^2 Accessory 28E
Contents
1. 7 gt gt gt lt 9 9 lt 9 2 0 V 9 92 92 _ 8 Environmental Specifications 8 Electrical Specifications 8 9 ADDRESSING _ 10 Turbo Power MACRO Station Dip Switch 10 Legacy MACRO Dip Switch Settings Hardware Address Limitations ose artt 11 USING ACC 28E WITH TURBO UMAC 13 Setting 255 13 Reading on MM ER I M MM 13 Westin Analos II I 14 Using Analog Input for Servo Feedback 15 Using Analog Input for Power On POSIGOTL 18 USING 28 WITH POWER UMAC ik aaa assssassspsssssasssasassaspassaswapswassasasassa 19 Setting Dp Amalie Inputs 19 Manual ADC Read Using 28 Structures a 19 Westin Analog2. 21 Using Analog Input for Servo Feedback 2 424111 22 Using Analog Input for Power On 23 Manual ADC Read Using Pointers 24 Voltage ADC Value Conversion C Language Function Optional 25 USING gt gt gt gt gt 2 6 0 27 Quick Review Nodes and 22 2 rude iur bs du dae 28 MACRO Station Node Addresses 29 Ring Master Node C 30 MACRO Data Transfer Pc 32 MACRO Data Transfer via I O Nodes s Picus dc n 33 Preparing MACRO16 for I O Data Transfer oie me tr onbres Ea PER Dre DD DERI Ru 33 MS anynode MI20 Data Transfer Enable Mask 33 MS anynode MI21 MI168 Data Transfer Source and Destination Address 34 qka 36 MACRO Data Transfer Vid Servo Nodes 37 Using Analog Input for Servo Feedback 37 Using an Analog Input for Power On Positioning
3. MACRO IC 0 MACRO 1 MI Variable Node Number MI Variable Node Number 0 MI1111 0 MI112 1 MI1112 1 MI113 4 1113 4 MI114 5 1114 5 MI115 8 1115 8 MI116 9 MI1116 9 MI117 12 1117 12 MI118 13 MI1118 13 And the format of these MI Variables is as follows Hex Digit 1 2 3 4 5 6 Content Method Source Address Example 3 1 8 8 0 0 For 28 the method digits hex digit 1 2 can only be 31 unsigned B1 signed Usually the unsigned method is used For example setting 111 318800 will process data in Y 8800 as unsigned and uses it as the absolute power on position for node 0 Using ACC 28E with UMAC MACRO 41 Accessory 28E On the Ring Master Non Turbo Ultralite Ix10 Motor x Power On Servo Position Address e Turbo Ultralite UMAC with ACC 5E 10 Motor xx Power On Servo Position Address Ixx95 Motor xx Power On Servo Position Format For Non Turbo Ultralite Ix10 74000n 74 is used for the MACRO Station Parallel Input method and is the servo node number which can be 0 1 4 5 8 9 C 12 in decimal or D 13 in decimal For Turbo Ultralite or UMAC with ACC 5E Format of Ixx10 Hex Digit 1 2 3 4 5 6 IC Node Content N A Number Number Example 0 0 0 0 0 1 1110 000001 means that Motor 175 power on position is coming from Node 1 of MACRO IC 0 over MACRO Digit 4 is usually 0 but if MA
4. 41 Direct Verification of ACC 28E ADGS 43 Table Of Contents V Accessory 28E LAYOUT amp Y A o 44 Sample Wiring DISSERT vere i pianista d Gub 46 Ple Backplane I 46 1 4 Pin Terminal BOSE dor edad a 46 eid Reo dr EPUM dr MU UM UN ird DU da NUN M ea qM n taf 47 J3A ADC Inputs apu 2 usi ad ast ba ui ed i etu 47 JaA P Sdn iE ec 47 Terminal Block edens etti Des a 48 J3 ADC 1 and poc 48 J4 ADC Inputs ed a 48 lt ____ _ __ _ _ _ lt gt 9 49 Card TD ate atc Ed c ted 49 DECLARATION OF CONFORMITY 50 6 2 22 _ _ e 51 1 E2 E4 Unipolar Bipolar Conversion Mode 51 E35 E6 B7 Power Supply Selection uuu 51 E8 E9 E10
5. VREF Pin Circuitry on Analog Input Connector cone Y conet 1 R40 2K 196 8V C99 ii H R41 K HHH 5 a 100 4 025 8V 2 842 vref 6 1 31 E d veto 1 VIN VOUT 22 C101 MAX427CSA 1 3 SLEEP dose C103 E T bin REF198FS 1 1 9 8V 4 096 VOLT REFERENCE 15 VDC Pin Circuitry on Analog Input Connector 011 ge HEVIN 2 1 mbrs140t3 bs 6 2K D1 2 R39 2 10 gt LED X lYELLOW ae C87 15VIN 686 15VIN lt lt 220 6 35V Trourstev L C89 jJ O agnd mbrs140t3 54 Appendix B Schematics
6. Accessory 28E Populating Rack with Type A Cards Only no conflicts In this mode the card s can potentially use any available Address Chip Select that each card can be set up jumper settings to use the lower middle or higher byte of a specific base address it is then possible to populate a single rack with a maximum of 12 Type A accessory cards Type A cards can have up to 4 different base addresses And knowing Note Populating Rack with Type B Cards Only no conflicts In this mode the card s can potentially use any available Address Chip Select Populating Rack with Type A amp Type B Cards possible conflicts e Typically Type A and Type B cards should not share the same Chip Select If this configuration is possible then the next couple of rules does not apply and can be disregarded e Type A cards cannot share the same Chip Select as Type B Feedback cards e Type A cards can share the same Chip Select as Type B general I O cards However in this mode Type B cards naturally use the lower byte default and Type A cards must be set up by means of jumper settings to the middle high byte of the selected base address Type A Cards and Type B Feedback Cards Type A cards cannot share the same Chip Select as Type B Feedback cards Type A Cards and B General I O Cards Type A cards can share the same Chip Select as Type B general I O cards however in this mode Type B cards naturally use the l
7. Programming Jumpers 51 Select 51 Clock S leCt Pm 51 APPENDIX B SCHEMATICS 52 Table Of Contents vi Accessory 28E INTRODUCTION Delta Tau s Accessory 28E ACC 28E is a 2 or 4 Option 1 channel analog to digital A D converter interface board designed to provide a means for precision voltage measurement as an input to the Turbo UMAC Turbo Power UMAC or UMAC MACRO systems This accessory uses 2 or 4 Option 1 16 bit analog to digital converters to provide voltage measurements accurate to 2 bits Below are two images of the card from side views Introduction 7 Accessory 28E SPECIFICATIONS Environmental Specifications Description Specification Notes Operating Temperature 0 C to 45 Storage Temperature 25 C to 70 C Humidity 10 to 95 Non Condensing Electrical Specifications Power Requirements Whether providing the ACC 28E with power from the 3U backplane bus or externally standalone mode through TB1 the power requirements 10 are 5 VDC 150 mA 15 VDC 20 mA 15 VDC 20 mA Agency Approval and Safety Item Description CE Mark Full Compliance 55011 Class A Group 1 EN61000 3 2 Class A EN61000 3 3 EN61000 4 2 EMC EN61000 4 3 EN61000 4 4 EN61
8. Single Ended Analog Input Signal Volts This connector is used for interface to UMAC s processor bus via the backplane of the 3U rack The signals that are brought in through this connector are buffered on board This is a 20 pin header that is used for factory calibration TB1 4 Pin Terminal Block Do not use TB1 when the ACC 28E is plugged into the backplane Caution This 4 pin terminal block provides the connection for an external power supply standalone mode 1 4 Point Terminal Block Pin Symbol Function Description Notes 1 AGND Common Digital ground 2 Not connected 3 15VDC Input 15 VDC power input 200 mA required 4 1SVDC Input 15 VDC power input 70 mA required Layout amp Pinouts 46 Accessory 28E DB9 Connector Option J3A ADC Inputs 1 and 2 J3A D sub DA 9F Mating D sub DA 9M o 00 0 0 o 0 O 6 Pin Symbol Function Description 1 5 VDC Output 5 VDC reference output 2 VREF Output 4 096 VDC precision reference 3 ADC2 Input A D Conv Channel 2 4 AGND Gnd Shield 5 ADC1 Input A D Conv Channel 1 6 5 VDC Output 5 VDC reference output 7 AGND Gnd Shield 8 ADC2 Input A D Conv Channel 2 9 ADCI Input A D Conv Channel 1 J4A ADC Inputs 3 and 4 J3A D sub DA 9F Mating D sub DA 9M o 0 0 0 0 Pin Symb
9. Turbo Encoder Conversion Table Device 2 UMAC TURBO 1 947 11 IIII XI M Select a table entry to view edit S End of T able Download Entry E First Entry of T able Done v 3505 Processed Data x 3506 Address Address View All Entries of Table Viewing Conversion T ype 28 A D register with integration no rollover Source Address 78F00 UMAC Style ADC 28 ADC 4 Channel 1 Bias term fo Please select which accessory 28 you have C Signed Accessory 254 A D Unsigned Accessory 28 B E A D The equivalent code in Turbo 18000 Encoder Conversion Table parameters is as follows 18004 55 8 00 5580000 078F00 18005 0 Bias term is 0 580000 defines ACC 28 A D register Unsigned data 5078 00 is register address The position and velocity pointers should then be set to the processed data address i e 3506 as follows 503 53506 Motor 5 position loop feedback address 504 53506 Motor 5 velocity loop feedback address Using ACC 28E with Turbo UMAC 17 Accessory 28E Using Analog Input for Power On Position ACC 28E can be used to establish an absolute position reference for power on position The following two I Variables need to be set for this feature 10 Motor Power On Position Address xx95 Motor xx Power On Servo Position Format Ixx10 specifies
