Home

^ 1 USER MANUAL ^2 Accessory 24P

1. J5 Pin Symbol Function Description Notes 1 CHA N C 2 CHB1 N C 3 CHCI N C 4 CHA3 N C 5 CHB3 N C 6 CHC3 N C 7 IR5 Output Interrupt IR5 Interrupt from expansion board See E point listing E54 to E65 8 IR6 Output Interrupt IR6 Interrupt from expansion board See E point Listing E54 to E65 9 SCLK Input System Clock Servo encoder timing 10 DCLK Input Dto A Ato D Clock 1 Jumper selector to EQU 9 or EQU 11 or EQU 13 OR EQU 15 2 Jumper selector to EQU 10 or EQU 12 or EQU 14 or EQU 16 This connector must be connected to PMAC s JxIO J6 via the supplied cable 34 Connector Descriptions Accessory 24P J6 This connector brings in two channels of converted resolver inputs from ACC 14D J6 Pin Symbol Function Description Notes 1 CHA9 Input Enc 9 Chan A Resolver input 2 CHB9 Input Enc 9 Chan B Resolver input 3 CHC9 Input Enc 9 Chan C Resolver input 4 CHAI1 Input Enc 11 Chan A Resolver input 5 CHB11 Input Enc 11 Chan B Resolver input 6 CHC11 Input Enc 11 Chan Resolver input 7 IR5 Output Interrupt IR5 Interrupt from expansion board See E point listing E54 to E65 8 IR6 Output Interrupt IR6 Interrupt from expansion board See E point listing E54 to E65 9 SCLK Output System Clock Servo Encoder timing 10 DCLK Output Dto A Ato D Clock Typically this
2. amp Power SUPPLY CONNECTION cies amp Expansion Port Connection to PMAQC dc otivsstesnpuoepabesdiederdestessbsiveevonevedesobesoeecs ree poene a 9 Glock Port Connection to PMAC iaa e dinos Lora uds eoo eR NES EUR 9 Machine Port Connect canada 10 ACC 28 Alternate Port Connections vivecsescsvnsssiesdeccensevssteusseasescendedsbatiesascnss conastvvanevdctsbsndssunncevieddeteticedy 10 PMAC SOFTWARE SETUP oooccocconconocnconocnncononaconennonoconoconcnnonacononnonncononoconccnncononnocncononoconcon sens enses ense tates 11 Channel Setup I Variables 1 nine retenti eie eene reti eret tee ee Hb iere tod 11 Encoder Conversion Table Entries riot meteo dde tere reci e e Ei drenado cene rede 11 Motor Addressing I Variables iter eet eei ec testet peter eoi dai eb Mee dee EES ee 12 TURBO PMAC SOFTWARE SETUP eeeeeeeee eese teens eene seta sns tasas enses suse toss suse te sse ta sensns estu sea 15 Servo IC Configuration I Variables eese nete nee enne nre nne trennen rennen inneren 16 Servo IC EE 16 Servo Channel TT 16 Single Channel TE 16 Encoder Conversion Table I Variables essere nennen nenne trennen enne ens 17 Motor Addressing I Variables 5 iocis itc te ertet tr bs eei aree thence eat be aint idad c 18 ACC 24P JUMPER AND SWITCH DESCRIPTION cerne eese entes en ense en tuse ta sns tn sens tuse es sns en status 23
3. 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 E21 through E18 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 24P For single ended encoders these jumpers must connect pins 1 and 2 For differential line driver encoders the setting does not matter most users leave the jumpers in the default setting of 1 2 The only reasons to change the setting is to connect to complementary open collector drivers now nearly obsolete or 1f external exclusive or if circuitry is used to detect loss of encoder Analog Circuit Isolation The analog circuitry on the ACC 24P can be isolated from the digital circuitry or both circuits can be tied to a common reference voltage It is strongly recommended in actual industrial application that isolation be maintained between the two circuits To do this jumpers E85 E87 and E88 mu
