed E17C WO C2 Jump pins 1 2 for non conducting on enable AENA3 when global jumper E17 is ON default for conducting on enable AENA3 when E17 is OFF Remove jumper for conducting on enable AENA3 when global jumper E17 is ON default for non conducting on enable AENA3 when E17 is OFF No jumper installed Pei J 17 WO C2 Jump pins 1 2 for non conducting on enable AENA4 when global jumper E17 is ON default for conducting on ena
5. e 7mn3 Servo IC m Channel n Capture Flag Select I7mn3 determines which input flag is used for encoder capture if one is used Encoder Conversion Table I Variables To use feedback or master position data from an ACC 24V entries must be added to the encoder conversion table ECT using I variables I8000 18191 to address and process this data The default conversion table in the Turbo PMAC does not contain these entries Usually the position data obtained through an ACC 24V board is an incremental encoder feedback and occasionally an A D converter feedback from an ACC 28A B board connected through the ACC 24P The ECT entries for ACC 24V incremental encoder channels are shown in the following table Encoder 1 ane 3 a Channel ACC 24V ACC 24V ACC 24V ACC 24V Channel 1 m78200 m79200 m7A200 m7B200 Channel 2 m78204 m79204 m7A204 m7B204 Channel 3 m78208 m79208 m7A208 m7B208 Channel 4 m7820C m7920C m7A20C m7B20C Channel 5 m78300 m79300 m7A300 m7B300 Channel 6 m78304 m79304 m7A304 m7B304 Channel 7 m78308 m79308 m7A308 m7B308 Channel 8 m7830C m7930C m7A30C m7B30C The first hexadecimal digit in the entry represented by m in the table is a 0 for the most common 1 T timer based extension of digital incremental encoders It is an 6 for the parallel data extension of analog incremental encoders It is a C for no extension of an incremental enco
6. USER MANUAL Accessory 24V Version 2 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 www deltatau com 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 To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging componen
7. 4 ACC 24V Register Channel Channel 1 078201 079201 07A201 07B201 Channel 2 078205 079205 07A205 07B205 Channel 3 078209 079209 07A209 07B209 Channel 4 07820D 07920D 07A20D 07B20D Channel 5 078301 079301 07A301 07B301 Channel 6 078305 079305 07A305 07B305 Channel 7 078309 079309 07A309 07B309 Channel 8 07830D 07930D 07A30D 07B30D Turbo PMAC Software Setup 19 Accessory 24V Version 2 20 Turbo PMAC Software Setup Accessory 24V Version 2 ACC 24V LAYOUT DIMENSIONS A 8 4 Ld H Ei Ki um E LI amp B e j E ee s 5 ee EN KE ee j so L LE XJBES Ges eB E Lt V U e bee om do o ow x b OU de de HOD OR e HERES RSH 5 250 REF GEN r d d dw EI Hees A E de op de ro GH zl o EE A LE E E Layout Dimensions 21 Accessory 24V Version 2 22 Layout Dimensions Accessory
8. use the mounting holes Note The ACC 24V board does not do any communications through the bus connector the connector is used for mounting and for power supply Even in standalone applications passive backplane boards can be useful for mounting and power supply Power Supply Connection The ACC 24V requires 5V power for its digital circuits 1A in a 4 channel configuration 2A in an 8 channel configuration with Option 1 In addition it requires a 12V to 15V supply for the analog output circuits 150 mA each in a 4 channel configuration 300 mA each in an 8 channel configuration The positive analog supply can power the flags alternately a separate 12V to 24V supply may be used The digital 5V regulated 5 power can be provided through one of three paths 1 Bus connector If the ACC 24V is mounted in an electrically active VME bus slot it draws its 5V power from the bus automatically 8 Hardware Setup Accessory 24V Version 2 2 Terminal block The TB1 terminal block can be used to bring in 5V power especially in standalone applications Point 1 is GND Point 2 is 5V 3 P2 JMACH connectors Up to 2A may be brought in through each 96 pin JMACH connector from an ACC 8 board or its equivalent provided the cable is 500 mm 20 in or less in length The analog 12V to 15V supply can be provided through one of three paths 1 Bus connector If the ACC 24V is mounted in an electrically active V
9. 07930B 12302 4 ACC 24V DAC7 07B30B 2 ACC 24V DACH 07930A 12402 4 ACC 24V DACH 07B30A e Ixx03 Motor xx Position Loop Feedback Address e Ixx04 Motor xx Velocity Loop Feedback Address e 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 24V e Ixx10 Motor xx Power On Position Address Ixx10 tells the Turbo PMAC where to read absolute power on position if any Typically the only times Ixx10 will contain the address of an ACC 24V register is if the position is obtained from an A D converter on an ACC 28A B connected through the ACC 24V Turbo PMAC Software Setup 17 Accessory 24V Version 2 The following table shows the possible values of Ixx10 for ACC 28 A D converters Ixx10 Values for PMAC 1 Style ADC Registers Ixx95 310000 for ACC 28A B10000 for ACC 28B Register 1 ACC 24V 2 ACC 24V 3 ACC 24V 4 ACC 24V ADCI 078206 079206 07A206 07B206 ADC2 078207 079207 07A207 07B207 ADC3 07820E 07920E 07A20E 07B20E ADC 4 07820F 07920F 07A20F 07B20F ADC 5 078306 079306 07A306 07B306 ADC 6 078307 079307 07A307 07B307 ADC 7 07830E 07930E 07A30E 07B30E ADC 8 07830F 07930F 07A30F 07B30F e Ixx24 Motor xx Flag Mode Ixx24 tells Turbo PMAC how to read an
10. 6 14 m1C032 3 11 m1C02B 7 15 m1C03B 4 12 m1C02A 8 16 m1C03A The first hexadecimal digit of the variable represented by m in the above table is a 3 if the ACC 28B which provides unsigned data is used It is a B if ACC 28A which provides signed data is used e 1x25 Motor x Flag Address Ix25 tells PMAC where to access its flag data for Motor x If ACC 24P interfaces to the flags Ix25 must contain the address of the flag register in ACC 24P The following table shows the address of the flag register for each channel of each ACC 24P ACC 24V PMAC Ix25 Value ACC 24V PMAC Ix25 Value Channel Channel Channel Channel 1 9 mnC020 5 13 mnC030 2 10 mnC024 6 14 mnC034 3 11 mnC028 7 15 mnC038 4 12 mnC02C 8 16 mnC03C The first two digits of Ix25 represented by m and n in the above table control how the flags at the specified address are used Refer to the PMAC Software Reference Manual for details e 1x81 Motor x Power On Phase Position Address Ix81 tells PMAC VME where to read absolute power on position for motor phase commutation if any Typically it will contain the address of an ACC 24V register for only two types of absolute phasing sensors The hall effect commutation sensors or their optical equivalents connected to the U V and W input flags on an ACC 24V channel or the encoder counter filled by simulated quadrature from a Yaskawa absolute encoder
11. Dir Amp Enable Direction for Ch 2 9 OUT3 Output Amp Enable Dir Amp Enable Direction for Ch 3 10 OUT4 Output Amp Enable Dir Amp Enable Direction for Ch 4 11 HF4_1 Input Amp Fault AMP Fault Input for Ch 1 12 HF4_2 Input Amp Fault AMP Fault Input for Ch 2 13 HF4 3 Input Amp Fault AMP Fault Input for Ch 3 14 HF4_4 Input Amp Fault AMP Fault Input for Ch 4 15 5V Output 5V Supply Power Supply Out 16 GND Common PMAC Common Typically miscellaneous I O is used to interface with ACC 28 the analog to digital converter board 42 Connector Descriptions Accessory 24V Version 2 P1 VME Bus Connector P1 is the standard 96 pin VME connector If the ACC 24V is plugged into a VME socket using this connector only the power and return pins are used JVME standard VME connector 96 pin VME connector AMLAN P N C96F3LA B C TB1 Standalone Power Supply Terminal Block This terminal block can be used to provide the input for the power supply for the circuits on the ACC 24V board when it is not in a bus configuration When the ACC 24V is in a bus configuration these supplies come through the bus connector from the bus power supply automatically in this case this terminal block should not be used Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 5V Input Digital Supply Voltage Supplies all PMAC digital Circuits 3 12V Input
12. LIM6 Input Negative Limit 6 Failsafe High True A28 HMFL6 Input Home Flag 6 Programmable Polarity A29 AGND Input Analog Common A30 A 15V Input Analog 15V Supply A31 GND Common PMAC Common A32 5V Output 5V Power For Encoders 38 Connector Descriptions Accessory 24V Version 2 P2C 96 Pin Header on Option 1V Pin Symbol Function Description Notes COI 45V Output 5V Power For encoders CO2 GND Common PMAC Common CO3 CH7C Input Encoder C Ch Positive Axis 7 CO4 CH7C Input Encoder C Ch Negative Axis 47 Do not GND if not used CO5 CH7B Input Encoder B Ch Positive Axis 7 CO6 CH7B Input Encoder B Ch Negative Axis 7 Do not GND if not used CO7 CH7A Input Encoder A Ch Positive Axis 7 CO8 CH7A Input Encoder A Ch Negative Axis 7 Do not GND if not used CO9 CH5C Input Encoder C Ch Positive Axis 5 C10 CH5C Input Encoder C Ch Negative Axis 45 Do not GND if not used C11 CH5B Input Encoder B Ch Positive Axis 5 C12 CH5B Input Encoder B Ch Negative Axis 5 Do not GND if not used C13 CH5A Input Encoder A Ch Positive Axis 45 C14 CH5A Input Encoder A Ch Negative Axis 5 Do not GND if not used C15 DAC7 Output Ana Out Positive 7 10V to AGND C16 DAC7 Output Ana Out Negative 7 10V to AGND C17 AENAT DIR7 Output Amp Ena Dir 7 Jumperable Polarity C18 FAULT7 Input Amp Fault 7 High Tr