10. Pin Symbol Function Description 1 ADC3 Input A D Converter Channel 3 2 ADC3 Input A D Converter Channel 3 3 AGND Gnd Shield 4 ADC4 Input A D Converter Channel 4 5 ADC4 Input A D Converter Channel 4 6 AGND Gnd Shield 7 VREF Output 4 096 VDC precision reference 8 AGND Gnd Shield 9 5 VDC Output 5 VDC reference output 10 5 VDC Output 5 VDC reference output e Shields are internally connected to the ground plane inside the ACC 28E Shields are normally connected at only one end of the wire only this eliminates possible system ground loops Lad VREF is a buffered tap from the A D precision reference Note External hardware that uses this signal reference typically will scale it for a full scale A D voltage input Layout amp Pinouts 48 Accessory 28E CARD IDENTIFICATION Card ID Format Card identification can be read from the following address Base Addr Bank Sel 0 D4 D3 D2 D1 DO Phase Dir Vendor ID Vendor ID Vendor ID Vendor ID ID 03 ID 02 ID 01 ID 00 Bank Sel 0 Vendor ID Vendor ID Vendor ID Vendor ID ID 13 ID 12 ID 11 ID 10 Card option Card Option Card Option Card Option Card Option CO 04 CO 03 CO 02 CO 01 CO 00 Card option Card Option Card Option Card Option Card Option CO 09 CO 08 CO 07 CO 06 CO 05 Base Addr Phase Dir Revision Revision Revision Revision Bank Sel 1 CR 03 CR 02 CR 01 C
11. Accessory 28E Testing Analog Inputs The Analog Inputs can be brought into the ACC 28E as single ended ADC amp Ground or differential ADC amp ADC signals In single ended mode the ADC for the channel e g ADC1 for EN channel 1 should be tied to analog ground for full resolution and proper operation do not leave the pin floating Note Reading the input signals in software counts using the predefined M Variables should show the following ADC Single Ended V Differential V Software Input ADC lt gt AGND ADC lt gt ADC Counts 0 0 0 ae 5 5 32768 10 10 65535 10 10 32768 Bipolar Mode 0 0 0 10 10 32768 PMAC because the structure ACC28E i ADCsData j automatically scales the result to 32768 counts for more intuitive reading of bipolar Note signals The bipolar mode software count range is different from that in Turbo Using ACC 28E with Power Umac 21 Accessory 28E Using Analog Input for Servo Feedback The ACC 28E analog inputs can be used as feedback for servo motors Example This example sets up Motor 5 with position and velocity feedback from 28 with SW1 s position 2 OFF The card s index is i 2 and ADC Channel 1 is being used The analog input should be brought into the Encoder Conversion Table ECT with a Type 1 conversion method which performs a single read of a 32 bit register The 16 bit data coming from A
12. Y 7A429 Y 7A42D Y 7A431 Y 7A435 Y 7A439 Y 7A43D 16 bit Y 7A422 Y 7A426 Y 7A42A 7 42 Y 7A432 7 436 Y 7A43A Y 7A43E 16 bit 7 423 Y 7A427 Y 7A42B Y 7A42F 7 433 Y 7A437 Y 7A43B Y 7A43F Master MACRO IC 3 Servo Node Registers Station Nod 0 1 4 5 8 9 12 13 Noe 348 50 52 53 56 57 60 61 24 bit Y 7B420 Y 7B424 Y 7B428 Y 7B42C Y 7B430 Y 7B434 Y 7B438 Y 7B43C 16 hit Y 7B421 Y 7B425 Y 7B429 Y 7B42D Y 7B431 Y 7B435 Y 7B439 Y 7B43D 16 bit Y 7B422 Y 7B426 Y 7B42A Y 7B42E Y 7B432 Y 7B436 Y 7B43A Y 7B43E 16 hit Y 7B423 Y 7B427 Y 7B42B Y 7B42F Y 7B433 Y 7B437 Y 7B43B Y 7B43F Using ACC 28E with UMAC MACRO 31 Accessory 28E MACRO Data Transfer The principle of MACRO data transfer for an ACC 28E card is a two step process 1 MACRO station ACC 28E has a base register address set by SW1 The data in this register needs to be transferred to a node register 2 Between a MACRO station and a MACRO Ring Master the data in a node register on the MACRO station is automatically transferred to the corresponding node register on the MACRO Ring Master There is no need to set up this transfer but M Variables are needed to point to the registers on the MACRO Ring Master to retrieve the data transferred back from nodes on the MACRO station This procedure assumes that communicati
13. Accessory 28E Voltage ADC Value Conversion C Language Function Optional The following C language function code provides an example of converting between the raw ADC values and input voltages It assumes Card Index 0 It copies the ADC results to 5000 5007 and the voltages in 6000 6007 include lt gplib h gt include lt stdio h gt include lt dlfcn h gt Definition s define ThisCardIndex 0 For 00000 define Unipolar Code 0 Unipolar input signals define Bipolar Code 1 Bipolar input signals Prototype s int ACC28E ADC unsigned int Card Index unsigned int ADC Channel int ADC Result int ConvertToVolts unsigned int SoftwareCounts unsigned int Polarity double Volts void user plcc unsigned int index Channel Number ADC 8 tempu int ErrorCode 0 double Voltages 8 tempd for index 0 index lt 4 1 Channel Number index 1 Compute ADC channel number Acquire ADC result ErrorCode ACC28E ADC ThisCardIndex Channel Number amp tempu ADC index tempu Store result in array if ErrorCode lt 0 return error ErrorCode ConvertToVolts ADC index Bipolar Code amp tempd Voltages index tempd if ErrorCode lt 0 return error pshm gt P 5000 index ADC index Store result in P Variable optional pshm gt P 6000 index Voltages index Store voltages in P Variable optional return int ACC28b
14. The following example code will configure Motor 5 to use ADC Channel 1 s unipolar unsigned data for a power on position read with a Scale Factor of 1 Motor 5 PowerOnMode 4 Enable power on absolute position read Motor 5 pAbsPos Acc28E 2 ADCuData 0 a Set absolute position register to ADC channel 1 Motor 5 AbsPosFormat 00001010 Set format unsigned 16 bits starting at bit 16 Motor 5 AbsPosSF 1 Set scale factor 1 Bipolar signed data The following example code will configure Motor 5 to use ADC Channel 1 s bipolar signed data for a power on position read with a Scale Factor of 1 Motor 5 PowerOnMode 4 Enable power on absolute position read Motor 5 pAbsPos Acc28E 2 ADCuData 0 a Set absolute position register to ADC channel 1 Motor 5 AbsPosFormat 00001010 Set format unsigned 16 bits starting at bit 16 Motor 5 AbsPosSF 1 Set scale factor 1 Motor 5 HomeOffset 32768 Set HomeOffset to gaurantee correct data reading The ADC channels of ACC 28E always produce readings from 0 to 65535 The structure ACC28E i ADCsDatal j just offset the whole AN scale by 32768 to give a reading from 32768 to 32768 Since absolute power on position is read directly from the register as an Note unsigned value home offset needs to be added to have the correct signed value Using ACC 28E with Power Umac 23 Accessory 28E Manual ADC Read Usin
15. Using ACC 28E with UMAC MACRO 30 Accessory 28E Servo Node Addresses on Master MACRO ICs Master MACRO IC 0 Servo Node Registers Station 0 1 4 5 8 9 12 13 0 1 4 5 8 9 12 13 24 bit 78420 78424 Y 78428 Y 7842C Y 78430 78434 78438 Y 7843C 16 bit Y 78421 78425 Y 78429 Y 7842D Y 78431 Y 78435 Y 78439 Y 7843D 16 bit Y 78422 Y 78426 Y 7842A Y 7842E Y 78432 Y 78436 Y 7843A Y 7843E 16 bit Y 78423 Y 78427 Y 7842B Y 7842F Y 78433 Y 78437 Y 7843B Y 7843F Master MACRO IC 1 Servo Node Registers Station Noda 0 1 4 5 8 9 12 13 16 17 20 21 24 25 28 29 24 bit Y 79420 Y 79424 Y 79428 Y 7942C Y 79430 Y 79434 Y 79438 Y 7943C 16 bit Y 79421 Y 79425 Y 79429 Y 7942D 79431 Y 79435 Y 79439 Y 7943D 16 bit Y 79422 Y 79426 7942 Y 7942E Y 79432 Y 79436 Y 7943A Y 7943E 16 bit Y 79423 Y 79427 Y 7942B Y 7942F Y 79433 Y 79437 Y 7943B Y 7943F Master MACRO IC 2 Servo Node Registers Station Nodi 0 1 4 5 8 9 12 13 1 5 33 36 37 40 41 44 45 24 bit Y 7A420 7 424 7 428 Y 7A42C Y 7A430 Y 7A434 Y 7A438 Y 7A43C 16 bit Y 7A421 Y 7A425
16. mode 1 from Node 4 8005 018000 Use 24 bits data starting at bit 0 8006 2F842C 280000 07842C parallel Y word no filter mode 1 from Node 5 80072018000 Use 24 bits data starting at bit 0 103 3502 1104 3502 Position and velocity feedback address as 2 line of ECT 0818001 203 53504 204 53504 Position and velocity feedback address as 4 line of ECT 018003 303 53506 1304 3506 Position and velocity feedback address as 6 line of ECT 0818005 403253508 1404 53508 Position and velocity feedback address 8 line of ECT 0818007 Using ACC 28E with UMAC MACRO 39 Accessory 28E Velocity Servo Feedback Example On a MACRO station configure 4 ADCs from ACC 28E for unsigned velocity feedback using the integrated data method and then transfer the velocity feedback data to the Ring Master s servo nodes assuming that the servo nodes are enabled on both the MACRO Station and the Ring Master sides 1 MACRO Station setup Bring 4 ADCs data from an ACC 28E base address 8800 to the Encoder Conversion Table and then bring the ECT result to the servo nodes on the MACRO Station MSO MI 50 50 50 50 50 50 20 588800 21 50 22 5588801 23 50 24 5588802 25 50 26 5588803 50 1127 50 MSO 101 0011 MSO 102 0013 MSO 103 0015 50 104 50017 Process No bias Process No bias Process No bi