4. The J7 connector is used to connect ACC 24P to its second 4 channels Channels 5 6 7 and 8 of servo amps flags and encoders From a non Turbo PMAC these would be considered Channels 13 14 15 and 16 It is only present if Option 1 has been ordered for the ACC 24P Note 1 In standalone applications these lines can be used as 5V power supply inputs to power PMAC s digital circuitry However if a terminal block is available on your version of PMAC it is preferable to bring the 5V power in through the terminal block Note 2 Referenced to digital common GND Maximum of 12V permitted between this signal and its complement Note 3 Leave this input floating if not used i e digital single ended encoders In this case jumper E18 21 E24 27 for channel should hold input at 2 5V Note 4 10V 10mA max referenced to analog common AGND Note 5 Leave floating if not used do not tie to AGND In this case AGND is the return line Note 6 Functional polarity controlled by jumper s E17 Choice between AENA and DIR use controlled by Ix02 and Ix25 Note 7 Functional polarity controlled by variable Ix25 Must be conducting to OV usually AGND to produce a 0 in PMAC software Automatic fault function can be disabled with Ix25 Note 8 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 9 Must be conducting to
5. 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 JS OR J6 PIN 9 from PMAC Acc 24P Jumper and Switch Description 27 Accessory 24P E54 E57 Position Compare Channel Interrupt Select E Point amp Physical Location Description Default Layout E54 Jump pin 1 to pin 2 to connect EQU8 No jumper LU to J5 pin 8 for possible PMAC E interrupt E55 Jump pin 1 to pin 2 to connect EQU4 No jumper LL to J5 pin 8 for possible PMAC E interrupt E56 Jump pin 1 to pin 2 to connect EQU4 No jumper LL to J5 pin 8 for possible PMAC E interrupt E57 Jump pin 1 to pin 2 to connect EQU3 No jumper LU to J5 pin 7 for possible PMAC Gi interrupt E60 E65 Position Compare Channel Interrupt Select E Point amp Physical Location Description Default Layout E60 Jump pin 1 to pin 2 to connect EQU6 No jumper LU to J5 pin 8 for possible PMAC E interrupt E61 Jump pin 1 to pin 2 to connect EQU2 No jumper LU to J5 pin 8 for possible PMAC Gi interrupt E64 Jump pin 1 to pin 2 to connect EQU5 No jumper LU to J5 pin 8 for possible PMAC a interrupt E65 Jump pin 1 to pin 2 to connect EQU1 No jumper LU to J5 pin 7 for possible PMAC E interrupt E85
6. USER MANUAL Accessory 24P DELTA TAU y 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 O 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 components
7. 7 if the ACC 28A with signed data is used it is an F if the ACC 28B with unsigned data is used Turbo PMAC Software Setup 17 Accessory 24P Motor Addressing I Variables For a Turbo PMAC motor to use the servo interface circuitry of the ACC 24P several of the addressing I variables for the motor must contain the addresses of registers in the ACC 24P or the addresses of encoder conversion table registers containing data processed from the ACC 24P These I variables can include e Ixx02 Motor xx Command Output Address Ixx02 tells Turbo PMAC where to write its command outputs for Motor xx If ACC 24P 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 24P These addresses can be used for single analog outputs or double analog outputs ACC 24P Register Address PMAC ACC 24P Register Address PMAC Board No amp Channel Ixx02 Default Board No amp Ixx02 Default Value for Channel Value for 1 ACC 24P DACI 078203 1902 3 ACC 24P DACI 07A 203 12502 1 ACC 24P DAC2 078202 11002 3 ACC 24P DAC2 07A202 12602 1 ACC 24P DACH 07820B 11102 3 ACC 24P DAC3 07A20B 12702 1 ACC 24P DACH 07820A 11202 3 ACC 24P DAC4 07A20A 12802 1 ACC 24P DACS 078303 11302 3 ACC 24P DACS 07A303 12902 1 ACC 24P DAC6 078302 11402 3 ACC