13. See the Turbo PMAC Software Reference manual for more detailed descriptions of the variables Servo IC Configuration I Variables Turbo PMAC I variables in the range I7000 17999 control the configuration of the Servo ICs The hundred s digit represents the number of the Servo IC 0 to 9 in the system Servo ICs 0 and 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 24V Servo IC Numbering The number m of the Servo IC on the ACC 24V board is dependent on the addressing of the board with DIP switches S1 1 and S1 2 which place the board as the first second third or fourth external device First ACC 24P Servo IC 2 Standard Servo IC 3 Option 1V Second ACC 24P Servo IC 4 Standard Servo IC 5 Option 1V Third ACC 24P Servo IC 6 Standard Servo IC 7 Option 1V e e e e Fourth ACC 24P Servo IC 8 Standard Servo IC 9 Option 1V The Standard Servo IC on an ACC 24V occupies Channels 1 4 on the board using connectors P2 JMACH The Option 1 Servo IC on an ACC 24V occupies Channels 5 8 on the board using connectors P2 JMACH on the piggyback board For example the Standard Servo IC on the first ACC 24V is Servo IC 2 to Turbo PMAC VME and is configured by variables I7200 17299 Servo Channel Numbering Each Servo IC has four channels of servo interface circuitry The ten s digit n of the I variable configuring the IC repres
14. Source Enable essere 28 E89 Analog Supply for Input Flag Select 28 Table of Contents i Accessory 24V Version 2 E907 Input Flag Supply Select la s re keryakae ke dkaneka ritos seio hen teet rede q n b e w da y vue H e l kak gie 29 E93 95 Compare Equal Output Voltage Configure reee keke ek ek keke nee 29 E96 E97 E99 Analog Source Isolate from Option IN 30 E98A C DAC ADC Clock Frequency Control 30 E100 103 Output Flag Supply Select a a nennen rennen ene 31 E185 E187 E188 Host Supplied Analog Power Source Enable eee 32 E189 Amplifier Supplied Switch Pull Up Enable eene enne 32 E190 Host Supplied Switch Pull Up Enable reee enne nennen 33 E196 E197 E199 Analog Source Isolate from Main Boa 33 CONNECTOR DESCRIPTIONS ee eeeeeee eese esent en testes ekene stesso seta HEHE HE sens tassa sosta sse to HE HK HHHH KHK HKH HK an 35 J1 and J2 Expansion Port Connector AEN 35 P2 JMAGCEL 96 Pin Header E 36 PQA 96 Pin Header is s cs nyacila b k riya ne elya bip ke n ne netera Ea E uk en ka U e k n be w bee dn E rai 36 Ee inei teras diese E M EE 37 P2 JMACHA 96 Pin Header on Option IN 38 P2A 96 Pin Header on Option IM 38 P2C 96 Pin Header on Option 1V esses eene xe kek ee kek re ke kre Ke kK KK KAK AK KHK 39 J1 on Option 1V A D Port Connector reete ka kew s ki k
15. and Switch Description 31 Accessory 24V Version 2 E185 E187 E188 Host Supplied Analog Power Source Enable E Point amp Location Description Default Physical Layout E185 Option 1 board Jump pin 1 to pin 2 to allow A 14V to No jumper installed come from P1 ties amplifier and PMAC VME power supply together defeats opto isolation Note If E185 is changed E188 and E187 must also be changed also see E190 E187 Option 1 board Jump pin 1 to pin 2 to allow analog GND to come from P1 ties amplifier and PMAC PC GND together Defeats opto isolation Note If E185 is changed E188 and E187 must also be changed also see E190 No jumper installed E188 Option 1 board Jump pin 1 to pin 2 to allow A 14V to come from P1 ties amplifier and ACC 24V power supply together defeats opto coupling Note If E185 is changed E188 and E187 must also be changed also see E190 No jumper installed E189 Amplifier Supplied Switch Pull Up Enable E Point amp Location Description Default Physical Layout E189 Option 1 board Jump pin 1 to 2 to allow A 15V V on Jumper installed P2A JMACHA pin 59 to tie to A 15V on P2 J MACH3 pin C30 This jumper must be installed to allow A 15V to power the Opto switch sensor inputs including limits from the same opto power supply that powers the amplifier output stage Also
16. be useful for demonstration systems In this configuration jumper E90 should connect pins 2 and 3 Output Flag Supply There are two possibilities for supplying power to the output flag AENA EQU circuits Most commonly the same 15V supply that is used for the analog output circuitry is used for the output flags In this configuration jumper E100 should connect pins 1 and 2 This is the default configuration A separate supply can be brought in on Pin 9 of J7 This can be a 12V to 24V supply In this configuration jumper E100 should connect pins 2 and 3 Output Flag Signal Configuration The output flags AENA and EQU on the ACC 24V can use either sinking or sourcing drivers Component U11 drives the flags for the first four channels if Option 1 is ordered U20 drives the flags for the last four channels 5 8 ULN2803A or equivalent sinking driver ICs are installed at the factory in the sockets for these components for the first four channels U11 baseboard these may be replaced with UDN2981A or equivalent sourcing drivers Option 1 can only operate sinking drives and it is socketed for easy replacement CAUTION Incorrect settings of these jumpers can permanently damage the driver ICs Option 1 U20 can be set only for sinking ULN2803A or equivalent If a sinking driver IC is installed in U11 jumper E101 should connect pins 1 and 2 jumper E102 should connect pins 1 and 2 If a sourcing driver IC is installed in U11 j
17. clock source configuration This internal clock source configuration is required if there is more than one ACC 24V connected to a single Turbo PMAC VME If the internal clock source configuration is chosen the signal must come through either jumper E98A or E98B If E98A is ON default the 2 45 MHz frequency is selected If E98B is ON the 1 22 MHz frequency is selected This lower frequency improves the operation of ACC 28 A D converter boards connected to the ACC 24V The DCLK frequency on the ACC 24V should be the same as that on the PMAC itself which is selected by PMAC s E98 jumper Only one of the jumpers E98A E98B and E98C should be ON at one time Encoder Clock Signal Source Jumper E38A must be ON in order to accept the SCLK clock signal for the encoder circuits on the ACC 24V from the PMAC through J6 pin 10 On older versions of the ACC 24V this was the only way to provide the SCLK signal The signal comes from the comparable pin on PMAC s JXIO connector If Jumper E38A is OFF the SCLK signal must come from the ACC 24P s own clock generation circuitry This configuration is recommended to simplify system wiring and to provide more noise immunity It is operationally compatible with the older external clock source configuration This internal clock source configuration is required if there is more than one ACC 24V connected to a single Turbo PMAC VME If the internal clock source configuration is chosen the signal must come
18. connected to the ACC 24V through an ACC 8D Option 9 board The following table contains the possible settings of Ix81 for hall sensor absolute position with an ACC 24V ACC 24V PMAC Ix81 Value ACC 24V PMAC Ix81 Value Channel Channel Channel Channel 2 10 mnC024 6 14 mnC034 4 12 mnC02C 8 16 mnC03C The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa absolute encoders PMAC Software Setup 13 Accessory 24V Version 2 ACC 24V PMAC Ix81 Value ACC 24V PMAC Ix81 Value Channel Channel Channel Channel 1 9 58C021 5 13 58C031 2 10 58C025 6 14 58C035 3 11 58C029 7 15 58C039 4 12 58C02D 8 16 58C03D e 1x83 Motor x Phase Position Address Ix83 tells PMAC VME where to get its commutation position feedback every phase update cycle Usually this contains the address of an encoder phase position register The following table shows the possible values of Ix83 for ACC 24V encoder phase position registers ACC 24V PMAC X Ix83 Value Channel Channel 1 9 5 C021 3 11 6 C029 5 13 7 C031 7 15 8 C039 14 PMAC Software Setup Accessory 24V Version 2 TURBO PMAC VME SOFTWARE SETUP Use of the ACC 24V requires the proper setup of several I variables on the Turbo PMAC VME These settings are discussed in this section
19. k sik ke k HERRE cn k kk b b bae H R the tangi 40 Jl on EE iecere imeona ais e E EE m 40 J5 and J9 J84 16 Pin Header i iik4 s x sa5 1hke denke tereti ttt i ua ok ku e xw kaka aka k hu s keka bik keliya d 41 J5 and J9 JS4 16 Pin Header 41 J6 JXIO 10 Pin Connector EE Eker reee kereke ee keke k Ke k Ke k Ke Ke Ke KA Ke KA Ke KA ka KK KAKA KE KA HEK HH KH nnns 41 JO JXIO 10 Pin Connector EEE ener en kaka KE ke KEKE KE KE KE KA KE KK KA KAKA KE KH HA KH HA KAK KH Ke HH re HHR 41 J7 JEQU Position Compare Output Conpnector ekere k rek ek kek re keke r kek rk Ke kK kr KAKA He 42 JZ JEQU 10 Pin Connector eyi se lous i nedin etc hs kanc ny ara ek s e cala d uk us den k sa ek ay s n 42 J8 183 16 Pin Header inr te De e xe k SERA kek saa keke ku h ke n kk ke Sen h e ewle k d HAK hk ck k ER W a kk dt 42 J6 J53 16 Pin Header uscite e eei iret i EWR EENEG de HU hu ER Ha U dal ue aia ul ka ne 42 PI VME Bus COnMe Ctor p 43 TB1 Standalone Power Supply Terminal Block 43 ii Table of Contents Accessory 24V Version 2 INTRODUCTION Overview The ACC 24V Axis Expansion Board provides four or eight channels of PMAC 1 style servo interface circuitry for PMAC and Turbo PMAC VME controllers One ACC 24V board can be connected to a single non Turb