17. 1995 Limits for harmonic current emissions Criteria A 14 1998 EN61000 3 3 1995 Limitation of voltage fluctuations and flicker in low voltage supply systems for equipment with rated current lt 16A Criteria B EN61000 4 2 1995 Electro Static Discharge immunity test Criteria Al 1998 EN61000 4 3 1995 Radiated radio frequency electromagnetic field immunity test Criteria A Al 1998 EN61000 4 4 1995 Electrical fast transients burst immunity test Criteria EN61000 4 5 1995 Surge Test Criteria EN61000 4 6 1996 Conducted immunity test Criteria A EN61000 4 11 1994 Voltage dips test Criteria B and C Date Issued 11 May 2006 Place Issued Chatsworth California USA Cant Yolande Cano Quality Assurance Manager Mark of Compliance CC Declaration of Conformity 50 Accessory 28E APPENDIX A E POINT JUMPERS Refer to the layout diagram of ACC 28E for the location of the jumpers on the board E1 E2 E3 E4 Unipolar Bipolar Conversion Mode Jumpers E1 through E4 for selecting the conversion mode of ADC channels 1 through 4 E Point Pin Layout Description Default Jumper pin 1 to 2 for Unipolar conversion Jumper pin 2 to 3 for Bipolar conversion EI Channel 1 E2 Channel 2 E4 Channel 3 E3 Channel 4 E5 E6 E7 Power Supply Selection These jumpers allow the user to choose between the external DC power supply and its ground or the 3U rack s backplane DC power for the
18. 78420 X 78424 X 78428 X 7842C X 78430 X 78434 16 bit 78421 78425 X 78429 X 7842D X 78431 78435 16 bit X 78422 X 78426 X 7842A X 7842E X 78432 X 78436 16 bit X 78423 X 78427 X 7842B X 7842F X 78433 X 78437 Master MACRO IC 1 I O Node Registers Station I O Node 2 3 6 7 10 11 Master I O Node 18 19 22 23 26 27 24 bit 79420 X 79424 79428 X 7942C 79430 79434 16 bit 79421 X 79425 X 79429 X 7942D X 79431 X 79435 16 bit X 79422 X 79426 X 7942A X 7942E 79432 79436 16 bit X 79423 X 79427 X 7942B X 7942F X 79433 X 79437 Master MACRO IC 2 I O Node Registers Station I O Node 2 3 6 7 10 11 Master I O Node 34 35 38 39 42 43 24 bit X 7A420 X 7A424 X 7A428 X 7A42C X 7A430 X 7A434 16 bit 7 421 X 7A425 X 7A429 X 7A42D X 7A431 X 7A435 16 bit X 7A422 X 7A426 X 7A42A X 7A42E X 7A432 X 7A436 16 bit X 7A423 X 7A427 X 7A42B X 7A42F X 7A433 X 7A437 Master MACRO IC 3 I O Node Registers Station I O Node 2 3 6 7 10 11 Master I O Node 50 51 54 55 58 59 24 bit X 7B420 X 7B424 X 7B428 X 7B42C X 7B430 X 7B434 16 bit X 7B421 X 7B425 X 7B429 X 7B42D X 7B431 X 7B435 16 bit X 7B422 X 7B426 X 7B42A X 7B42E X 7B432 X 7B436 16 bit X 7B423 X 7B427 X 7B42B X 7B42F X 7B433 X 7B437
19. A D converter E1 E2 E3 E4 C 8 2to3 E Point Pin Layout Description Default OG commonto the user supptied AGND 2103 Jumper pin 2 to 3 to use 3U backplane AGND sper pin 2to3 to use 3U rack backplane 15 VDC 203 amp OQ pin 2 to 3 to use 3U rack backplane 15 VDC 203 E8 E9 E10 Programming Jumpers Used by the factory to download Xilinx programs The jumpers will be installed in the right position when it is shipped and the user should not change or move them Pin Layout Default E8 E9 Jumper pin 1 to 2 to connect the Xilinx loader cable E10 Jumper 2 to 3 to use EEPROM E12 Station Type Select This jumper is used to choose either a Turbo Power UMAC station UMAC MACRO station or a legacy Macro Station E Point Pin Layout Description Default Jumper pin 1 to 2 for Turbo 3U CPU Power CPU and MACRO CPU Jumper 2 to 3 for legacy MACRO CPU before nee 6 00 For legacy MACRO Stations part number 602804 100 thru 602804 104 E13 Clock Select This jumper is used to determine which clock to synchronize with for the A D conversion E Point Pin Layout Description Default Jumper pin 1 to 2 to use servo clock to start the A D conversion Jumper pin 2 to 3 to use phase clock to start the A D 003 conversion Appendix A E P
20. Master sides 1 MACRO Station Setup Bring 4 ADCs data from an ACC 28E at base address 8800 to the Encoder Conversion Table and then bring the ECT result to servo nodes on the MACRO Station side MSO MI MSO MI MSO MI MSO MI 20 5 21 5 22 5 23 5 50 101 500 50 102 500 50 103 500 50 104 500 88800 88801 88802 88803 20 Process ADC1 Process ADC2 Process ADC3 Process ADC4 Transfer Transfer Transfer Transfer from from from from processed ADC1 processed ADC2 processed ADC3 processed ADC4 58800 58801 Y 8802 58803 5 5 5 5 result result result result unsigned pos unsigned pos unsigned pos unsigned pos 50010 50011 50012 50013 to to to to result result result result Node Node Node Node in in in in 50010 X 50011 X 50012 X 50013 2 MACRO Ring Master setup Bring servo node data to the ECT on the Master side and then point Ixx03 and Ixx04 to the ECT result addresses for position and velocity loop feedback 8000 2F8420 280000 078420 parallel Y word no filter mode 1 from Node 0 80012018000 Use 24 bits data starting at bit 0 8002 52 8424 5280000 5078424 parallel Y word no filter mode 1 from Node 1 8003 018000 Use 24 bits data starting at bit 0 8004 52 8428 5280000 5078428 parallel Y word no filter
21. bipolar inputs Outputs return 0 if everything went correctly and store Volts in Volts return 1 if SoftwareCounts invalid return 2 if Polarity invalid double ConversionFactor MaxVolts 10 0 unsigned int Offset MaxCounts 65535 if SoftwareCounts lt 0 SoftwareCounts gt 65535 return 1 if Polarity Unipolar Code amp amp Polarity Bipolar Code return 2 if Polarity Unipolar Code Offset 32768 else Offset 0 ConversionFactor double MaxVolts double MaxCounts Offset Volts Ct Volts double double SoftwareCounts ConversionFactor return 0 This code could be written more efficiently in a final application E but is written here for the purpose of clearer understanding for the user Note Using ACC 28E with Power Umac 26 Accessory 28E USING ACC 28E WITH UMAC MACRO Setting up ACC 28E on a MACRO station requires the following steps Establishing communication with the MACRO Station and enabling nodes e Transferring Data over Nodes I MACRO Station Master Ultralite Or UMAC with ACC 5E Automatic Processing Firmware Copy lt COXX I O Data Transfer The goal is to allow the user software access to the digital inputs and outputs brought into the MACRO Station s and transferred to the Master i e Turbo PMAC2 Ultralite or UMAC with 5 Note that the Master is sometimes referred t
22. 0 0 0 5 5 32768 10 10 65535 10 10 0 Bipolar 0 0 32768 Mode 10 10 65535 Using ACC 28E with Turbo UMAC 18 Accessory 28E USING ACC 28E WITH POWER UMAC Setting Up Analog Inputs ADCs Power UMAC has structures to read ADC values as follows Structure Function ACC2SE i ADCuData i Data of ADC channel 1 1 unipolar for card index i ACC28E i ADCsData i Data of ADC channel 1 1 bipolar for card index i where i ranges from 0 to 15 and is the card index given in Addressing ACC 28E section and i is the channel index which ranges from 0 to 3 for Channels 1 to 4 respectively Manual ADC Read Using ACC 28E Structures Unipolar Script PLC Example This example demonstrates how to read ADC Channels 1 through 4 as unipolar and then convert them to voltages stored in global variables SW1 setting has switches 1 6 all set to ON which corresponds to index i 0 Jumpers E1 through 4 are in position 1 2 ptr ADClu gt ACC28E 0 ADCuData 0 Channel 1 ADC pointer variable ptr ADC2u gt ACC28E 0 ADCuData 1 Channel 2 ADC pointer variable ptr ADC3u gt ACC28E 0 ADCuData 2 Channel 3 ADC pointer variable ptr ADC4u gt ACC28E 0 ADCuData 3 Channel 4 ADC pointer variable global Channell Voltage Unipolar global Channel2 Voltage Unipolar global Channel3 Voltage Unipolar global Channel4 Voltage Unipolar global UnipolarScaleFactor 10 0 65535 0 10 VD
23. 00 Set ADC1 from 58800 as unsigned abs power on pos Node 0 MS0 MI112 318801 Set ADC2 from Y 8801 as unsigned abs power on pos Node 1 MS0 MI113 318802 Set ADC3 from Y 8802 as unsigned abs power on pos Node 4 MS0 MI114 318803 Set ADC4 from Y 8803 as unsigned abs power on pos Node 5 2 MACRO Ring Master setup On a Turbo Ultralite set Ixx10 and Ixx95 up to receive absolute power on positions over MACRO for Motors 1 4 10 000100 Motor absolute power on position from MACRO IC 0 Node 0 210 S000001 Motor 2 absolute power on position from MACRO IC 0 Node 1 310 000004 Motor 3 absolute power on position from MACRO 0 Node 4 410 000005 Motor 4 absolute power on position from MACRO IC 0 Node 5 95 5740000 Motor abs power on pos format as unsigned value over MACRO 295 5740000 Motor 2 abs power on pos format as unsigned value over MACRO 395 5740000 Motor 3 abs power on pos format as unsigned value over MACRO 495 740000 Motor 4 abs power on pos format as unsigned value over MACRO Direct Verification of ACC 28bE ADCs MACRO MI Variables MS anynode MI198 and MI199 can be used to read from or write to virtually any MACRO Station memory location This can be useful especially when trying to test the hardware on the MACRO Station MI198 contains the format and the register address of the data and MI199 is used to read from or write to the register with the form