8. Chan 5 6 7 8 6 ADCIN5 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 OUTS8 Output Amp Enable Dir Amp Enable Dir for Chan 8 11 HF45 Input Amp Fault Amp Fault input for Chan 5 12 HF46 Input Amp Fault Amp Fault input for Chan 6 13 HF47 Input Amp Fault Amp Fault input for Chan 7 14 HF48 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 amplifier connection P1 ISA Bus Connector P1 is the standard 62 tooth card edge ISA connector If the ACC 24P is plugged into an ISA socket using this connector only the power and return pins are used 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 24P board when it is not in a bus configuration When the ACC 24P is in a bus configuration these supplies automatically come through the bus connector from the bus power supply 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 Analog Positive Supply E85 E87 E88 must be ON Voltage no isolation f
9. mF8300 mF9300 mFA300 mFB300 Channel 6 mF8304 mF9304 mFA304 mFB304 Channel 7 mF8308 mF9308 mFA308 mFB308 Channel 8 mF830C mF930C mFA30C mFB30C 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 for 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 Register 1 gw gr 4 ACC 24P ACC 24P ACC 24P ACC 24P ADC 1 mn8206 mn9206 mnA206 mnB206 ADC 2 mn8207 mn9207 mnA207 mnB207 ADC 3 mn820E mn920E mnA20E mnB20E ADC 4 mn820F mn920F mnA20F mnB20F ADC 5 mn8306 mn9306 mnA306 mnB306 ADC 6 mn8307 mn9307 mnA 307 mnB307 ADC 7 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 1 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
10. 22 CHB6 Input Encoder B Ch Pos 2 23 CHB5 Input Encoder B Ch Neg 2 3 24 CHB6 Input Encoder B Ch Neg 2 3 25 CHAS Input Encoder A Ch Pos 2 26 CHA6 Input Encoder A Ch Pos 2 27 CHAS Input Encoder A Ch Neg 2 3 28 CHA6 Input Encoder A Ch Neg 2 3 29 DAC7 Output Analog Out Pos 4 30 DAC8 Output Analog Out Pos 4 31 DAC7 Output Analog Out Neg 4 5 32 DAC8 Output Analog Out Neg 4 5 33 AENA7 DIR7 Output Amp Ena Dir 6 34 AENA8 DIR8 Output Amp Ena Dir 6 35 FAULT7 Input Amp Fault 7 36 FAULT8 Input Amp Fault 7 37 LIM7 Input Neg End Limit 8 9 38 LIM8 Input Neg End Limit 8 9 39 LIM7 Input Pos End Limit 8 9 40 LIM8 Input Pos End Limit 8 9 41 HMFL7 Input Home Flag 10 42 HMFL8 Input Home Flag 10 43 DACH Output Analog Out Pos 4 44 DAC6 Output Analog Out Pos 4 45 DAC5 Output Analog Out Neg 4 5 46 DAC6 Output Analog Out Neg 4 5 36 Connector Descriptions Accessory 24P 47 AENAS DIR5 Output Amp Ena Dir 6 48 AENAG DIR6 Output Amp Ena Dir 6 49 FAULTS Input Amp Fault 7 50 FAULT6 Input Amp Fault 7 51 LIM5 Input Neg End Limit 8 9 52 LIM6 Input Neg End Limit 8 9 53 LIM5 Input Pos End Limit 8 9 54 LIM6 Input Pos End Limit 8 9 55 HMFL5 Input Home Flag 10 56 HMFL6 Input Home Flag 10 57 ORST Output Reset Out Indicator Driver 58 AGND Input Analog Common 59 A 15V OPT V Input Analog 15V Supply 60 A 15V Input Analog 15V Supply
11. 24P DAC6 07A302 13002 1 ACC 24P DAC7 07830B 11502 3 ACC 24P DAC7 07A30B 13102 1 ACC 24P DACH 07830A 11602 3 ACC 24P DAC8 07A30A 13202 2 ACC 24P DACI 079203 11702 4 ACC 24P DACI 07B203 24 ACC 24P DAC2 079202 11802 4 ACC 24P DAC2 07B202 2 ACC 24P DAC3 07920B 11902 4 ACC 24P DAC3 07B20B 2 ACC 24P DAC4 07920A 12002 4 ACC 24P DACH 07B20A 2 ACC 24P DACS 079303 12102 4 ACC 24P DACS 07B303 2 4 ACC 24P DAC6 079302 12202 4 ACC 24P DAC6 07B302 2 ACC 24P DACH 07930B 12302 4 ACC 24P DAC7 07B30B 2 ACC 24P DACH 07930A 12402 4 ACC 24P DAC8 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 24P 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 24P register is if the position is obtained from an A D converter on an ACC 28A B connected through the ACC 24P 18 Turbo PMAC Software Setup Accessory 24P 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