20. nan ned osy de deka ee le e diy dad ku suk dv dene 7 Output Flag SUDD Y EE 7 Output Flag Signal Configuration J keka axak nennen eren rene nennen rennen trennen 7 Resistor Pack Configuration eese hel bak k Hah A k Lan En atira ieo enne trente nennen enne 8 LEFMINALON An BE amp VE 8 he amp Power Supply EE amp Expansion Port Connection to PMAC sese enne neen trennen ersten enne trennen 9 Clock Port Connection to PMAGC EE 9 Machine Port Connections sane Ay na anin Mar Wan tis ates kak A W a Van Ern Vae WARA Aka Aa haaa esi b ka A Vala a n 10 ACC 28 Alternate Port Connection 10 PMAC SOFTWARE SETUP eere ek k k d n k n tastes tastes suse Se E K k sonata sees ense LA ee V Ge WE EC ken Ke kU ESR 11 Channel Setup I Variables cente ik ekk kel HEWE k sh k n B ke Kal e bak ku e d e b b ba K ve bun kek 11 Encoder Conversion Table Entries ereke keke k ke kek k r ee ke ke kek ra Ke KA KK ru Ka KA KAK KA KA KHK HH 11 Motor Addressing I Variables ereke keke kek ek ek keke ke KK enka HEKA KHK kuru He HE KAKA KA xu ru HK HK KAKA KH r HA 12 TURBO PMAC VME SOFTWARE SETUP s xj j krsrcrsrreseceeeee ene ee se eeenoe Heke kece eNeH H He HEHE sese HK HK HHHH KK 15 Servo IC Configuration L Natables eee kereke ek keke eene xakeke ke KK trennen trennen 15 Servo IC
21. pins 1 2 to provide PMAC s DCLK signal through J5 pin 1 or J6 pin 10 to DACs and ADCs Not recommended Do not use if more than one ACC 24V connected to PMAC 30 Acc 24P Jumper and Switch Description Accessory 24V Version 2 E100 103 Output Flag Supply Select E Point amp Physical Layout Location Description Default E100 B2 Jump pin 1 to 2 to apply analog supply voltage A 15V to U11 flag output driver IC Jump pin 2 to 3 to apply flag supply voltage OPT V to U11 flag output driver IC 1 2 Jumper installed C2 CAUTION The jumper setting must match the type of driver IC or damage to the IC will result Jump pin 1 to 2 to apply V 12V to 24V to pin 10 of U11 should be ULN2803A for sink output configuration for AENA1 4 and EQUI 4 flag outputs Jump pin 2 to 3 to apply AGND to pin 10 of U11 should be UDN2981A for source output configuration for AENA1 4 and EQU 1 4 flag outputs 1 2 Jumper installed C2 CAUTION The jumper setting must match the type of driver IC or damage to the IC will result Jump pin 1 to 2 to AGND to pin 9 of U11 should be ULN2803A for sink output configuration for AENA1 4 and EQU1 4 flag outputs Jump pin 2 to 3 to apply V 12V to 24V to pin 9 of U11 should be UDN2981A for source output configuration for AENAI 4 and EQUI 4 flag outputs 1 2 Jumper installed Acc 24P Jumper
22. see E190 32 Acc 24P Jumper and Switch Description Accessory 24V Version 2 E190 Host Supplied Switch Pull Up Enable E Point amp Location Description Default Physical Layout E190 Option 1 board Jump pin 1 to 2 to allow Jumper installed A 15V OPT V on P2A JMACH3 pin C30 also see E189 to power Opto switch sensor inputs including limits Jump pin 2 to 3 to allow 12V from bus connector to power Opto switch sensor inputs including limits Optical isolation is then lost See also E185 E187 and E188 and figure on PMAC opto isolation E196 E197 E199 Analog Source Isolate from Main Board E Point amp Location Description Default Physical Layout E196 Option 1 board Jump 1 2 to connect A 15V on option No jumper installed 1 piggyback board to main ACC 24V board Remove 1 2 to keep A 15V isolated between main board and piggyback board E197 Option 1 board Jump 1 2 to connect A 15V on Option No jumper installed 1V piggyback board to main ACC 24V board Remove 1 2 to keep A 15V isolated between main board and piggyback board E199 Option 1 board Jump 1 to 2 to connect AGND on No jumper installed Option 1V piggyback board to main ACC 24V board Remove 1 2 to keep AGND isolated between main board and piggyback board Acc 24P Jumper and Switch Description 33 Accessory 24V Version 2 34
23. 07A304 13025 1 ACC 24V Flag Set 7 078308 11525 3 ACC 24V Flag Set 7 07A308 13125 1 ACC 24V Flag Set 8 07830C 11625 3 ACC 24V Flag Set 8 07A30C 13225 2 ACC 24V Flag Set 1 079200 11725 4 ACC 24V Flag Set 1 07B200 2 ACC 24V Flag Set 2 079204 11825 4 ACC 24V Flag Set 2 07B204 2 ACC 24V Flag Set 3 079208 11925 4 ACC 24V Flag Set 3 07B208 2 ACC 24V Flag Set 4 07920C 12025 4 ACC 24V Flag Set 4 07B20C 2 ACC 24V Flag Set 5 079300 12125 4 ACC 24V Flag Set 5 07B300 2 ACC 24V Flag Set 6 079304 12225 4 ACC 24V Flag Set 6 07B304 2 ACC 24V Flag Set 7 079308 12325 4 ACC 24V Flag Set 7 07B308 2 ACC 24V Flag Set 8 07930C 12425 4 ACC 24V Flag Set 8 07B30C 18 Turbo PMAC Software Setup Accessory 24V Version 2 e Ixx81 Motor xx Power On Phase Position Address Ixx81 tells Turbo PMAC where to read absolute power on position for motor phase commutation if any Typically it will contain the address of an ACC 24V register for only two types of absolute phasing sensors The hall effect commutation sensors or their optical equivalents connected to the U V and W input flags on an ACC 24V channel or the encoder counter filled by simulated quadrature from a Yaskawa absolute encoder connected to the ACC 24V through an ACC 8D Option 9 board The following table contains the possible settings of Ixx81 for hall sensor absolute position with an ACC 24V Turbo PMAC Ixx81 ACC 24V Hall Phas
24. 24V Version 2 ACC 24V JUMPER AND SWITCH DESCRIPTION S1 Board Addressing DIP Switch Bank Switch Location Description Default S1 1 A3 Use S1 1 and S1 2 select Acc 24V address on Turbo PMAC s expansion port according to the following table Set S1 1 S1 2 S1 3 S1 4 to OFF position when connecting to regular non Turbo PMAC ON 1 2 A3 Use S1 1 and S1 2 select Acc 24V address on Turbo PMAC S expansion port according to the following table Set S1 1 S1 2 S1 3 S1 4 to OFF position when connecting to regular non Turbo PMAC ON S1 3 A3 Board expansion port address enable Set S1 3 to ON position when connecting to Turbo PMAC PMAC72 enables addressing of multiple Acc 24 boards Set S1 1 S1 2 81 3 S1 4 to OFF position when connecting to regular non Turbo PMAC ON S1 4 A3 Board expansion port address enable Set 81 3 to ON position when connecting to Turbo PMAC PMAC72 enables addressing of multiple Acc 24 boards Set S1 1 S1 2 81 3 S1 4 to OFF position when connecting to regular non Turbo PMAC ON Addressing of ACC 24 Boards For Turbo PMAC S1 1 S1 2 S1 3 S1 4 1T IC Base Address Board 11C 2 IC No No No 2 IC Base Address ON ON ON ON IST 078200 078300 OFF ON ON ON 2ND 079200 079300 ON OFF ON ON 3RD 07A200 07A300 OFF OFF
25. 2V provided on point 3 of TB1 or through the P1 VME bus connector can be used as the input flag supply if E90 connects pins 2 and 3 This defeats isolation of the input flags and generally should be used only for demonstration systems In addition this 12V can be used to supply the output flag drivers if E100 connects pins 2 and 3 E87 must be ON also defeating the isolation between the digital and analog circuits Expansion Port Connection to PMAC The ACC 24V connects to the PMAC through the 50 pin J1 header on the back of the ACC 24V A short flat cable connects this to the JEXP header on the PMAC VME CPU piggyback board If multiple ACC 24V boards are connected to a single PMAC board they must be connected on a single daisy chain cable Total length of this cable should not exceed 300mm 12 in Clock Port Connection to PMAC The J6 JXIO connector is a 10 pin IDC header on the ACC 24V It can be used to bring in the SCLK encoder clock signal and the DCLK DAC ADC clock signal from the PMAC s matching J6 JXIO connector A short cable with two 10 pin connectors and four strands is needed to transfer the clocks from the PMAC This port can be used to receive channel 1 and 3 9 and 11 encoder feedback signals It is recommended that the ACC 24V s internal clock generation circuitry be used If this circuitry is used as set by jumpers E34A E38A and E98A E98C and there is no need to use the encoder feedback for channel 9 and 11 this con
26. A7 when global jumper E17 is ON default for conducting on enable AENA7 when E17 is OFF Remove jumper for conducting on enable AENA7 when global jumper E17 is ON default for non conducting on enable AENA7 when E17 is OFF No jumper installed OO Option 1 Board Jump pins 1 2 for non conducting on enable AENA8 when global jumper E17 is ON default for conducting on enable AENAS when E17 is OFF Remove jumper for conducting on enable AENA8 when global jumper E17 is ON default for non conducting on enable AENA8 when E17 is OFF No jumper installed Note The default ULN2803A sinking drivers have a low output voltage when conducting and can pull high when not conducting The optional UDN2981A sourcing drivers have a high output voltage when conducting and can pull low when not conducting Acc 24P Jumper and Switch Description 25 Accessory 24V Version 2 E18 E21 Encoder Single Ended Differential Control Option 1 Required E Point amp Physical Location Description Default Layout Option 1 Board ENC 8 through 5 1 2 Jumper installed for Jump pin 1 to 2 to tie complementary encoder inputs to 2 5V E18 E21 TOOL E19 Option 1 Board Jump pin 2 to 3 to tie complementary E18 ENC 5 encoder inputs to 5V E19 ENC 6 For no encoder connection Jump pin E20 ENC 7 1 to 2 E21 ENC 8 COL Ej N Option 1 Board For single ended enco