24. 00 is register address The position and velocity pointers should then be set to the processed data address i e 3501 as follows 103 53501 Motor 1 position loop feedback address 1104 53501 Motor 1 velocity loop feedback address If you are using a different Encoder Conversion Table entry number you can examine on the Configurator where the Processed Data Address is listed as shown surrounded by red in the above screenshot Using ACC 28E with Turbo UMAC 16 Accessory 28E Velocity Servo Feedback Example This example demonstrates how to set up ADC Channel 1 for Motor 5 s velocity feedback The Encoder Conversion method digit is 5 The analog input should be brought into the Encoder Conversion Table as the 5 line for Motor 5 s velocity feedback in this example To access the Encoder Conversion Table Configurator from within PeWin32Pro2 click Configure gt Encoder Conversion Table Then adjust the following settings in the window that appears e Conversion Type ACC 28 A D register with integration no rollover e Source Address Determined by SW1 setting and the desired channel In this case select 78F00 as the base address and select ADC 4 Channel 1 e Bias term A 24 bit number subtracted from the source A D data whose LSB is in bit 8 before numerical integration e Signed or Unsigned This is automatically selected according to card type i e ACC 28E s data is unsigned
25. 000 4 5 EN61000 4 6 EN61000 4 11 Safety EN 61010 1 UL UL 61010 1 File E314517 cUL CAN CSA C22 2 No 1010 1 92 File E314517 Flammability Class UL 94V 0 Input Offset Nulling Input nulling is performed at Delta Tau with the A D inputs shorted together using Bipolar conversion If the user s equipment has output offsets it is possible to adjust the VR1 thru VR4 to zero the inputs for ADC 1 thru ADC 4 respectively Locations of VR1 to VR4 adjustment pots are shown in Layout and Pin outs section The input voltage adjustment swing is limited to approximately 60 mV When selected for Bipolar conversion a 0 VDC input should read a number around 32 768 on the A D input When selected for Unipolar conversion the input should be adjusted to 0 Specifications 8 Accessory 28E Physical Specifications Description Specification Notes Length 16 256 cm 6 4 in Dimensions Height 10 cm 3 94 in Width 2 03 cm 0 8 in Weight w o Option 1A 194 g Front Top and Bottom plates included Terminal Block Connectors FRONT MC1 5 10 ST3 81 Terminal Blocks from Phoenix Contact UL 94VO DB Option Connectors DB9 Female UL 94V0 The width is the width of the front plate The length and height are the dimensions of the PCB Specifications Accessory 28E ADDRESSING ACC 28E Dip switch SW1 specifies the base address of the ACC 28E in a 3U TURBO POWER UMAC or MACR
26. 304 3506 Position and velocity feedback address 6 line of ECT 018005 403 53508 1404 53508 Position and velocity feedback address as 8 line of ECT 0818007 Using ACC 28E with UMAC MACRO 40 Accessory 28E Using an Analog Input for Power On Positioning The ACC 28E ADC results are usually read as unsigned values and can be used for absolute power on positioning An absolute power on position can be obtained at power up or upon request with the n for motor after proper setting The setup procedure for reading the absolute power on position over MACRO is as follows On the MACRO Station Use MS anynode MI111 MI118 for MACRO IC 0 and MI1111 MIT1118 for MACRO IC 1 to set the absolute power on position reading feature up on the MACRO station side and to prepare to transfer the absolute position to the Master over MACRO e On the Ring Master Configure Ixx10 and or 95 to specify the node number and reading format for receiving absolute positions from the node The absolute power on position reading feature is only provided with the firmware versions below MACRO Station MACRO firmware version 1 114 or newer Ring Master Non Turbo Ultralite firmware version 1 16H or newer Note Turbo Ultralite or UMAC with ACC 5E firmware version 1 936 or newer On the MACRO Station MI Variables for the absolute power on position reading feature of each node are as follows
27. Accessory 28E DELTA TAU Data Systems Inc amp 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 2 14 2015 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
28. C per 65535 ADC counts Open PLC 1 Channell Voltage Unipolar ADClu UnipolarScaleFactor Channel2 Voltage Unipolar ADC2u UnipolarScaleFactor Channel3 Voltage Unipolar ADC3u UnipolarScaleFactor Channel4 Voltage Unipolar ADC4u UnipolarScaleFactor Close Using ACC 28E with Power Umac 19 Accessory 28E Bipolar Script PLC Example This example demonstrates how to read ADC Channels 1 through 4 as bipolar and then convert them to voltages stored in global variables SW1 setting has switch 1 set to OFF switches 2 6 set to ON corresponding to index i 1 Jumpers E1 through jumpers are in position 2 3 ptr ADC1ls gt ACC28E ptr ADC2s gt ACC28E ptr ADC3s gt ACC28E ptr ADC4s gt ACC28E global global global global global Channell Vol 12 1 13 1 Channel4 Vol BipolarScaleFactor 10 0 32768 0 Open PLC 2 Channell Voltage Bipolar ADC1s BipolarScaleFactor Channel2 Voltage Bipolar ADC2s BipolarScaleFactor Channel3 Voltage Bipolar ADC3s BipolarScaleFactor Channel4 Voltage Bipolar ADC4s BipolarScaleFactor Close ADCsData 0 ADCsData l ADCsData 2 ADCsData 3 tage Bipolar tage Bipolar tage Bipolar tage Bipolar EA 27 Channel Channel Channel Channel 1 ADC pointer 2 ADC pointer 3 ADC pointer 4 ADC pointer 10 VDC per 32768 ADC counts variable variable variable variable Using ACC 28E with Power Umac 20
29. CC 28E occupies only the upper 16 bits of this 32 bit register Because of this the Encoder Conversion Table Scale Factor EncTable n ScaleFactor needs to be set to 1 2 6 in order to have the correct reading i e to scale the position down to bit 0 of the position register The ECT setup window can be found in IDE by clicking on Delta Tau Configure Encoder Conversion Table Change the following parameters within that window to the settings below e ECT entry number 5 corresponding to the motor number e Type 1 Single 32 bit register read pEnc Acc28E 2 ADCuData 0 a e ScaleFactor 1 0 exp2 16 0 0000152587890625 ECT Setup Online 192 168 0 200 SSH _ ECT entry number B Eee Display All ECT Entries Type Single 32 bit register read Detailed ECT Setup PowerPMAC Structure Encoder Plot entry Details pEnc Acc28E 2 ADCuData 0 a PrevDelta 0 0 0 0 pEnc 1 Acc24E2A 4 Chan 0 ServoCapta Acc24E2AI41 Chan 01 TimeBetweenCts a Acc24E2A 4 Chan 1 ServoCapt a Acc24E2AI41 ChanI11 TimeBetweenCts a Acc24E2A 41 ChanI21 ServoCapta Acc24E2A 41 ChanI 21 TimeBetweenCts a 24 2 4 3 Acc24E2A 41 ChanI 31 TimeBetweenCts a 28 2 ADCuDatalOLa Sys pushm Using ACC 28E with Power Umac 22 Accessory 28E e EncTable r pEnc should point to Acc28E J ADCuData j a for card ind
30. CRO IC 0 Node 0 is used for power on position then digit 4 must 1 since Ixx10 0 will disable power on position reading Note The following table shows all the values for Ixx10 MACRO Node Ixx10 for Ixx10 for Ixx10 for Ixx10 for MACRO Number MACRO IC 0 MACRO IC 1 MACRO IC 2 3 0 000100 000010 000020 000030 1 000001 000011 000021 000031 4 000004 000014 000024 000034 5 000005 000015 000025 000035 8 000008 000018 000028 000038 9 000009 000019 000029 000039 12 00000C 00001C 00002C 00003C 13 00000D 00001D 00002D 00003D Ixx95 the absolute power on position reading format can be set to 740000 for unsigned MACRO Station Parallel Input absolute power on position 40000 for signed MACRO Station Parallel Input absolute power on position Again the unsigned value is usually used here Using ACC 28E with UMAC MACRO 42 Accessory 28E Example Reading Absolute Power On Position over MACRO On a MACRO station configure 4 ADCs from ACC 28E for unsigned absolute power on position feedback and then transfer the absolute position data back to the Ring Master assuming that the servo nodes are already enabled on both the MACRO Station and the Ring Master 1 MACRO Station setup Use 4 channels of ADC data from an ACC 28E base address 8800 as power on position for the motors on Servo Nodes 0 1 4 and 5 50 1111 53188