12. 28B Register 1 ACC 24P 2 ACC 24P 3 ACC 24P 4 ACC 24P ADC 1 078206 079206 07A206 07B206 ADC 2 078207 079207 07A207 07B207 ADC 3 07820E 07920E 07A20E 07B20E ADC A 07820F 07920F 07A20F 07B20F ADC 5 078306 079306 07A306 07B306 ADC 6 078307 079307 07A307 07B307 ADC7 07830E 07930E 07A30E 07B30E ADC 8 07830F 07930F 07A30F 07B30F e Ixx24 Motor xx Flag Mode Ixx24 tells Turbo PMAC how to read and 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 24P Bit 0 of Ixx24 must be set to O 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 24P is interface to the flags Ixx25 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 24P Register Address PMAC ACC 24P Register Address PMAC Board No amp Channel Ix
13. Host Supplied Analog Power Source Enable E Point amp Physical Location Description Default Layout Jump pin 1 to pin 2 to allow A 14V to No jumper come from PC bus ties amplifier and PMAC Lite power supply together Defeats OPTO coupling Note that if E85 is changed E88 and E87 must also be changed Also see E90 28 Acc 24P Jumper and Switch Description Accessory 24P E87 E88 Host Supplied Analog Power Source Enable E Point amp Physical Location Description Default Layout ES7 Jump pin 1 to pin 2 to allow AGND to No jumper come from PC bus ties amplifier and eer eu PMAC Lite GND together Defeats OPTO coupling Note that if E87 is changed E85 and E88 must also be changed Also see E90 E88 Jump pin to pin 2 to allow A 14V to No jumper come from PC bus ties amplifier and Mr Sa d PMAC Lite power supply together Defeats OPTO coupling Note that if E88 is changed E87 and E85 must also be changed Also see E90 E89 Analog Supply for Input Flag Select E Point amp Physical Location Description Default Layout E89 Jump pin 1 to 2 to use A 15V on J8 Jumper installed JMACH1 pin 59 as supply for input flags Remove jumper to use A 15V OPT V from J7 pin 59 as supply for input flags Note This jumper setting is only relevant if E90 connects pin 1 to 2 E90 Input Flag Supply Select E Point
14. OV usually AGND for PMAC to consider itself not into this limit Automatic limit function can be disabled with Ix25 Note 10 Functional polarity for homing or other trigger use of HMFLn controlled by Encoder Flag Variable 2 1902 1907 etc HMFLn selected for trigger by Encoder Flag Variable 3 1903 1908 etc Must be conducting to UN usually AGND to produce a 0 in PMAC software Connector Descriptions 37 Accessory 24P J8 JMACH1 First Machine Port Connector J8 JMACH1 60 Pin Header Front View Pin Symbol Function Description Notes 1 5V Output 5V Power For encoders 1 2 5V Output 5V Power For encoders 1 3 GND Common Digital Common 4 GND Common Digital Common 5 CHC3 Input Encoder C Ch Pos 2 6 CHC4 Input Encoder C Ch Pos 2 7 CHC3 Input Encoder C Ch Neg 2 3 8 CHC4 Input Encoder C Ch Neg 2 3 9 CHB3 Input Encoder B Ch Pos 2 10 CHB4 Input Encoder B Ch Pos 2 11 CHB3 Input Encoder B Ch Neg 2 3 12 CHB4 Input Encoder B Ch Neg 2 3 13 CHA3 Input Encoder A Ch Pos 2 14 CHA4 Input Encoder A Ch Pos 2 15 CHA3 Input Encoder A Ch Neg 2 3 16 CHA4 Input Encoder A Ch Neg 2 3 17 CHCI Input Encoder C Ch Pos 2 18 CHC2 Input Encoder C Ch Pos 2 19 CHC1 Input Encoder C Ch Neg 2 3 20 CHC2 Input Encoder C Ch Neg 2 3 21 CHBI