27. ACC 24V requires the proper setup of several I variables on the regular non Turbo PMAC These settings are discussed in this section See the PMAC Software Reference manual for a more detailed description of the variables Note This manual refers to the eight servo interface channels on the ACC 24V as Channels 1 8 When connected to a PMAC VME these channels map into PMAC as channels 9 16 respectively Channel Setup I Variables Each channel on the ACC 24V has four setup I variables The following table lists the I variable numbers for each channel ACC 24V Channel 1 2 3 4 5 6 7 8 PMAC Channel 9 10 11 12 13 14 15 16 Encoder Decode I Var 1940 1945 1950 1955 1960 1965 1970 1975 Filter Disable I Var 1941 1946 1951 1956 1961 1966 1971 1976 Capture Control I Var 1942 1947 1952 1957 1962 1967 1972 1977 Flag Select I Var 1943 1948 1953 1958 1963 1968 1973 1978 The setup variables work the same on an ACC 24V as on the PMAC 1 itself The variables are Encoder I Variable 0 Encoder Decode Control Typically this variable is set to 3 or 7 for x4 quadrature decode depending on which way is up Encoder I Variable 1 Encoder Filter Disable Typically this variable is set to 0 for digital encoder inputs to keep the filter active or to 1 when the channel is used with an analog encoder interpolator such as the ACC 8D Opt 8 to disable the filter and synchroniz
28. Acc 24P Jumper and Switch Description Accessory 24V Version 2 CONNECTOR DESCRIPTIONS J1 and J2 Expansion Port Connector J1 is a 50 pin IDC header connector that provides the connection to PMAC s JEXP Expansion Port J2 is a 50 pin IDC header connector that provides the connection to an ACC 14V JEXP Expansion Port another ACC 24V JEXP port Contact the factory if pinout information is required Two 50 pin female flat cable connector Delta Tau P N 014 ROOF50 0K0 T amp B Ansley P N 609 5041 171 50 T amp B Ansley standard flat cable stranded 50 wire Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 used for daisy chaining ACC 14V I O and ACC 24V Connector Descriptions 35 Accessory 24V Version 2 P2 JMACHS3 96 Pin Header JVME standard VME connector 96 pin VME connector AMLAN P N C96F3LA B C P2A 96 Pin Header Pin Symbol Function Description Notes A01 5V Output 5V Power For Encoders A02 GND Common PMAC Common A03 CH4C Input Encoder C Ch Positive Axis 4 A04 CH4C Input Encoder C Ch Negative Axis 4 Do not GND if not used A05 CH4B Input Encoder B Ch Positive Axis 4 A06 CH4B Input Encoder B Ch Negative Axis 4 Do not GND if not used A07 CH4A Input Encoder A Ch Positive Axis 4 A08 CH4A Input Encoder A Ch Negative Axis 4 Do not G
29. Analog Positive Supply E85 E87 E88 must be ON Voltage no isolation from digital 4 12V Input Analog Negative Supply E85 E87 E88 must be ON Voltage no isolation from digital Connector Descriptions 43
30. C2 with the PMAC2 style Servo ICs and interface circuitry the ACC 24V with its PMAC 1 style Servo ICs and interface circuitry can be connected to it with full software support for using its features Board Configuration Base Version The base version of the ACC 24V provides a VME board with e Four channels axis interface circuitry each including e 16 bit 10V analog output e 3 channel differential single ended encoder input e Four optically isolated input flags two optically isolated output flags e Interface to external 16 bit serial ADC 96 pin IDC servo connector Expansion port connector to PMAC Turbo PMAC CPU Auxiliary port connector for PMAC hardware clock signals On board hardware clock generation circuitry Introduction 1 Accessory 24V Version 2 Option 1V ACC 24V can be expanded past the standard four channels of axis interface circuitry by factory configuration with the order of Option 1 part number 3V1 0ACC24 OPT e Option IV provides four additional channels of axis interface circuitry with a 96 pin connector identical to the first four channels Formal Specifications Acc 24V Size 23 5cm x 16 7 x 1 27cm 9 25 x 6 56 x 0 5 Weight 0 326 kg 0 72 Ib Option 1V Size 15 6cm x 10 6cm x 1 27cm 6 13 x 4 19 x 0 5 Standoff height 1 9cm 0 75 Weight 0 155 kg 0 34 Ib With the 4 standoffs Temperature Operating 0 C to 60 C 32 F to 140 F Storage 12 C to 82 C 10 F t
31. D to pin 10 1 to 2 jumper of U28 should be ULN2803A for installed sink output configuration e Jump pin 2 to 3 to apply V 5V to S 24V to pin 10 of U28 should be 3 UDN2981A for source output configuration E95 B2 1 to 2 jumper installed Acc 24P Jumper and Switch Description 29 Accessory 24V Version 2 E96 E97 E99 Analog Source Isolate from Option 1V E Point amp Location Description Default Physical Layout E96 C2 Jump 1 2 to connect A 15V on ACC Jumper installed 24V to A 15V on Option 1 piggyback board Remove 1 2 to keep A 15V isolated between Option board and main board E97 C2 Jump 1 2 to connect A 15V on ACC Jumper installed 24V board to A 15V on Option 1 piggyback board Remove 1 2 to keep A 15V isolated between Option 1 E99 C2 Jump 1 2 to connect AGND on main Jumper installed ACC 24V to AGND on Option 1 piggyback board Remove 1 2 to keep AGD isolated between Option 1 board and main board E98A C DAC ADC Clock Frequency Control E Point amp Physical Location Description Default Layout B3 Jump E98A pins 1 2 to provide an 1 2 Jumper internally generated 2 45 MHz DCLK installed GGG QO E98C E98B E98A signal to DACs and ADCs Jump E98B pins 1 2 to provide an internally generated 1 22 MHz DCLK signal to DACs and ADCs Important for high accuracy A D conversion on ACC 28A Jumper E98C
32. E 15 Servo Channel Numbering eese ees esee nein axak kake KAKA Au Ku KE KE KAKA AK Au HE KE KK KAKA A Hu HAH Hu ener 15 Single Channel I Variables eee eese eene uo w s ije ussa n aie i div e di e n trennen 15 Encoder Conversion Table I Variables uL eee keke kek erek k k kk rk ke ka KAK KK KA KRA A HH 16 Motor Addressing I Variables i kci ese liksne ki baske n k nab s k daia k hn Me tan sie k avek kh e sna nrenne tren etre nennen a eee d ak 17 ACC 24V LAYOUT DIMENSI ON si s sa ciscis oss sey cseo debe a cuko k be c U d He We H u kU WO ta z bu 21 ACC 24V JUMPER AND SWITCH DESCRIPTION r r rreresrereseexene sene ene sns enses tasses sus sn assu 23 1 Board Addressing DIP Switch Bank eese ke eren kena eee keke eee KK trennen nre 23 E17A D Individual Amplifier Enable Direction Polarity Control 24 E17E H Individual Amplifier Enable Direction Polarity Control Option 1 Required 25 E18 E21 Encoder Single Ended Differential Control Option 1 Reoured sees 26 E24 E27 Encoder Single Ended Differential Control 27 E34 E38 Encoder Sampling Clock Frequency Control Eek eren 27 E85 Host Supplied Analog Power Source Enable eese rennen 28 E87 E88 Host Supplied Analog Power
33. Ixx02 Motor xx Command Output Address Ixx02 tells Turbo PMAC where to write its command outputs for Motor xx If ACC 24V is to create the command signals Ixx02 must contain the address of the register The following table shows the address of the DAC output register for each channel of each ACC 24V These addresses can be used for single analog outputs or double analog outputs ACC 24V Register Address PMAC ACC 24V Register Address PMAC Board No amp Channel Ixx02 Default Board No and Ixx02 Default Value for Channel Value 1 ACC 24V DACI 078203 1902 3 ACC 24V DACI 07A203 12502 1 ACC 24V DACH 078202 11002 3 ACC 24V DAC2 07A202 12602 1 ACC 24V DACH 07820B 11102 3 ACC 24V DACH 07A20B 12702 1 ACC 24V DAC4 07820A 11202 3 ACC 24V DACH 07A20A 12802 1 ACC 24V DACS 078303 11302 3 ACC 24V DAC5 07A 303 12902 1 ACC 24V DAC6 078302 11402 3 ACC 24V DAC6 07A 302 13002 1 ACC 24V DACH 07830B 11502 3 ACC 24V DACH 07A30B 13102 1 ACC 24V DACH 07830A 11602 3 ACC 24V DACH 07A30A 13202 2 ACC 24V DACI 079203 11702 4 ACC 24V DAC 07B203 2 ACC 24V DACH 079202 11802 4 ACC 24V DACH 07B202 2 4 ACC 24V DACH 07920B 11902 4 ACC 24V DACH 07B20B 2d ACC 24V DACH 07920A 12002 4 ACC 24V DAC4 07B20A 2 ACC 24V DACS 079303 12102 4 ACC 24V DACH 07B303 2d ACC 24V DAC6 079302 12202 4 ACC 24V DAC6 07B302 2 ACC 24V DAC
34. ME bus slot it can draw 12V power from the bus if jumpers E85 E87 and E88 are all ON This configuration defeats the optical isolation on the ACC 24V 2 Terminal block The TB1 terminal block can be used to bring in 12V power especially in standalone applications if jumpers E85 E87 and E88 are all ON This configuration defeats the optical isolation on the ACC 24V Point 1 is GND Point 3 is 12V Point 4 is 12V 3 P2 JMACH connectors 15V supplies may be brought in on pins A29 A30 and C30 of the 96 pin P2 JMACH connector from an ACC 8 board or its equivalent If this is from a supply isolated from the 5V digital supply optical isolation can be maintained by making sure jumpers E85 E87 and E88 are all OFF The flag 12V to 24V supply can be provided through one of several paths e JMACH connector The 12V to 15V provided on pin 59 of the J8 JMACH1 connector is also the input flag supply if jumper E89 is ON and E90 connects pins 1 and 2 It is the output flag supply if E100 connects pins 1 and 2 e JEQU connector A 12V to 24V supply brought in on pin 9 of the J7 JEQU connector can be used as the input flag supply for sinking flag drivers if E89 is OFF and E90 connects pins 1 and 2 The OV return line of the supply can be connected to this pin through the same jumpers for sourcing flag drivers The 12V to 24V supply can be used as the output flag supply if E100 connects pins 2 and 3 e TBI VME connector The 1