31. E ADC unsigned int Card Index unsigned int ADC Channel int ADC Result Obtains ADC result from a specified channel of the ACC28E with specified sign Inputs Card Index Index k of the card based on addressing from SW1 setting ADC Channel The number of the channel that the user desires to sample 1 2 3 or 4 Polarity 0 unipolar inputs 1 bipolar inputs Outputs return 0 and put the ADC result of the desired channel into ADC Result if everything happened correctly return 1 if Card Index is invalid return 2 if ADC Channel is invalid 7 unsigned int BaseOffset Address volatile unsigned int pACC28Eu if Card Index 0 Card Index gt 15 return 1 Using ACC 28E with Power Umac 25 Accessory 28E if ADC Channel lt 1 ADC Channel gt 4 return 2 BaseOffset pshm OffsetCardIO Card Index Acquire base offset of card Address piom BaseOffset 4 ADC Channel 1 4 Compute ADC channel address pACC28Eu Address Assign address to pointer ADC Result unsigned int pACC28Eu gt gt 16 Assign value to address return 0 int ConvertToVolts unsigned int SoftwareCounts unsigned int Polarity double Volts 2 Converts the software count ADC result from ACC28E to volts in double precision Inputs SoftwareCounts ADC result from ACC28E in units of software counts Polarity 0 unipolar inputs 1
32. NNN This example assumes that 4 other motors are controlled by Ring Master in other MACRO station such that 16841 is set to 0FCO3F Now the M Variables can be used PLCs motion programs for data acquisition purposes enable variable should be 1996 not 16841 The ADC reading registers then should be the same as I O node addresses on a MACRO Station Note like COXX instead of 7XXXX If a Non Turbo PMAC2 Ultralite legacy is used as Master the node Testing Analog Inputs The Analog Inputs can be brought into the ACC 28E as single ended ADC amp Ground or differential ADC amp ADC signals channel 1 should be tied to analog ground for full resolution and In single ended mode the ADC for the channel e g ADC1 for proper operation do not leave the pin floating Note Reading the input signals in software counts using the predefined M Variables should show the following ADC Single Ended V Differential V Software Input ADC lt gt AGND ADC lt gt ADC Counts 0 0 0 5 5 32768 10 10 65535 10 10 0 oo 0 0 32768 10 10 65535 Using ACC 28E with UMAC MACRO 36 Accessory 28E MACRO Data Transfer via Servo Nodes Similar to ACC 28E in a Turbo UMAC or a Power UMAC the A D feedback from ACC 28E MACRO station can also be used as servo feedback and or absolute power on position Make sure that the servo no
33. O Station rack Turbo Power UMAC MACRO Station Dip Switch Settings Base Address SW1 Positions Chip POWER Select TURBO MACRO Index 6 5 4 3 2 1 Offset i Y 78COO Y 8800 A00000 0 ON ON ON ON ON ON CS10 79 00 Y 9800 A08000 4 ON ON ON OFF ON ON Y 7ACO0 Y A800 A10000 8 ON ON OFF ON ON ON Y 7BCOO Y B800 A18000 12 ON ON OFF OFF ON ON Y 78D00 Y 8840 B00000 1 ON ON ON ON ON OFF C 12 Y 79D00 Y 9840 B08000 5 ON ON ON OFF ON OFF Y 7AD00 Y A840 B10000 9 ON ON OFF ON ON OFF Y 7BD00 Y B840 B18000 13 ON ON OFF OFF ON OFF Y 78E00 Y 8880 C00000 2 ON ON ON ON OFF ON 514 Y 79E00 Y 9880 C08000 6 ON ON ON OFF OFF ON Y 7AE00 Y A880 C10000 10 ON ON OFF ON OFF ON Y 7BE00 Y B880 C18000 14 ON ON OFF OFF OFF ON Y 78F00 Y 88CO D00000 3 ON ON ON ON OFF OFF CS16 Y 79F00 Y 98CO D08000 7 ON ON ON OFF OFF OFF Y 7AF00 Y A8CO D10000 11 ON ON OFF ON OFF OFF 7 00 Y B8CO D18000 15 ON ON OFF OFF OFF OFF ON designates Closed OFF designates Open e Factory default is all ON e The maximum addressable number of ACC 28Es or similar type Note accessories in a single rack is 16 Addressing ACC 28E 10 Accessory 28E Legacy MACRO Dip Swi
34. R 00 Bank Sel Card ID Card ID Card ID Card ID 1 03 02 01 00 Card ID Card ID Card ID Card ID Card ID CT 08 CT 07 CT 06 CT 05 CT 04 Card ID Card ID Card ID Card ID Card ID CT 13 CT 12 CT 11 CT 10 CT 09 The card identification number of all Delta Tau cards is derived from the last four digits of the PCB assembly number For example the ACC 28E card assembly number is 603404 Convert the last four digits into a hex number i e 3404 D4C This will be the card identification for ACC 28E e e Vender identification number for Delta Tau e Revision number for this card is 1 e CARD IDENTIFICA TION Option 1 Additional two axes present if ACC 28E has 4 channels 49 Accessory 28E DECLARATION OF CONFORMITY Application of Council Directive 89 336 EEC 72 23 EEC Manufacturers Name Delta Tau Data Systems Inc Manufacturers Address 21314 Lassen Street Chatsworth CA 91311 USA We Delta Tau Data Systems Inc hereby declare that the product Product Name Accessory 28E Model Number 603404 And all of its options conforms to the following standards EN61326 1997 Electrical equipment for measurement control and laboratory use EMC requirements EN55011 1998 Limits and methods of measurements of radio disturbance characteristics of information technology equipment EN61010 1 Electrical equipment for measurement control and laboratory use Safety requirements EN61000 3 2
35. X COAA X COAE X COB2 X COB6 X COA3 X COA7 X COAB 5 X COB3 X COB7 MACRO Station IC 0 Using ACC 28E with UMAC MACRO 35 Accessory 28E 1 MACRO station setup MS0 MI19 4 Transfer data once every 4 phase clock servo default 50 1975 5 Activate I O nodes 2 3 at MACRO station MSO MI20 SF Activate transfer methods 21 22 2 24 MS0 MI21 6C8800DCCOA1 Copy upper 16 bit data from Y 8800 to 5 0 1 Node 2 MS0 MI22 6C8801DCC0A2 Copy upper 16 bit data from Y 8801 to X C0A2 Node 2 MS0 MI23 6C8802DCC0A3 Copy upper 16 bit data from Y 8802 to X C0A3 Node 2 MS0 MI24 6C8803DCC0A5 Copy upper 16 bit data from Y 8803 to 5 5 Node 3 MSSAVEO Save these changes to MACRO station 55550 Reset MACRO station 2 MACRO Ring Master setup I6841 0FCO3F Enable servo nodes 0 1 4 5 and I O nodes 2 3 M980 gt X 78421 8 16 ADC1 Master register corresponding to 1 16 bit word on Node M981 gt X 78422 8 16 ADC2 Master register corresponding to 279 16 bit word on Node M982 gt X 78423 8 16 ADC3 Master register corresponding to 3 16 bit word Node M983 gt X 78425 8 16 ADC4 Master register corresponding to 1 16 bit word on Node
36. Y COB1 Y COB5 Y COB9 Y COBD 16 bit 2 Y COA6 Y COAA Y COAE Y COB2 Y COB6 Y COBA Y COBE 16 bit Y COA3 Y COA7 Y COAB Y COAF Y COB3 Y COB7 Y COBB Y COBF MACRO Station IC 1 Servo Node Registers Node 0 1 4 5 8 9 12 13 24 bit Y COEO Y COE4 Y COE8 Y COEC Y COFO Y COF4 Y COF8 Y COFC 16 bit 5 0 5 Y COE9 Y COED Y COF1 Y COF5 Y COF9 Y COFD 16 bit 0 2 Y COE6 Y COEA Y COEE Y COF2 Y COF6 Y COFA Y COFE 16 bit Y COE7 Y COEB Y COEF Y COF3 Y COF7 Y COFB Y COFF 29 Using ACC 28E with UMAC MACRO Accessory 28E Ring Master Node Addresses Non Turbo PMAC2 Ultralite legacy node addresses are the same as MACRO Station IC 0 node registers Note If 14902 Populated MACRO IC s A given Master Turbo PMAC2 Ultralite or UMAC with 5 0 None can be populated with up to 4 MACRO ICs IC 0 IC 1 IC 2 and 1 0 which can be queried with global variable 14902 3 0 1 7 0 1 2 The following are node register addresses on Master MACRO ICs i 0 1 2 3 I O Node Addresses on Master MACRO ICs Master MACRO IC 0 I O Node Registers Station I O Node 2 3 6 7 10 11 Master I O Node 2 3 6 7 10 11 24 bit X
37. as Process No bias term term term term Transfer processed ADC1 Transfer processed ADC2 Transfer processed ADC3 Transfer processed ADC4 ADC1 from Y 8800 result in 50011 ADC2 from Y 8801 result in X 0013 ADC3 from Y 8802 result in X 0015 ADC4 from Y 8803 as unsigned as unsigned as unsigned as unsigned vei vel vel vei X 0017 result result result result in X 0010 to Node to Node in X 0012 to Node in X 0013 to Node in X 001 locity ocity ocity locity oO 2 MACRO Ring Master setup Bring servo node data to the ECT on the Master side and then point Ixx03 and Ixx04 to the ECT result addresses for position and velocity loop feedback 8000 2F8420 280000 078420 parallel Y word no filter mode 1 from Node 0 8001 018000 Use 24 bits data starting at bit 0 8002 S2F8424 280000 078424 parallel word no filter mode 1 from Node 1 8003 018000 Use 24 bits data starting at bit 0 8004 2F8428 280000 078428 parallel Y word no filter mode 1 from Node 4 80052018000 Use 24 bits data starting at bit 0 8006 52 842 280000 07842C parallel Y word filter mode 1 from Node 5 8007 018000 Use 24 bits data starting at bit 0 103 3502 104 53502 Position and velocity feedback address 274 line of ECT 0818001 203 3504 1204 53504 Position and velocity feedback address as 4 line of ECT 0818003 303 53506 1