15. Output Dto A AtoD DAC and ADC clock for Channel 13 Clock 14 15 16 2 BDATA2 Output D to A Data DAC data for Channel 13 14 15 16 3 ASEL2 Output Chan Select Bit 2 Select for Channel 13 14 15 16 4 ASEL3 Output Chan Select Bit 3 Select for Channel 13 14 15 16 5 CONVERT 23 Output A to D Convert ADC convert signal Channel 13 14 15 16 6 ADCIN2 Input A to D Data ADC data for Channel 13 14 15 16 7 OUTS Output Amp Enable Dir Amp Enable Direction for Channel 13 8 OUT6 Output Amp Enable Dir Amp Enable Direction for Channel 14 9 OUT7 Output Amp Enable Dir Amp Enable Direction for Channel 15 10 OUT8 Output Amp Enable Dir Amp Enable Direction for Channel 16 11 HF45 Input Amp Fault Amp fault input for Channel 13 12 HF46 Input Amp Fault Amp fault input for Channel 14 13 HF47 Input Amp Fault Amp fault input for Channel 15 14 HF48 Input Amp Fault Amp fault input for Channel 16 15 5V Output 5V Supply Power Supply out 16 GND Common PMAC Common Miscellaneous I O Typically this connector is used for direct connection to ACC 23 or ACC 28 the analog to digital converter boards J5 This connector brings in the required DSPGATE clock signals from PMAC s J6 JXIO connector In addition two jumper selectable Compare Equal signals are sent back for PMAC s use possibly for host interrupts A 10 pin flat cable is provided for this purpose For proper operation of ACC 24P J5 must be connected to PMAC s J6 JXIO
16. amp Physical Location Description Default Layout E90 Jump pin 1 to 2 to use A 15V from J8 1 2 Jumper pin 59 as supply for input flags E89 installed CO oc ON flags should be tied to AGND or A 15V OPT V from J8 pin 11 as supply for input flags E89 OFF flags should be tied to separate OV reference Jump pin 2 to 3 to use 12V from PC bus connector P1 pin B09 as supply for input flags flags should be tied to GND See also E85 E87 E88 and PMAC Opto isolation diagram Acc 24P Jumper and Switch Description 29 Accessory 24P E98A C DAC ADC Clock Frequency Control E Point Physical Layout Location Description Default E98C E98B E98A Jump E98A pins 1 2 to provide an internally generated 2 45 MHz DCLK 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 pins 1 2 to provide PMAC s DCLK signal through J5 or J6 pin 10 to DACs and ADCs Not recommended Do not use if more than one ACC 24P connected to PMAC 1 2 Jumper installed E100 Output Flag Supply Select E Point amp Physical Layout Location Description Default E100 OO us a Jump pin 1 to 2 to apply analog supply voltage A 15V to U54 flag output driver IC Jump pin 2 to 3 to appl
17. connector is used for connection to ACC 14D in order to bring in two channels of resolver inputs via the iSBX connectors on ACC 14D 1 Jumper selector to EQU 9 or EQU 11 or EQU 13 OR EQU 15 2 Jumper selector to EQU 10 or EQU 12 or EQU 14 or EQU 16 Connector Descriptions 35 Accessory 24P J7 JMACH2 Second Machine Port Connector J7 JMACH2 EREESRERER OOoOoO0O0COoOOO00O0O00O0O0O0O0 eel 60 Pin Chileieleteteiteieleieleteieieleieteieieleieieteieieleleieleieieitr Front View Header Pin Symbol Function Description Notes 1 5V Output 5V Power For encoders 1 2 5V Output 5V Power For encoders 1 3 GND Common Digital Common 4 GND Common Digital Common 5 CHC7 Input Encoder C Ch Pos 2 6 CHC8 Input Encoder C Ch Pos 2 7 CHC7 Input Encoder C Ch Neg 2 3 8 CHC8 Input Encoder C Ch Neg 2 3 9 CHB7 Input Encoder B Ch Pos 2 10 CHB8 Input Encoder B Ch Pos 2 11 CHB7 Input Encoder B Ch Neg 2 3 12 CHB8 Input Encoder B Ch Neg 2 3 13 CHA7 Input Encoder A Ch Pos 2 14 CHAS Input Encoder A Ch Pos 2 15 CHA7 Input Encoder A Ch Neg 2 3 16 CHAS8 Input Encoder A Ch Neg 2 3 17 CHC5 Input Encoder C Ch Pos 2 18 CHC6 Input Encoder C Ch Pos 2 19 CHC5 Input Encoder C Ch Neg 2 3 20 CHC6 Input Encoder C Ch Neg 2 3 21 CHB5 Input Encoder B Ch Pos 2