35. ND if not used A09 CH2C Input Encoder C Ch Positive Axis 2 A10 CH2C Input Encoder C Ch Negative Axis 2 Do not GND if not used All CH2B Input Encoder B Ch Positive Axis 2 A12 CH2B Input Encoder B Ch Negative Axis 2 Do not GND if not used A13 CH2A Input Encoder A Ch Positive Axis 2 Al4 CH2A Input Encoder A Ch Negative Axis 2 Do not GND if not used A15 DACA Output Ana Out Positive 4 10V to AGND A16 DAC4 Output Ana Out Negative 4 10V to GND A17 AENA4 DIR4 Output Amp Ena Dir 4 Jumperable Polarity A18 FAULT4 Input Amp Fault 4 High True A19 PLIM4 Input Positive Limit 4 Failsafe High True A20 NLIM4 Input Negative Limit 4 Failsafe A21 HMFL4 Input Home Flag 4 Programmable Polarity A22 DAC2 Output Ana Out Positive 2 10V to AGND A23 DAC2 Output Ana Out Negative 2 10V to AGND A24 AENA2 DIR2 Output Amp Enable Dir 2 Jumperable Polarity A25 FAULT2 Input Amp Fault 2 High True A26 MLIM2 Input Positive Limit 2 Failsafe High True A27 NLIM2 Input Negative Limit 2 Failsafe High True A28 HMFL2 Input Home Flag 2 Programmable Polarity A29 AGND Input Analog Common A30 A 15V Input Analog 15V Supply A31 GND Common PMAC Common A32 5V Output 5V Power For Encoders Note In stand alone applications these can be used as 5V power supply inputs to power PMAC s digital circuitry 36 Connector Descriptions Accessory 24V Version 2
36. OFF OFF OFF ON OFF OFF OFF 9 8304 MHz E34 ON OFF ON OFF OFF OFF OFF OFF 4 9152 MHz ON OFF OFF OFF OFF OFF OFF 2 4576 MHz OFF OFF OFF OFF ON OFF OFF 1 2288 MHz OFF OFF OFF OFF OFF ON OFF External Clock 1 to 30 MHz maximum input on CHC4 amp CHC4 OFF OFF OFF OFF OFF OFF ON Clock from PMAC input on J5 OR J6 PIN 9 from PMAC Acc 24P Jumper and Switch Description 27 Accessory 24V Version 2 E85 Host Supplied Analog Power Source Enable E Point amp Physical Location Description Default Layout E85 C2 Jump pin 1 to pin 2 to allow A 14V to No jumper OQ come from VME bus ties amplifier OO and PMAC VME power supply together Defeats OPTO coupling Note that if E85 is changed E88 and E87 must also be changed Also see E90 E87 E88 Host Supplied Analog Power Source Enable E Point amp Physical Location Description Default Layout E87 C2 Jump pin 1 to pin 2 to allow AGND to No jumper Me come from VME bus ties amplifier OO and PMAC VME GND together Defeats OPTO coupling Note that if E87 is changed E85 and E88 must also be changed Also see E90 E88 C2 Jump pin 1 to pin 2 to allow A 14V to No jumper Me come from VME bus ties amplifier eO and PMAC VME power supply together Defeats OPTO coupling Note that if E88 is changed E87 and E85 must also be changed Also see E90
37. ble AENA4 when E17 is OFF Remove jumper for conducting on enable AENA4 when global jumper E17 is ON default for non conducting on enable AENA4 when E17 is OFF No jumper installed Note The default ULN2803A sinking drivers have a low output voltage when conducting and can pull high when not conducting The optional UDN2981A sourcing drivers have a high output voltage when conducting and can pull low when not conducting 24 Acc 24P Jumper and Switch Description Accessory 24V Version 2 E17E H Individual Amplifier Enable Direction Polarity Control Option 1 Required E Point amp Physical Layout Location Description Default E17E QD Option 1 Board Jump pins 1 2 for non conducting on enable AENAS when global jumper E17 is ON default for conducting on enable AENAS when E17 is OFF Remove jumper for conducting on enable AENAS when global jumper E17 is ON default for non conducting on enable AENA5 when E17 is OFF No jumper installed OOE Option 1 Board Jump pins 1 2 for non conducting on enable AENA6 when global jumper E17 is ON default for conducting on enable AENA6 when E17 is OFF Remove jumper for conducting on enable AENA6 when global jumper E17 is ON default for non conducting on enable AENA6 when E17 is OFF No jumper installed kal 17G WO Option 1 Board Jump pins 1 2 for non conducting on enable AEN
38. d use the flags for Motor xx that are in the register specified by Ixx25 Ixx24 is a set of independent control bits There are two bits that must be set correctly to use a flag set on an ACC 24V e Bit 0 of Ixx24 must be set to 0 to tell the Turbo PMAC that this flag set is in a Type 0 PMAC 1 style Servo IC Bit 18 of Ixx24 must be set to 0 to tell the Turbo PMAC that this flag set is not transmitted over a MACRO ring Other bits of Ixx24 may be set as desired for a particular application e Ixx25 Motor xx Flag Address Ixx25 tells Turbo PMAC where to access its flag data for Motor xx If ACC 24V is interface to the flags Ixx25 must contain the address of the flag register in ACC 24V The following table shows the address of the flag register for each channel of each ACC 24V ACC 24V Register Address PMAC ACC 24V Register Address PMAC Board No amp Channel Ixx25 Default Board No amp Channel Ixx25 Default Value for Value for 1 ACC 24V Flag Set 1 078200 1925 3 ACC 24V Flag Set 1 07A200 12525 1 ACC 24V Flag Set 2 078204 11025 3 ACC 24V Flag Set 2 07A204 12625 1 ACC 24V Flag Set 3 078208 11125 3 ACC 24V Flag Set 3 07A208 12725 1 ACC 24V Flag Set 4 07820C 11225 3 ACC 24V Flag Set 4 07A20C 12825 1 ACC 24V Flag Set 5 078300 11325 3 ACC 24V Flag Set 5 07A300 12925 1 ACC 24V Flag Set 6 078304 11425 3 ACC 24V Flag Set 6
39. der The ECT entries for ACC 28B A D converters read through an ACC 24V are shown in the following table Register 1 m 3 4 ACC 24V ACC 24V_ ACC 24V ACC 24V ADC 1 mn8206 mn9206 mnA 206 mnB206 ADC 2 mn8207 mn9207 mnA207 mnB207 ADC 3 mn820E mn920E mnA20E mnB20E ADC 4 mn820F mn920F mnA20F mnB20F ADC 5 mn8306 mn9306 mnA 306 mnB306 ADC 6 mn8307 mn9307 mnA307 mnB307 ADC7 mn830E mn930E mnA30E mnB30E ADC 8 mn830F mn930F mnA30F mnB30F The first hexadecimal digit of the entry represented by m in the above table is a if the ADC data is processed directly without integration It is a 5 if the data is integrated in the conversion If the entry integrates the data there is a second line in the entry another I variable that specifies the bias of the A D converter The second hexadecimal digit of the entry represented by n in the above table is a 7 if the ACC 28A with signed data is used it is an F if the ACC 28B with unsigned data is used 16 Turbo PMAC Software Setup Accessory 24V Version 2 Motor Addressing I Variables For a Turbo PMAC motor to use the servo interface circuitry of the ACC 24V several of the addressing I variables for the motor must contain the addresses of registers in the ACC 24V or the addresses of encoder conversion table registers containing data processed from the ACC 24V These I variables can include e
40. ders Jump pin 1 to 2 For differential line driver encoders Do not care CCL E N E Option 1 Board For complementary open collector encoders Jump pin 2 to 3 ee 26 Acc 24P Jumper and Switch Description Accessory 24V Version 2 E24 E27 Encoder Single Ended Differential Control E Point amp Physical Location Description Default Layout E24 C3 ENC 4 through 1 1 2 Jumper 3 Jump pin 1 to 2 to tie complementary installed for 5 encoder inputs to 2 5V E24 E27 E25 C3 Jump pin 2 to 3 to tie complementary E24 ENC4 3 encoder inputs to 5V E25 ENC 3 For no encoder connection Jump pin 1 E26 ENC 2 2 to 2 E27 ENCI E26 C3 For single ended encoders Jump pin 1 3 to 2 For differential line driver encoders 2 Do not care E27 C3 For complementary open collector 3 encoders Jump pin 2 to 3 E34 E38 Encoder Sampling Clock Frequency Control Jumpers E34 E38 control the encoder sampling clock SCLK used by the gate array ICs No more than one of these seven jumpers may be on at a time SCLK Clock Default amp Physical Frequency Layout E36 E35 E34A E34 E37 E38 E38A E36 E35 E34A E34 E37 E38 E38A COOC Gi GG OFF OFF ON OFF OFF OFF OFF 19 6608 MHz
41. detect loss of encoder Analog Circuit Isolation The analog circuitry on the ACC 24V can be isolated from the digital circuitry or both circuits can be tied to a common reference voltage It is recommended in actual industrial application that isolation be maintained between the two circuits To do this jumpers E85 E87 and E88 must be OFF and separate power supplies must be used for the two circuits To tie both circuits to a common reference jumpers E85 E87 and E88 should be ON A common power supply may be used for both circuits in this configuration Input Flag Supply There are several possibilities for supplying the power to the input flag HMFL LIM LIM FAULT circuits Most commonly the same 15V supply that is used for the analog output circuitry is used for the input flags In this configuration jumper E89 should be ON and jumper E90 should connect pins 1 and 2 This is the default configuration and it supports sinking drivers only A separate supply can be brought in on Pin 9 of J7 For sinking drivers this can be a 12V to 24V supply for sourcing drivers this is the OV return of the supply In this configuration jumper E89 should be OFF and jumper E90 should connect pins 1 and 2 In addition it is possible to use the 12V digital supply from the P1 VME bus connector or the TB 1 terminal block This configuration defeats the optical isolation of the flag receivers and is not recommended for industrial systems It may