38. at specified by MI198 The format of 198 is as below Hex Digit 1 2 3 4 5 6 Content Method Source Address Example 6 8 8 0 0 For 28 the recommended method is 6C Y Register starting from bit 8 bit width 16 bits unsigned value high 16 bit value of a 24 bit register Example Using MI198 and 1199 to read ADC1 and ADC2 of ACC 28E with base address 9800 MS0 MI198 6C9800 Set ADC1 reading from Y 9800 unsigned High 16 bits MS0 MI199 Read ADC1 000000004B78 Response 19320 ADC bits MS0 MI198 6C9801 Set ADC2 reading from Y 9801 unsigned High 16 bits MS0 MI199 Read ADC2 00000000B4A6 Response 46186 ADC bits Using ACC 28E with UMAC MACRO 43 Accessory 28E LAYOUT amp PINOUTS Terminal Block Option Top View 9 H31M3ANOO INOLLI 10S3 IH nv 1 38 1 52 0 14 qr Side View Front View RESOLUTION CONVERTER 5 08 STATUS POWER FE az 0 80 E ra All dimensions are in inches Layout amp Pinouts 44 Accessory 28E DB9 Option Top View gt 8 2 L 2 931X3 MM05 STATUS POWER HI RESOLUTION CONVERTER All dimensions are in inches Drawings are not to scale Layout amp Pinouts Accessory 28E Sample Wiring Diagram Differential Analog Input Signal Volts 0 Volts P1 Backplane Bus
39. des utilized in data transfer are enabled on both Master and MACRO Station sides Note Using Analog Input for Servo Feedback The servo node data transfer scheme from MARCO station to Master is illustrated as following Master MACRO Station 2 O y Encoder C onversion Table Ultralite Or Servo Node UMAC with Data Transfer MACRO ACC 28E Encoder Conversion Table The setup for servo feedback utilizes the Encoder Conversion Table ECT on the MACRO station which is a different table from the ECT on Master The setup procedure is as follows On the MACRO station 1 Set up the ECT on the Station to bring data from the ACC 28E with the desired setting position or velocity This utilizes 5 120 1151 1120 1151 2 Bring the result from the ECT to a servo node for data transfer to the Master This utilizes MS anynode 101 108 MI1101 1108 e On the Ring Master 1 Set up the ECT to process the data in servo node 2 Set Ixx03 and Ixx04 to the ECT entry s result register address to complete the feedback loop Usually for a servo node on Master side the already ECT has the default settings set by the firmware In order to get the correct feedback from a desired channel Ixx03 and Ixx04 need to be pointing to the correct output address of the ECT entry which has the processed servo node data transferred back from the MACRO s
40. e variables is a 48 bit word constructed in hex digits as follows Format code of Format code of source register destination register Source register Destination register 5 8 I O Nodes X SCOXX Each method specifies the format of data transfer between source and destination registers The data bit widths of source and destination registers needs to match When using ACC 28E in a MACRO station the source register is the register determined by Dip switch SW1 s setting The destination register is determined by which I O node is used for data transfer Since ACC 28E is a 2 or 4 channel 16 bit ADC card the data transfer always uses 16 bit transfer methods The following table shows the 2 digit hex format digit 1 2 or 7 8 and selected portions of the register that need to be used Format Register Code X or Y X 50 60 64 6C 78 B XC lt oo Lower 12 bit ADC Registers Upper 12 bit ADC Registers KIK o Dm 16 bit MACRO Servo Node Registers 24 bit MACRO Servo Node Registers 16 bit MACRO I O Node Registers 24 bit MACRO I O Node Registers XX X X XI lt lt For each ADC channel of ACC 28E the 16 bit source data always resides in the upper 16 bits of that channel s register Y X8XX The data also resides in the upper 16 bits of the selected destination 16 bit register X COXX of the selected I O node MACRO c
41. er of the corresponding MI Variables used for the conversion For example if MI120 and MI121 are used then the result is in X 0011 The 2 line entry of integrated method contains a bias term which is a 24 bit number subtracted from the source A D data before numerical integration Using ACC 28E with UMAC MACRO 38 Accessory 28E Servo Data Transfer on MACRO Station Ongoing position servo data is transferred to a node by setting the following variables to a data address MACRO IC 0 MACRO IC 1 MI Variable Default Address MI Variable 4 Default Address MI101 0 0010 MI1101 0 0090 MI102 1 0011 MI1102 1 0091 MI103 4 0012 103 4 0092 MI104 5 0013 MI1104 5 0093 MI105 8 0014 MI1105 8 0094 MI106 9 0015 MI1106 9 0095 MI107 12 0016 MI1107 12 0096 MI108 13 0017 108 13 0097 The addresses here all refer to X Registers since the servo position feedback data from the ECT will always be in X Registers The MI Variables default values correspond to the first 8 lines of the ECT addresses Example MI101 0010 means transfer servo data X 0010 to Servo Node 0 on MACRO Station Servo Position Feedback Example On a MACRO station configure 4 ADCs from ACC 28E for unsigned position feedback and transfer the servo feedback data to the Ring Master s servo nodes assuming that these servo nodes are enabled on both the MACRO Station and the Ring
42. ex i ADC Channel 1 no matter if the signal is N unipolar or bipolar Ld e The Unipolar or Bipolar conversion setting is determined by Note jumpers E1 through E4 only The Encoder Conversion Table will choose which setting to use automatically The equivalent code to set this up via Power PMAC Structures is as follows EncTable 5 type EncTable 5 pEnc i Set entry type to 32 bit word read Acc28E 2 ADCuData 0 a Set encoder address to Card Index 2 Channel 1 S EncTable 5 pEncl Sys pushm Unused set to Sys pushm EncTable 5 indexl 0 No Shift left EncTable 5 index2 0 No Shift right EncTable 5 index3 0 No limit on first derivative EncTable 5 index4 0 No limit on second derivative EncTable 5 ScaleFactor 1 exp2 16 Scale factor 1 2 16 The position and velocity pointers are then set to the processed data address Motor 5 pEnc EncTable 5 a Outer position loop source address Motor 5 pEnc2 EncTable 5 a Inner velocity loop source address One can then adjust Motor 5 PosSf and Motor 5 Pos2Sf the position and velocity scale factors respectively if necessary Using Analog Input for Power On Position Some analog devices are absolute along the travel range of the motor e g in hydraulic piston applications Generally it is desirable to obtain the motor s position from the input voltage on power up or reset Unipolar unsigned data
43. g Pointers Optional An optional method of accessing the ADC data is through pointer ptr variables that directly map the memory address of each channel The Base Address Offset of the card as mentioned in the table below is determined by the Index i as set by DIP switch SW1 as described in the Addressing ACC 28E section of this manual Once the base address offset is determined the channel addresses can be determined as below ADC channel Address Offset 16 bit Location 1 Base Address Offset 0 31 16 2 Base Address Offset 4 31 16 3 Base Address Offset 8 31 16 4 Base Address Offset C 31 16 ADC Pointer Manual Read Example SWI switch setting has all 6 switches set to the ON position which dictates a base address of A00000 and jumpers E1 through EA are set to position 1 2 settings for unipolar inputs ptr ACC28E ADC1 gt u ptr 28 ADC2 u ptr 28 ADC3 u ptr 28 ADC4 u io io io io A00000 16 A00004 16 A00008 16 A0000C 16 16 16 16 16 e u io a00000 16 16 indicates Unsigned I O address 5100000 starting at bit 16 with a 16 bit width If the settings of jumpers E1 thru E4 are set for bipolar inputs the pointer definitions still need to be Unsigned since the raw ADC result values are all still in the positive range Scaling must be performed thereafter on these values Using ACC 28E with Power Umac 24
44. o as the Ring Controller For all MACRO Station I O accessories the information is transferred to or from the accessory I O Gate to the MACRO Station CPU Gate 2B Information from the MACRO Station Gate 2B is then read or written directly to the MACRO IC on the Master ACC 28E can also be used for power on and or servo position feedback In this case Servo Nodes can be used to transfer data to Master Once the information is at the Master it can be used in application motion programs or PLC programs AN Refer to the 16 Axis MACRO CPU manuals SRM USER and HRM 1 for more information on MACRO Note Using ACC 28E with UMAC MACRO 27 Accessory 28E Quick Review Nodes and Addressing Each MACRO IC consists of 16 nodes 2 auxiliary 8 servo and 6 I O nodes e Auxiliary nodes are for Master Control registers and internal firmware use e Servo nodes are used for motor control carrying feedback commands and flag information I O nodes by default unoccupied and are user configurable for transferring various data Nodes Auxiliary Nodes Servo Nodes Each node consists of 4 registers one 24 bit and three 16 bit registers for a total of 72 bits of data nodes have X register addresses and Servo nodes have Y register addresses Both Master and MACRO station CPU have an address corresponding to a node register For example Node 2 24 bit register e Master address 78420 e MACRO stati