18. is a 4 point DIP switch that determines whether the ACC 24P is to be connected to a regular non Turbo PMAC or a Turbo PMAC Switches S1 1 S1 2 S1 3 and S1 4 must be OFF on an ACC 24P to enable addressing of the board by an non Turbo PMAC This setting is equivalent to operation of the older versions of the ACC 24P board without S1 Switches S1 3 and S1 4 must be ON on an ACC 24P to enable addressing of multiple boards by a Turbo PMAC 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 Additionally S1 sets up the address of the ACC 24P in Turbo PMAC s memory and I O map The setting of these DIP switches must match the addresses used by Turbo PMAC and no two ACC 24P boards connected to the same Turbo PMAC 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 address space This in turn defines the number of the Servo IC s on the board and the I variable numbers in the Turbo PMAC that configure the IC s The following table lists the possible settings S1 1 S1 2 Board 1 2 1 Ic 2 Tc 1 Ic Base 2 Ic Base No IC IC I Var I Var Address Address NO NO Range Range ON ON 1ST 2 3 17200 17299 17300 17399 0
19. is used for the position compare interrupts the ACC 24P s internal clock generation circuitry can still be used as set by the jumpers Machine Port Connections ACC 24P has one standard or two with Option 1 60 pin IDC 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 JS JMACHI Board Channels 1 4 e J7 JMACH2 Board Channels 5 8 ACC 28 Alternate Port Connections ACC 24P 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 24P through a 16 pin flat cable provided with the ACC 28 The A D port connectors are e JSI Board Channels 1 4 e JS2 Board Channels 5 8 10 Hardware Setup Accessory 24P PMAC SOFTWARE SETUP Use of the ACC 24P requires the proper setup of several I variables on the regular non Turbo PMAC These settings are dis
20. one Turbo PMAC board providing up to 32 additional channels of servo interface circuitry The ACC 24P is a 2 3 sized PC expansion card It has an ISA bus connector so it can be mounted in an ISA expansion slot The ACC 24P does not communicate over the bus the bus connector is just a convenience for mounting the board near the Turbo PMAC The ACC 24P board contains no processor it has 1 or 2 highly integrated 4 channel PMAC 1 style Servo ICs with the buffering circuitry and connectors around them Compatibility The ACC 24P can be used with any regular non Turbo PMAC 1 or PMAC2 board interfacing through the expansion port It is electrically and software compatible with the PMAC 1 VME and PMAC2 VME but of course special mounting would be required PMAC 1 controllers have full software support for use of the ACC 24P PMAC2 controllers do not have I variables for the automatic setup of ACC 24P registers and they cannot use the flags on ACC 24P as automatic servo flag inputs and outputs The ACC 24P board can be used with any Turbo PMAC 1 or Turbo PMAC2 board interfacing through the Expansion port It is electrically and software compatible with Turbo PMAC 1 VME and Turbo PMAC2 VME but of course special mounting would be required Note that even if the Turbo PMAC itself is a PMAC2 with the PMAC2 style Servo ICs and interface circuitry the ACC 24P with its PMAC 1 style Servo ICs and interface circuitry can be connecte
21. 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 24P Table of Contents JAUNO DI OLOH H LO 1 n TE 1 Compatibility cional adas its 1 Board Configuration EE 1 Base VEO tia 1 Option ias 1 Hardware Updates keep oen reete eei gei M e eL Ue sis 2 HARDWARE SETUP 5 Output Flag Driver lOs qu EEEE 5 Se ds AAA PO 5 Address DIP Switch S Liising eieiei eira ia E a ESS Ria 5 Jumper Configuration ti A ae ras 6 DAC ADC Clock TE 6 Encoder Clock Signal SOUP CE nuria doi rial 6 Encoder Input Signal Configuration eee e esee eese eee teen then nnen ne tnee trente te etre enee 6 Analog Circuit Isolation iiti op oet titii e oo oen Rapt edet litte eno be io ded teet ie tie ciega 7 Input Flag Supply ici iii 7 Output Flas EE 7 Output Flag Signal Configuration eese eese enne iiniu nena aran conce nan nete trente 7 Resistor Pack Configuration 5i ie Ara 8 Termination ET VE 8 MOUNT AE E E