42. e the quadrature and fractional count data Encoder I Variable 2 Capture Control This variable determines whether the encoder index channel an input flag or both are used for the capture of the encoder position Encoder I Variable 3 Capture Flag Select This variable determines which input flag is used for encoder capture Encoder Conversion Table Entries To use feedback or master position data from an ACC 24V entries must be added to the encoder conversion table ECT to address and process this data The default conversion table in the PMAC VME does not contain these entries Usually the position data obtained through an ACC 24V board is an incremental encoder feedback and occasionally an A D converter feedback from an ACC 28A B board connected through the ACC 24V PMAC Software Setup 11 Accessory 24V Version 2 The ECT entries for ACC 24V incremental encoder channels are shown in the following table ACC 24V PMAC ECT Entry ACC 24V PMAC ECT Entry Channel Channel Channel Channel 1 9 m0C020 5 13 m0C030 2 10 m0C024 6 14 m0C034 3 11 m0C028 T 15 m0C038 4 12 m0C02C 8 16 m0C03C The first hexadecimal digit in the entry represented by m in the table is a 0 for the most common 1 T timer based extension of digital incremental encoders It is an 8 for the parallel data extension of analog incremental encoders it is a C fo
43. ents the channel number on the IC n 1 to 4 For example Channel 1 of the Standard Servo IC on the first ACC 24V is configured by variables 17210 17219 These channel specific I variables are represented generically as I7mn0 I7mn9 where m represents the Servo IC number 0 9 and n represents the IC channel number 1 4 The Channels 1 4 on the Standard Servo IC of an ACC 24V correspond to Channels 1 4 respectively on the ACC 24V board itself The Channels 1 4 on the Option 1 Servo IC on an ACC 24V correspond to Channels 5 8 respectively on the ACC 24V board Single Channel I Variables The single channel setup I variables for Channel n of Servo IC m work exactly the same on an ACC 24V as they do on a Turbo PMAC 1 itself These are e 7mn0 Servo IC m Channel n Encoder Decode Control Typically I7mn0O is set to 3 or 7 for x4 quadrature decode depending on which way is up e 7mnl Servo IC m Channel n Encoder Filter Disable Typically I7mn1 is set to 0 for digital encoder inputs to keep the filter active or to 1 when the channel is used with an analog encoder interpolator such as the ACC 8D Opt 8 to disable the filter and synchronize the quadrature and fractional count data e 7mn2 Servo IC m Channel n Capture Control I7mn2 determines whether the encoder index channel an input flag or both are used for the capture of the encoder position Turbo PMAC Software Setup 15 Accessory 24V Version 2
44. h True C26 PLIM1 Input Positive Limit 1 Failsafe High True C27 NLIM1 Input Negative Limit 1 Failsafe High True C28 HMFL1 Input Home Flag 1 Programmable Polarity C29 ORST Output Following Error Out C30 A 15V Input Analog 15V Supply C31 GND Common PMAC Common C32 45V Output 5V Power For Encoders The P2 connector is used to connect ACC 24V to the third four channels Channels 1 2 3 and 4 of servo amps and motors Note Pins marked LIMn should be connected to switches at the positive end of travel pins marked LIMn should be connected to switches at the negative end of travel Note Normally P2 connectors are used with ACC 8P or ACC 8D with Option V which provides complete terminal strip fan out of all connections ACC 8D PMAC 1 4 channel breakout board monolithic terminal block IDC 3D0 602205 10x headers OPT V Option V 40 cm 16 inch cable with 96 pin DIN connector 200 30V OACC8D OPT 602210 10X ACC 8P PMAC 1 4 channel breakout board monolithic terminal block 3A0 FLKM60 000 OPT V Option V 40 cm 16 inch cable with 96 pin DIN connector 30V OACC8P OPT Connector Descriptions 37 Accessory 24V Version 2 P2 JMACHA 96 Pin Header on Option 1V JVME standard VME connector 96 pin VME connector AMLAN P N C96F3LA B C
45. hese can be changed in the field to UDN2981A or equivalent sourcing driver ICs If the ICs are changed it is essential to change the configuration jumpers E101 and E102 for U11 E93 and E94 for U73 See the Output Flag Configuration Jumpers section of this manual Switch Configuration Address DIP Switch S1 S1 is a 4 point DIP switch that determines whether to connect the ACC 24V to a regular non Turbo PMAC or a Turbo PMAC To enable addressing of the board by a non Turbo PMAC VME switches S1 1 1 2 81 3 and 81 4 must be OFF on an ACC 24V This setting is equivalent to operation of the older versions of the ACC 24P board without S1 To enable addressing of multiple boards by a Turbo PMAC switches 1 3 and S1 4 must be ON on an ACC 24P If they are OFF or an older version of the board is used with a Turbo PMAC the board will respond to any of the four possible addresses so no more than one board may be connected to a Turbo PMAC VME Additionally S1 sets up the address of the ACC 24V in Turbo PMAC s memory and I O map The setting of these DIP switches must match the addresses used by Turbo PMAC VME and no two ACC 24V boards connected to the same Turbo PMAC VME may have the same DIP switch settings or there will be an addressing conflict The settings of switches S1 1 and S1 2 define the address of the board in Turbo PMAC s VME address space This in turn defines the number of the Servo IC s on the board and the I variable numbe
46. hic terminal block 3A0 FLKM60 000 OPT V Option V 40 cm 16 inch cable with 96 pin DIN connector 30V OACC8P OPT J1 on Option 1V A D Port Connector Two 16 pin flat cable connector Delta Tau P N 014 ROOF16 0K0 T amp B Ansley P N 609 1641 171 16 T amp B Ansley standard flat cable stranded 16 wire Phoenix varioface module type FLKM 16 male pins P N 22 81 034 J1 on OPT 1 Board Le e e e e e e ml Top View Pin Symbol Function Description Notes 1 DCLK Output D to A A to D Clock DAC and ADC clock for Chan 13 14 15 16 2 BDATA2 Output D to A Data DAC data for Chan 5 6 7 8 3 ASEL2 Output Chan Select Bit 0 Select for Chan 5 6 7 8 4 ASEL3 Output Chan Select Bit 1 Select for Chan 5 6 7 8 5 CNVRT23 Output A to D Convert ADC convert sig Chan 5 6 7 8 6 ADCIN2 Input A to D Data ADC data for Chan 5 6 7 8 7 OUTS Output Amp Enable Dir Amp Enable Dir for Chan 5 8 OUT6 Output Amp Enable Dir Amp Enable Dir for Chan 6 9 OUT7 Output Amp Enable Dir Amp Enable Dir for Chan 7 10 OUT8 Output Amp Enable Dir Amp Enable Dir for Chan 8 11 HF4 5 Input Amp Fault Amp Fault input for Chan 5 12 HF4 6 Input Amp Fault Amp Fault input for Chan 6 13 HF4 7 Input Amp Fault Amp Fault input for Chan 7 14 HF4 8 Input Amp Fault Amp Fault input for Chan 8 15 5V Output 5V Supply Power supply OUT 16 GND Common PMAC Common ACC 28A B connection digital amplif
47. ier connection 40 Connector Descriptions Accessory 24V Version 2 J5 and J9 JS4 16 Pin Header Two 16 pin flat cable connector Delta Tau P N 014 ROOF16 0K0 T amp B Ansley P N 609 1641 171 16 T amp B Ansley standard flat cable stranded 16 wire Phoenix varioface module type FLKM 16 male pins P N 22 81 034 J5 and J9 JS4 16 Pin Header Pin Symbol Function Description Koch DCLK Output D to A A to D Clock DAC and ADC Clock BDATA4 Output D to A Data DAC Data ASEL6 Output Axis Select Bit 0 Select ASEL7 Output Axis Select Bit 2 Select CONVERT 67 Output A to D Convert ADC Convert Signal ADCIN4 Input A to D Data ADC Data OUT D Output Amp Enable Dir Amp Enable Direction OUT E Output Amp Enable Dir Amp Enable Direction O 09 QI DJ MN BY Oo IN OUTF Output Amp Enable Dir Amp Enable Direction OUTG Output Amp Enable Dir Amp Enable Direction HF4D Input Amp Fault AMP Fault Input HF4E Input Amp Fault AMP Fault Input HF4F Input Amp Fault AMP Fault Input HF4G Input Amp Fault AMP Fault Input 5V Output 5V Supply Power Supply Out GND Common PMAC Common Typically miscellaneous I O is used to interface with ACC 28 the analog to digital con
48. ing Settings Ix91 800000 FF0000 Hall Flag Channel 4 1 ACC 24V 2 ACC 24V 3 ACC 24V 4 ACC 24V Channel 2 078204 079204 07A 204 07B204 Channel 4 07820C 07920C 07A20C 07B20C Channel 6 078304 079304 07A 304 07B304 Channel 8 07830C 07930C 07A30C 07B30C The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa absolute encoders Turbo PMAC Ixx81 ACC 24V Encoder Register Settings Ix91 480000 580000 Encoder 1 ACC 24V 2 ACC 3 ACC 24V 4 ACC 24V Register 24V Channel Channel 1 078201 079201 07A201 07B201 Channel 2 078205 079205 07A205 07B205 Channel 3 078209 079209 07A209 07B209 Channel 4 07820D 07920D 07A20D 07B20D Channel 5 078301 079301 07A301 07B301 Channel 6 078305 079305 07A305 07B305 Channel 7 078309 079309 07A309 07B309 Channel 8 07830D 07930D 07A30D 07B30D Ixx83 Motor xx Phase Position Address Ixx83 tells Turbo PMAC where to get its commutation position feedback every phase update cycle Usually this contains the address of an encoder phase position register The following table shows the possible values of Ixx83 for ACC 24V encoder phase position registers Turbo PMAC Ixx83 ACC 24V Encoder Register Settings Encoder 1 ACC 24V 2 ACC 24V 3 1 ACC 24V