45. oint Jumpers 51 Accessory 28E APPENDIX B SCHEMATICS TB1 Power Input Connector R1 04 ISOLATE DIGITAL ANALOG GND CONNECT ANALOG AND AND DIGITAL GROUND PLANES AT ES PIN 2 DGND lt gt L6 N U U O PAGND 15VIN AGNI 25 lt lt 15VIM 15 H BP 15V E gt BP 15V 15VIN lt lt 15VIN 18 BP 15V lam AE E i M BP45V 68uH Terminal Block Analog Inputs ADC1 ADC1 AGND ADC2 ADC2 DEFAULT AND VREF AGND 5V 5V 1 2 3 4 5 6 7 8 9 0 OPTION 2B Stee INPUTS J4 ADC3 adc3 ADC3 INSTALL AGND ADC4 FOR ADC4 1 AGND VREF ONLY AGND 5V 5V COANDUNAWNHA A Appendix B Schematics Accessory 28E ADC1 Circuitry 811 475 1 VDDA 9 813 9 C12 8V al 475 4 C14 5 1 C16 E 10 63 01 T U4 MMBD301LT1 us 868486 SOT23 815 2 2 al 10K 5 A 6 2 12 3 adci 3 6 10K e RP1C 220 3 5 4 adc 1 1 MAX427CSA al 5 MAX427CSA MMBD301LT1 RP1D 50123 C24 10K C26 9 4 4 T VDDA VSSA 4 9 9 8V 8V 1 R21 50K LAA A 470K VSSA The circuitry for ADCs 2 4 is identical to ADC 175 so it is not shown here Note Appendix B Schematics 53 Accessory 28E
46. ol Function Description 1 5 VDC Output 5 VDC reference output 2 VREF Output 4 096 VDC precision reference 3 ADC4 Input A D Conv Channel 4 4 AGND Gnd Shield 5 ADC3 Input A D Conv Channel 3 6 5 VDC Output 5 VDC reference output 7 AGND Gnd Shield 8 ADC4 Input A D Conv Channel 4 9 ADC3 Input A D Conv Channel 3 DBO shell is connected to the UMAC chassis ground e Shields are internally connected to the ground plane inside the ACC 28E Shields are normally connected at only one end of the wire only this eliminates possible system ground loops VREF is a buffered tap from the A D precision reference External hardware that uses this signal reference will typically scale it for a full scale A D voltage input Layout amp Pinouts 47 Accessory 28E Terminal Block Option ADC Inputs 1 and 2 S S J3 Terminal Block Pin Symbol Function Description 1 ADC1 Input A D Converter Channel 1 2 ADCI Input A D Converter Channel 1 3 AGND GND Shield 4 ADC2 Input A D Converter Channel 2 5 ADC2 Input A D Converter Channel 2 6 AGND GND Shield 7 VREF Output 4 096 VDC precision reference 8 AGND GND Shield 9 5 VDC Output 5 VDC reference output 10 5 VDC Output 5 VDC reference output J4 ADC Inputs and 4 9 S S S J4 Terminal Block
47. ommunication enabling I O node and other aforementioned necessary MACRO ring parameters have been Note configured properly on both the ring Controller and MACRO Station The following I O data transfer method examples assume that Using ACC 28E with UMAC MACRO 34 Accessory 28E Example Transferring 4 ADC channels from ACC 28E MACRO UMAC Station rack back to the MACRO Ring Master Turbo PMAC2 Ultralite or UMAC with 5 On MACRO station transferring I O data of one 28 card with 4 ADC channels at base address Y 8800 to I O nodes 2 and 3 using 4 of the 16 bit registers X C0A1 C0A3 and X C0A5 e On MACRO Ring Master use M variables to read the data transferred back from MACRO station I O nodes ACC 28E Y 8800 4 ADC Channels 16 bits Base address X Register ortet High byte Mid byte Low byte 0 1 2 53 54 55 56 57 MS0 MI21 6C8800DCCOA1 MS0 MI22 6C8801DCC0A2 50 123 56 8802 50 124 56 8803 5 24 bit reg 24 24 24 24 24 24 1 16 bit reg lt 16 16 1 16 16 16 2 16bit reg 60 16 16 16 16 16 3 16 bit reg 16 16 16 16 16 16 Node 2 3 6 7 10 11 5 5 4 X COA8 5 X COBO X COBA resses X COA1 X COA5 X COA9 X SCOAD 5 1 X COB5 el X COA2 X COA6
48. on address X C0A0 The data is transferred between these two addresses automatically once the nodes are activated on both Master side and MACRO station side Using ACC 28E with UMAC MACRO 28 Accessory 28E MACRO Station Node Addresses A given MACRO Station can be populated with either a MACRO8 or MACRO16 CPU MACROS supports 1 MACRO IC IC 0 MACRO16 supports 2 MACRO ICs IC 0 and IC 1 The following are the node register addresses on MARCO Station ICs I O Node Addresses on MACRO Station ICs MACRO Station IC 0 I O Node Registers Node 2 3 6 7 10 11 24 bit X COAO 4 X COA8 X COAC X COBO X COB4 16 bit X C0A1 X C0A5 X C0A9 X C0AD X C0B1 X C0B5 16 bit X C0A2 X C0A6 X C0AA X C0AE X C0B2 X C0B6 16 bit X C0A3 X C0A7 X C0AB X COAF X COB3 X COB7 MACRO Station IC 1 I O Node Registers Node 2 3 6 7 10 11 24 bit X COEO X COE4 X COE8 X COEC X COFO X COF4 16 bit X COEI 0 5 X COE9 X COED X COF1 X COF5 16 bit X COE2 X COE6 X COEA X COEE X COF2 X COF6 16 bit X COE3 X COE7 X COEB X COEF X COF3 X COF7 Servo Node Addresses on MACRO Station ICs MACRO Station IC 0 Servo Node Registers Node 0 1 4 5 8 9 12 13 24 bit Y COAO Y COA4 Y COA8 Y COAC Y COBO Y COBA Y COB8 Y COBC 16 bit Y COA5 Y COA9 Y COAD
49. on over the MACRO ring has already been established and that the user is familiar with node activation on both the Master also called Ring Controller and MACRO Station Thus any node s used in the following examples have to be enabled previously For ACC 28E there are 3 transfer methods as follows e MACRO data transfer via I O nodes MI20 MI21 MI68 MACRO data transfer via Servo nodes ECT and Power On Position e Using MACRO I variables MI198 and MI199 for quick hardware check AN This section assumes that MACRO ring I O nodes i e 16841 and Us ring check error settings have been configured properly Note Using ACC 28E with UMAC MACRO 32 Accessory 28E MACRO Data Transfer via I O Nodes Preparing 16 for I O Data Transfer The following parameters should be configured properly for the I O node transfer to work properly MS anynode MI992 Max Phase frequency control Typically set equal to ring controller s 16800 MS anynode 1997 Phase clock frequency control Typically set equal to ring controller s 16801 MS anynode MI995 MACRO Ring configuration status Typically set to 4080 MS anynode MI996 MACRO node activate control MS anynodej MI975 MACRO IC 0 I O Node enable MI975 should match enabled I O nodes in MI996 e MsS anynode MIS MACRO Ring Check Period Typically set 8 with default clock settings MS anynode MI9 MACRO Ring error shutdown c
50. ount Typically set 4 with default clock settings MS anynode MACRO Sync packet shutdown count Typically set 4 with default clock settings e MS anynode MI19 T O node data transfer rate 0 transfer disabled gt 0 transfer period in Phase clock cycles typically set 4 MS anynode MI1996 MACRO IC 1 node activate control if IC 1 is used MSf anynode MI1975 MACRO IC 1 I O Node enable if IC 1 is used 1975 should match enabled I O nodes in MI1996 The I O node data transfer scheme from MACRO station to Master is illustrated as following Master MACRO Station Ultralite Or Node UMAC with Data Transfer CPU ACC 28E I O Data Transfer MI 20 21 68 M Variables MS anynode MI20 Data Transfer Enable Mask 20 controls which of 48 possible data transfer operations are performed at the data transfer period set by 9 20 is a 48 bit value and each bit controls whether the data transfer specified by one of the variables MI21 through MI68 is performed 20 51 bit 0 1 use transfer method MI21 20 53 bit 0 1 1 use transfer methods MI21 MI22 20 bit 0 1 2 3 1 use transfer methods 21 22 23 24 Using ACC 28E with UMAC MACRO 33 Accessory 28E MS anynode MI21 MI68 Data Transfer Source and Destination Address 21 through MI68 specify 48 different possible data transfer methods Each of thes
51. ower byte default and Type A cards must be set up jumper settings to the middle high byte of the selected base address Type A Cards and Type B Analog Cards Type A cards can share the same Chip Select as Type B analog I O cards however in this mode Type B cards naturally use the middle high bytes default and Type A cards must be set up jumper settings to the lower byte of the selected base address Addressing ACC 28E 12 Accessory 28E USING ACC 28E WITH TURBO UMAC To ensure that ACC 28E or any other analog I O cards work properly UMAC rack it is crucial to have a clock source The clock in UMAC rack usually comes from ACC 24E2 ACC 24E2A ACC 5E ACC 51E or any other card with a gate array on it Before trying to use ACC 28E ensure that the rack has a clock source Setting Up Analog Inputs ADCs Steps to set up ACC 28E with Turbo UMAC are as follows 1 Select the base address With SW1 dip switch setting the base address offset can be determined for the card Channel 1 s data resides at this address and the three sequential memory addresses offset by 1 address per channel are for channel 2 3 and 4 Since ACC 28E is a 16 bit ADC card only the highest 16 bits of these addresses are used 2 Select the appropriate conversion jumper Jumpers E1 thru E4 determine whether the conversion method of Channels 1 to 4 is unipolar or bipolar 3 M Variable Use M Variable as pointers to