22. 1 Board Addressing DIP Switch Bank 23 E17 Global Amplifier Enable Direction Polarity Control 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 Reouired sess 26 E24 E27 Encoder Single Ended Differential Control 27 E34 E38 Encoder Sampling Clock Frequency Control 27 E54 E57 Position Compare Channel Interrupt Select 28 E60 E65 Position Compare Channel Interrupt Select 28 E85 Host Supplied Analog Power Source Enable sese eene enne 28 E87 E88 Host Supplied Analog Power Source Enable sese 29 E89 Analog Supply for Input Flag Select 29 Table of Contents i Accessory 24P E907 Input Flag Supply Select viii iii ita 29 E98A C DAC ADC Clock Frequency Control 30 E100 Output Flag Supply e eerte iii ica ter re HEAR ease deve 30 E101 E102 Output Flag Supply Voltage Configure eese enne enne nennen 31 E103 E104 Output Flag Supply Voltage Configure 1 regutred eee 32 CONNECTOR DESCRIPTIONS ee eeeeee eese e esteso atentos tn stesso seta sone ta sens enses sosta sse ta sene ta sesto stessa n 33 JI Expansion Port COMMS COR uri lin orte eni ebbe e ge ere Ek di 33 ge EE EE 33 ISL 16 Pin Header E 33 LR 34 J82 16 Pin 1 sese rentrer EENEG ctt uerus rRe a oep ge
23. 20 ENC 6 1 to 2 E21 ENC5 For single ended encoders Jump pin 1 to 2 For differential line driver encoders Don t care For complementary open collector encoders Jump pin 2 to 3 26 Acc 24P Jumper and Switch Description Accessory 24P E24 E27 Encoder Single Ended Differential Control E Point amp Physical Location Description Default Layout ENC 4 through 1 1 2 Jumper Jump pin 1 to 2 to tie complementary installed for encoder inputs to 2 5V E24 E27 Jump pin 2 to 3 to tie complementary E24 ENC 4 encoder inputs to 5V E25 ENC 3 For no encoder connection Jump pin E26 ENC 2 1 to 2 E27 ENC 1 For single ended encoders Jump pin 1 to 2 For differential line driver encoders Don t care For complementary open collector 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 1 of these 7 jumpers may be on at a time SCLK Clock Default amp Physical Frequency Layout E36 E35 E34A E34 F3 E38 E38A E36 E35 E34A E34 E37 E38 E38A OFF OFF ON OFF OFF OFF OFF 19 6608 MHz 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
24. 4P provides sockets for termination resistors on differential input pairs coming into the board As shipped there are no resistor packs in these sockets If these signals are brought long distances into the ACC 24P 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 2 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 Encoder 5 RP33 6 pin Encoder 6 RP34 6 pin Encoder 7 RP35 6 pin Encoder 8 RP36 6 pin Connections Mounting The ACC 24P can be mounted in one of two ways in the ISA bus or using the standoffs e ISA bus To mount in the ISA bus simply insert the P1 ISA card edge connector into the ISA socket If there is a standard PC style housing a bracket at the end of the ACC 24P board can be used to screw into the housing to hold the board down firmly e Standoffs At each of the 4 corners of the ACC 24P board there are mounting holes that can be used to mount the board on standoffs Note The ACC 24P board does not do any communications through the bus connector the connector is simply used for mounting and probab