49. ircuit The new ACC 24V has an interlock circuit that shuts down the analog outputs if it detects anything wrong with the power supply preventing runaway on partial supply loss e Buffered Isolated Compare Outputs The new J7 10 pin header provides optically isolated outputs for the position compare function for each encoder with outputs rated to 24V and 100mA 2 Introduction Accessory 24V Version 2 e Compatibility Issues The ACC 24V can be operated in a manner that is 100 compatible with the old ACC 24V The board is shipped from the factory with settings for 10096 compatible operation To ensure this operation is compatible double check the following settings Clock Generation Circuitry To bring the hardware clock signals from the PMAC J6 connector as before there must be a jumper on E38A a jumper on E98C and no jumpers on E344 E34 E35 E36 E37 E38 E98A or E98B To use the on board clock signals which provide 10046 operational compatibility there must be a jumper on only one of the set E344 E34 E35 E36 E37 E38 which select the frequency exactly as on PMAC There must be a jumper on only one of the set E98A E98B where E98A selects the same frequency as PMAC E98 pins 1 and 2 and E98B selects the same frequency as PMAC E98 pins 2 and 3 there must be no jumper on E38A or E98C e Daisychain Capability To use the ACC 24V with a non Turbo PMAC VME DIP switches 1 1 81 2 S1 3 and S1 4 must be in the OFF pos
50. ition e 24V Amplifier Enable Capability In order for the amplifier enable outputs to use the 12V to 15V analog supply voltage for a high side clamping supply jumper E100 must connect pins 1 and 2 Sinking Sourcing Input Flags To use sinking input flags simply connect the flags as before Note Because multiples of the new ACC 24V can be used with a single Turbo PMAC the channel numbers for the ACC 24V on the new documentation are referred to as Channels 1 8 instead of 9 16 in the documentation for the old version An individual channel in the system is referred to by both board number and channel number When a single ACC 24V is used with a regular non Turbo PMAC VME its Channels 1 8 map into PMAC channels 9 16 respectively Introduction 3 Accessory 24V Version 2 4 Introduction Accessory 24V Version 2 HARDWARE SETUP Output Flag Driver ICs The output flags on the ACC 24V both the amplifier enable AENA signals and the position compare EQU signals are driven by socketed ICs Either sinking driver ICs or sourcing driver ICs may be installed in these sockets Component U11 contains the driver for the first four channels AENA if Option 1 is ordered component U20 contains the driver for the second four channels AENA Component U73 contains the driver for all eight position compare EQU ULN2803A or equivalent sinking driver ICs are installed at the factory T
51. nector does not need to be used If the connector is used for the position feedback the ACC 24V s internal clock generation circuitry can still be used as set by the jumpers Hardware Setup 9 Accessory 24V Version 2 Machine Port Connections ACC 24V has one standard or two with Option 1 96 pin VME headers for each set of four servo interface channels Through this connector all of the digital signals pass to and from the amplifier encoder and flags for the channels Typically this header is connected with a matching Delta Tau ACC 8 family PMAC 1 style 4 channel breakout board or equivalent through a provided 60 pin flat cable The machine port connectors are e P2 base board Board Channels 1 4 e P2 Option 1 Board Channels 5 8 ACC 28 Alternate Port Connections ACC 24V has one standard or two with Option 1 16 pin headers that provide connection for A D converter signals as well as alternate pinout for several signals associated with each quartet of servo interface channels The main use of the alternate port connector is to provide an interface to an ACC 28A or ACC 28B A D converter board The ACC 28 boards can be connected directly to this connector on the ACC 24V through a 16 pin flat cable provided with the ACC 28 The A D port connectors are e J5 JS4 Board Channels 1 4 e J9 JS4 ALT Board Channels 5 8 10 Hardware Setup Accessory 24V Version 2 PMAC SOFTWARE SETUP Use of the
52. o PMAC board providing up to eight additional channels of servo interface circuitry Up to four ACC 24P boards can be connected to one Turbo PMAC board providing up to 32 additional channels of servo interface circuitry The ACC 24V is a full sized VME expansion card It has a VME bus connector P1 so it can be mounted in a VME expansion slot The ACC 24V does not communicate over the bus the bus connector is just a convenience for mounting the board near the PMAC Turbo or non Turbo The ACC 24V board contains no processor it has one or two highly integrated 4 channel PMAC 1 style Servo ICs with the buffering circuitry and connectors around them Compatibility The ACC 24V can be used with any regular non Turbo PMAC 1 or PMAC2 VME board interfacing through the expansion port It is electrically and software compatible with the PMAC 1 PCT ISA and PMAC2 PCI ISA but special mounting is required PMAC 1 VME controllers have full software support for use of the ACC 24V PMAC controllers do not have I variables for the automatic setup of ACC 24V registers and they cannot use the flags on ACC 24V as automatic servo flag inputs and outputs The ACC 24V board can be used with any Turbo PMAC 1 or Turbo PMAC2 VME board interfacing through the Expansion port It is electrically and software compatible with Turbo PMAC 1 PCI ISA and Turbo PMAC2 PCT ISA but special mounting is required Note that even if the Turbo PMAC itself is a PMA
53. o 180 F Humidity 10 to 95 non condensing Hardware Updates Significant upgrades were made to the ACC 24V board in the 602226 102 version This new version replaces earlier versions of the ACC 24V board bringing important improvements which include e Surface Mount Technology Most components are surface mounted for higher reliability and greater long term part availability e On Board Clock Generation Circuitry This eliminates the need to bring a 2 strand cable from the PMAC VME J6 to ACC 24P J5 or J6 to provide the hardware clock signals for the encoder inputs and DAC outputs e Daisychain Capability for Turbo PMAC Up to four of the new ACC 24V boards may be connected to a single Turbo PMAC CPU on a daisychain expansion port connector using the new S1 addressing DIP switch bank Individual Amplifier Enable Polarity Control New jumpers E17A E17D permit individual high true low true control of the four amplifier enable signals For the extra four channels 5 8 on Option 1 jumpers E17E E17H permit individual high true low true control of the four amplifier enable signals e 24V Amplifier Enable Capability New Jumper E100 permits use of up to 24V supply for the amplifier compared to a maximum of 15V on the older version e Sinking or Sourcing Input Flags The new ACC 24V allows the use of either sinking or sourcing input flags home limits fault the old ACC 24V permitted only sinking input flags e Voltage Interlock C
54. ollowing table shows the address of the DAC output register for each channel of each ACC 24V These addresses can be used for single analog outputs or double analog outputs ACC 24V PMAC Ix02 Value ACC 24V PMAC Ix02 Value Channel Channel Channel Channel 1 9 C023 5 13 C033 2 10 C022 6 14 C032 3 11 C02B 7 15 CO3B 4 12 C02A 8 16 C03A When using a pair of DACS for sine wave outputs Ix02 contains the address of the higher numbered DAC of the pair the lower address e x03 Motor x Position Loop Feedback Address e x04 Motor x Velocity Loop Feedback Address 12 PMAC Software Setup Accessory 24V Version 2 e 1x05 Motor x Master Position Address Usually the Ix03 Ix04 and Ix05 variables contain the address of a processed position value in the encoder conversion table even when the raw data comes from the ACC 24V e 1x10 Motor x Power On Position Address Ix10 tells the Turbo PMAC VME where to read absolute power on position if any Typically the only times Ix10 will contain the address of an ACC 24V register is if the position is obtained from an A D converter on an ACC 28A B connected through the ACC 24V The following table shows the possible values of Ix10 for ACC 28 A D converters ACC 24V PMAC Ix10 Value ACC 24V PMAC Ix10 Value Channel Channel Channel Channel 1 9 m1C023 5 13 m1C033 2 10 m1C022
55. r no extension of an incremental encoder The ECT entries for ACC 28B A D converters read through an ACC 24P are shown in the following table ACC 24V PMAC ECT Entry ACC 24V PMAC ECT Entry Channel Channel Channel Channel 1 9 mnC026 5 13 mnC036 2 10 mnC027 6 14 mnC037 3 11 mnC02E 7 15 mnC03E 4 12 mnC02F 8 16 mnC03F The first hexadecimal digit of the entry represented by m in the above table is a if the ADC data is processed directly without integration It is a 5 if the data is integrated in the conversion If the entry integrates the data there is a second line in the entry another I variable that specifies the bias of the A D converter The second hexadecimal digit of the entry represented by n in the above table is a 0 if the ACC 28A with signed data is used it is an 8 if the ACC 28B with unsigned data is used Motor Addressing I Variables For a PMAC motor to use the servo interface circuitry of the ACC 24V several of the addressing I variables for the motor must contain the addresses of registers in the ACC 24V or the addresses of encoder conversion table registers containing data processed from the ACC 24V These I variables can include e 1x02 Motor x Command Output Address x02 tells PMAC where to write its command outputs for Motor x If ACC 24V is to create the command signals Ix02 must contain the address of the register The f