52. read ADC results Reading the ADCs ADC Read Example 1 Unipolar Configuring ACC 28E card base address as Y 78C00 with unipolar inputs 1 Base address select SW1 dip switches have pins 1 through 6 set to ON 2 Conversion jumper Jumpers El through are in position 1 2 3 M Variable Use M Variables as pointers to read the ADC results M7I01 9 Y 978C00 8 16 U M7101 is assigned to read ADC 1 7102 gt 7 578001 8 16 0 M7102 is assigned to read ADC 2 7103 gt 578 02 8 16 0 M7103 is assigned to read ADC 3 M7104 gt 78C03 8 16 U M7104 is assigned to read ADC 4 The user can choose other M Variables as pointers to read the ADC results if desired ADC Read Example 2 Bipolar Configuring ACC 28E card base address as Y 78C00 with bipolar inputs 1 Base address select SWI dip switches have pins 1 through 6 set to ON 2 Conversion jumper Jumpers E1 through are in position 2 3 3 M Variable Use M Variable as pointers to read ADC results M7101 Y 78C00 8 16 U M7101 is assigned to read ADC 1 7102 gt 578 01 8 16 0 M7102 is assigned to read ADC 2 7103 gt 578 02 8 16 0 M7103 is assigned to read ADC 3 M7104 gt Y 878C03 8 16 U M7104 is assigned to read ADC 4 The user can choose other M Variables as pointers to read the ADC results if desired Although in Example 2 E1 through E4 s jumper settings are bipolar the M Variable definitions need to be Un
53. signed since the ADC result values are all in positive range Refer to Testing the Analog Inputs section below to see how the positive ADC results relate to negative Note voltages Using ACC 28E with Turbo UMAC 13 Accessory 28E Testing Analog Inputs The Analog Inputs can be brought into the ACC 28E as single ended ADC amp Ground or differential ADC amp ADC signals In single ended mode the ADC for the channel e g ADC1 for EN channel 1 should be tied to analog ground for full resolution and proper operation do not leave the pin floating Note Reading the input signals in software counts using the M Variables defined as above should show the following ADC Single Ended V Differential Software Input ADC gt AGND ADC gt ADC Counts 0 0 0 5 5 32768 10 10 65535 10 10 0 4 0 0 32768 10 10 65535 Using ACC 28E with Turbo UMAC 14 Accessory 28E Using Analog Input for Servo Feedback The ACC 28E analog inputs can be used as a feedback device for a servo motor Refer to Delta Tau s released application notes or Turbo User Manual E for cascaded loop control i e force height control around position loop Note Position Servo Feedback Example This example shows how to use ADC Channel 1 for Motor 1 s position feedback The Encoder Conversion method digit is 1 The analog input should be brought in
54. tation Using ACC 28E with UMAC MACRO 37 Accessory 28E Encoder Conversion Table on MACRO Station ECT entries are set up by the following MI Variables MACRO IC Number MI Variable Corresponding Address 0 MS anynode MI120 MI151 0010 002 1 MS anynode MI1120 MI1151 0090 00AF Each ECT MI Variable is a 6 hex digit number which contains the source address digits 3 6 and the conversion method digits 1 2 Hex Digit 1 2 3 4 5 6 Content Method Source Address Example 1 8 8 8 0 0 The example above is utilizing Method 18 ACC 28 style A D converter unsigned value Address Y 8800 ACC 28E 1 base address For ACC 28E there are 4 different methods listed below to process the data from a base address Method Conversion Process Polarity of lines 10 ACC 28 style A D converter Signed 1 18 ACC 28 style A D converter Unsigned 1 50 Integrated ACC 28 style A D converter Signed 2 58 Integrated ACC 28 style A D converter Unsigned 2 Usually only the unsigned methods are used and the source addresses for these methods are treated as Y Registers since ACC 28E has its data in Y Register addresses For method 18 the processed result is in the X Register of the corresponding MI Variable used for the conversion For example if MI120 is used then the result is in X 0010 For method 58 the processed result is in the last X Regist
55. tch Settings Chip Base Address SW1 Positions Select Alternate 6 5 4 3 2 1 10 Y B800 Y FFEO ON OFF ON OFF OFF OFF ON ON 12 Y B840 Y FFE8 ON OFF ON OFF OFF OFF ON OFF 14 Y B880 Y FFFO ON OFF ON OFF OFF OFF OFF ON 16 Y B8CO Y FFF8 ON OFF ON OFF ON ON OFF OFF AN The Legacy Macro base addresses are double mapped Set SW1 positions 5 amp 6 to OFF if the alternate addressing is desired Note Hardware Address Limitations Historically two types of accessory cards have been designed for the UMAC 3U bus type rack type and type B cards They can be sorted out as follows Name Tvpe Possible Number Maximum Number of Addresses of cards in 1 rack ACC 9E A General I O 4 10 General I O 4 12 General I O 4 12 General I O 4 ACC 14E B General I O 16 ACC 28E B Analog I O 16 ACC 36E B Analog I O 16 16 ACC 53E B Feedback 16 ACC 57E B Feedback 16 ACC 58E B Feedback 16 ACC 59E B Analog I O 12 12 ACC 65E B General I O 16 ACC 66E B General I O 16 16 ACC 67E B General I O 16 ACC 68E B General I O 16 ACC 84E B Feedback 12 12 Addressing Type A and Type B accessory cards ina UMAC or MACRO station rack requires the attention to the following set of rules next page Addressing ACC 28E 11
56. to the Encoder Conversion Table as the 1 line when being used as the position feedback for Motor 1 in this example To access the Encoder Conversion Table Configurator from within PeWin32Pro2 click Configure Encoder Conversion Table Then adjust the following settings in the window that appears e Conversion Type ACC 28 A D register no rollover e Source Address Determined by the SW1 setting and the channel desired In this case select 78C000 as the base address and choose ADC 1 Channel 1 e Signed or Unsigned This is automatic selected according to the card type i e ACC 28E s data is unsigned Turbo Encoder Conversion Table Device 0 UMAC 1 943 19 XI Select a table entry to view edit End of Table Download Entry First Entry of Table 3501 Processed Data x 3501 Address Address View All Entries of Table Editing Conversion Type Acc 28 register no rollover Source Address 78C00 UMAC Style ADC 28 ADC 1 Channel 1 m Entry 1 Done i Signed Accessory 28A A D Unsigned Accessory 28 B E A D select which accessory 28 you have Using ACC 28E with Turbo UMAC 15 Accessory 28E The equivalent code in Turbo 18000 Encoder Conversion Table parameters is as follows 18000 51 8 00 5180000 5078 00 8180000 defines ACC 28 A D register unsigned data 078C
57. 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 A Warning identifies hazards that could result in personal injury or death It precedes the discussion of interest WARNING A Caution identifies hazards that could result in equipment damage It precedes the discussion of interest Caution A Note identifies information critical to the user s understanding or u use of the equipment It follows the discussion of interest Note REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 ADDED CE DECLARATION 06 07 06 CP SF ADDED ORDERING OPTIONS NEW LAYOUTS AND 2 SCHEMATIC 11 14 07 CP SM ADDED UL SEAL TO MANUAL COVER UPDATED 1 AGENCY APPROVAL S AFETY SECTION SE PE 4 CORRECTED PORT I O REGISTER INFO 03 24 10 CP MY 5 ADDED POWER PMAC SECTION REVISED MACRO 02 14 15 DCDP RN SECTION REORGANIZED MANUAL Accessory 28E Table of Contents
58. what register is read for absolute position data Ixx95 specifies how the data in the register is interpreted If ACC 28E is used to give absolute power on position Ixx10 needs to be set to the address of the ADC channel whose input value will be used as the power on absolute position 95 needs to be 310000 since ACC28E only uses unsigned data Power On Absolute Position Example This example demonstrates how to set up Motor 5 s power on absolute position using ACC 28E s ADC Channel 1 In this example SW1 s position 2 is OFF and the E1 jumper is set pins 1 2 for unipolar mode The software setup is as follows 510 578 00 ADC 1 register of 28 w SW1 position 2 OFF 1595 310000 Unsigned data from register specified 10 With any of the following three commands the power on absolute position will be read after the setup e Power on reset din Need to specify motor number n such as 5 Forces absolute position read for the specified motor amp n Need to specify the coordinate system n containing the motor in interest such as amp 1 Forces absolute position read for all motors in the specified coordinate system Depending on the mode selection unipolar or bipolar the absolute position reading software counts is as follows ADC Single Ended V Differential V Software Input ADC lt gt AGND ADC lt gt ADC Counts
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