56. rs in the Turbo PMAC VME that configure the IC s The following table lists the possible settings S1 1 S1 2 Board 1 2 1 IC 24 Ic 1 IC 2 IC Base No IC IC I Variable I Variable Base Address No No Range Range Address ON ON jer 2 3 17200 17299 17300 17399 078200 078300 OFF ON 2ND 4 5 17400 17499 I7500 I7599 079200 079300 ON OFF 3RD 6 7 17600 17699 17700 17799 07A200 07A300 OFF OFF 4TH 8 9 17800 17899 17900 17999 07B200 07B300 It is suggested but not required that the boards be assigned in order That is if there are two ACC 24V boards in the system the one closest to the Turbo PMAC VME be set up as the first board and the next one be set up as the second board Hardware Setup Accessory 24V Version 2 Jumper Configuration DAC ADC Clock Signal Source Jumper E98C must be ON in order to accept the DCLK clock signal for the D A converters and A D converters for the ACC 24V from the PMAC VME through J6 pin 9 On older versions of the ACC 24V this was the only way to provide the DCLK signal The signal comes from the comparable pin on PMAC s JXIO connector If Jumper E98C is OFF the DCLK signal must come from the ACC 24V s own clock generation circuitry This configuration is strongly recommended to simplify system wiring and to provide more noise immunity It is completely operationally compatible with the older external
57. tes 1 EQUI1 Output Encoder 1 COMP EQ Low is TRUE 2 EQU2 Output Encoder 2 COMP EQ Low is TRUE 3 EQU3 Output Encoder 3 COMP EQ Low is TRUE 4 EQU4 Output Encoder 4 COMP EQ Low is TRUE 5 EQUS Output Encoder 5 COMP EQ 1 Low is TRUE 6 EQU6 Output Encoder 6 COMP EQ 1 Low is TRUE 7 EQU7 Output Encoder 7 COMP EQ 1 Low is TRUE 8 EQU8 Output Encoder 8 COMP EQ 1 Low is TRUE 9 V Supply Positive Supply 5V to 24V 10 GND Common Digital Ground This connector provides the position compare outputs for the eight encoder channels 1 These signals provided only if Option 1 is ordered J8 JS3 16 Pin Header Two 16 pin flat cable connector Delta Tau P N 014 ROOF16 0K0 T amp B Ansley P N 609 1641 171 16 T amp B Ansley standard flat cable stranded 16 wire Phoenix varioface module type FLKM 16 male pins P N 22 81 034 J8 JS3 16 Pin Header Pin Symbol Function Description 1 DCLK Output D to A A to D Clock DAC and ADC Clock for Ch 1 2 3 4 2 BDATA3 Output D to A Data DAC Data for Ch 1 2 3 4 3 ASEL4 Output Axis Select Bit 0 Select for Ch 1 2 3 4 4 ASELS Output Axis Select Bit 2 Select for Ch 1 2 3 4 5 CONVERT 45 Output A to D Convert ADC Convert Signal Ch 1 2 3 4 6 ADCIN3 Input A to D Data ADC Data for Ch 1 2 3 4 7 OUTI Output Amp Enable Dir Amp Enable Direction for Ch 1 8 OUT2 Output Amp Enable
58. through one of the jumpers E34 A through E38 If E34 is ON default the 9 83 MHz frequency is selected The SCLK frequency on the ACC 24V does not have to be the same as that on the PMAC itself which is selected by PMAC s E34A to E38 A jumper bank The following table lists the frequency selected by each jumper E34A 19 66 MHz E36 2 45 MHz E34 9 83 MHz E37 1 22 MHz E35 4 92 MHz E38 External Only one of the jumpers E34A through E38A should be ON at one time Encoder Input Signal Configuration Jumpers E27 through E24 control the open circuit voltage of the complementary input lines A B and C for Encoders 1 through 4 respectively If Option 1 is ordered jumpers E18 through E21 do the same for Encoders 5 through 8 These are 3 point jumpers If pins 1 and 2 are connected default the complementary lines are held at 2 5V if not driven by an input If pins 2 and 3 are connected these lines are pulled to 5V if not driven The main signal lines are always pulled up to 5V if not driven 6 Hardware Setup Accessory 24V Version 2 For single ended encoders these jumpers must connect pins 1 and 2 For differential line driver encoders the setting does not matter usually the jumpers are left in the default setting of 1 2 The only reasons to change the setting 2 3 is to connect to complementary open collector drivers now nearly obsolete if external exclusive or if circuitry is used to
59. ts or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation Accessory 24V Version 2 Table of Contents INTRODUCTION 1 au T 1 Ss nri EE 1 Board Configuration ie sekla EES keh k be Kan ka e kak x dka e K b bak k a he Eee pee HL ele n k u u an a hak k 1 BASE Version anonsi naaie AD EE EAE NEEE E e EE E Eee O NE O RE ENEA 1 Option 1 EE 2 Formal Specifications ise du sin keki bi oe m 2 Hardware Updat S sisis s kc i dk z kake 2 HARDWARE SET M 5 Output Flag Driver Em 5 Switch Confe rat Ons PP 5 Address DIP Switch S1 esses ka keka ek ex kek ka kak xa ka kK Ka kek Ha kek ra ke kr ka kek Ha tren ra kek re nnns 5 noue 6 DAC ADC Clock Signal Source 6 Encoder Clock Signal Source 6 Encoder Input Signal Configuration eee esses eene teen nhe nnne nennen Ku KE KE KAK KK KE KAKA KKA 6 Analog Circuit SO Qt T mE 7 Input Flag Supply nessis misasi niae va ba e h de k E
60. ue C19 LIM7 Input Positive Limit 7 Failsafe High True C20 LIM7 Input Negative Limit 7 Failsafe C21 HMFL7 Input Home Flag 7 Programmable Polarity C22 DACH Output Ana Out Positive 3 10V to AGND C23 DAC5 Output Ana Out Negative 5 10V to AGND C24 AENAS DIR5 Output Amp Ena Dir 5 Jumperable Polarity C25 FAULTS Input Amp Fault 5 High True C26 LIM5 Input Positive Limit 5 Failsafe High True C27 LIM5 Input Negative Limit 5 Failsafe High True C28 HMFL5 Input Home Flag 5 Programmable Polarity C29 ORST Output Following Err Out C30 A 15V Input Analog 15V Supply C31 GND Common PMAC Common C32 5V Output 5V Power For Encoders The P2A connector is used to connect ACC 24V to fourth 4 channels Channels 5 6 7 and 8 of servo amp and motors Note Pins marked LIMn should be connected to switches at the positive end of travel pins marked LIMn should be connected to switches at the negative end of travel Connector Descriptions 39 Accessory 24V Version 2 Note P2 connectors are normally used with accessory 8P or 8D with Option V which provides complete terminal strip fan out of all connections ACC 8D PMAC 1 4 channel breakout board monolithic terminal block IDC 3D0 602205 10x headers OPT V Option V 40 cm 16 inch cable with 96 pin DIN connector 200 30V OACC8D OPT 6022 10 10X ACC 8P PMAC 1 4 channel breakout board monolit
61. umper E101 should connect pins 2 and 3 jumper E102 should connect pins 2 and 3 Hardware Setup 7 Accessory 24V Version 2 Resistor Pack Configuration Termination Resistors The ACC 24V provides sockets for termination resistors on differential input pairs coming into the board When shipped there are no resistor packs in these sockets If these signals are brought long distances into the ACC 24V board and ringing at signal transitions is a problem SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing All termination resistor packs are the type that has independent resistors no common connection with each resistor using two adjacent pins The following table shows which packs are used to terminate each input device Input Pack Pack Size Encoder 1 RP14 6 pin Encoder 2 RP15 6 pin Encoder 3 RP16 6 pin Encoder 4 RP17 6 pin Option 1V CHAS CHB5 CHA6 CHB6 BIS SE CHB8 CHB7 CHAT CHA8 BE vpn CHC8 CHC5 e CHC7 CHC6 N a Connections Mounting The ACC 24V can be mounted in one of two ways in the VME bus or using the standoffs To mount in the VME bus insert the P1 VME card connector into the VME socket If there is a standard VME style housing use the bracket at the front plate of the ACC 24V board to screw into the housing to hold the board down firmly e For Standoffs at each of the four corners of the ACC 24V board
62. verter board J5 and J9 are wired together J5 is on the front plate and J9 in the topside of the board J6 JXIO 10 Pin Connector Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0KO T amp B Ansley P N 609 1041 171 10 T amp B Ansley standard flat cable stranded 10 wire Phoenix varioface module type FLKM 16 male pins P N 22 81 03 4 J6 JXIO 10 Pin Connector 9ee0e6 BL loe eege ei Top View Pin Symbol Function Description CHA01 Input CHBO01 Input CHCO01 Input CHA3 Input CHB3 Input CHC3 Input NC NC 2 3 4 3 6 7 8 9 SCLK Output System Clock DCLK Output Servo Encoder Clock D to A A to D Clock Servo Encoder Timing Clock DAC and ADC Clock for Channels 1 to 8 This connector can be used to bring external clocks and for single ended encoder feedback for Channel 1 and Channel 3 Connector Descriptions 41 Accessory 24V Version 2 J7 JEQU Position Compare Output Connector Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0K0 T amp B Ansley P N 609 1041 171 10 T amp B Ansley standard flat cable stranded 10 wire Phoenix varioface module type FLKM 16 male pins P N 22 81 034 J7 JEQU 10 Pin Connector Top View Pin Symbol Function Description No

^1 USER MANUAL ^2 Accessory 24V Version 2

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