25. 5V Supply The J8 connector is used to connect ACC 24P to its first 4 channels Channels 1 2 3 and 4 of servo amps flags and encoders On a non Turbo PMAC these would be considered Channels 9 10 11 and 12 Note 1 In standalone applications these lines can be used as 5V power supply inputs to power PMAC s digital circuitry However if a terminal block is available on your version of PMAC it is preferable to bring the 5V power in through the terminal block Note 2 Referenced to digital common GND Maximum of 12V permitted between this signal and its complement Note 3 Leave this input floating if not used i e digital single ended encoders In this case jumper E18 21 E24 27 for channel should hold input at 2 5V Note 4 10V 10mA max referenced to analog common AGND Note 5 Leave floating if not used do not tie to AGND In this case AGND is the return line Note 6 Functional polarity controlled by jumper s E17 Choice between AENA and DIR use controlled by Ix02 and Ix25 Note 7 Functional polarity controlled by variable Ix25 Must be conducting to OV usually AGND to produce a 0 in PMAC software Automatic fault function can be disabled with Ix25 Note 8 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 9 Must be conducting to OV usually AGND for PMAC to consider itse
26. 78200 078300 OFF ON 2ND 4 5 17400 17499 17500 17599 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 24P boards in the system the one closest to the Turbo PMAC be set up as the 1 board and the next one be set up as the 2 board Hardware Setup 5 Accessory 24P 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 24P from the PMAC through J5 pin 9 On older versions of the ACC 24P 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 24P 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 clock source configuration This internal clock source configuration is required if there is more than one ACC 24P connected to a single Turbo PMAC 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
27. 7B309 Channel 8 07830D 07930D 07A30D 07B30D e 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 20 Turbo PMAC Software Setup Accessory 24P The following table shows the possible values of Ixx83 for ACC 24P encoder phase position registers Turbo PMAC Ixx83 ACC 24P Encoder Register Settings Encoder 1 ACC 24P 27 ACC 24P 34 ACC 24P 4 ACC 24P 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 21 Accessory 24P 22 Turbo PMAC Software Setup Accessory 24P ACC 24P JUMPER AND SWITCH DESCRIPTION S1 Board Addressing DIP Switch Bank Switch Location Description Default S1 1 Use S1 1 and S1 2 select Acc 24P 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 2 Use S1 1 and S1 2 sele
28. Input Encoder B Ch Pos 2 22 CHB2 Input Encoder B Ch Pos 2 23 CHB1 Input Encoder B Ch Neg 2 3 24 CHB2 Input Encoder B Ch Neg 2 3 25 CH A Input Encoder A Ch Pos 2 26 CHA2 Input Encoder A Ch Pos 2 27 CHA 1 Input Encoder A Ch Neg 2 3 28 CHA2 Input Encoder A Ch Neg 2 3 29 DAC3 Output Analog Out Pos 4 30 DAC4 Output Analog Out Pos 4 31 DAC3 Output Analog Out Neg 4 5 32 DAC4 Output Analog Out Neg 4 5 33 AENA3 DIR3 Output Amp Ena Dir 6 34 AENA4 DIR4 Output Amp Ena Dir 6 35 FAULT3 Input Amp Fault 7 36 FAULT4 Input Amp Fault 7 37 LIM3 Input Neg End Limit 8 9 38 LIM4 Input Neg End Limit 8 9 39 LIM3 Input Pos End Limit 8 9 38 Connector Descriptions Accessory 24P 40 LIM4 Input Pos End Limit 8 9 41 HMFL3 Input Home Flag 10 42 HMFL4 Input Home Flag 10 43 DACI Output Analog Out Pos 4 44 DAC2 Output Analog Out Pos 4 45 DACI Output Analog Out Neg 4 5 46 DAC2 Output Analog Out Neg 4 5 47 AENAI DIR1 Output Amp Ena Dir 6 48 AENA2 DIR2 Output Amp Ena Dir 6 49 FAULTI Input Amp Fault 7 50 FAULT2 Input Amp Fault 7 51 LIM1 Input Neg End Limit 8 9 52 LIM2 Input Neg End Limit 8 9 53 LIM1 Input Pos End Limit 8 9 54 LIM2 Input Pos End Limit 8 9 55 HMFL1 Input Home Flag 10 56 HMFL2 Input Home Flag 10 57 ORST Output Reset Out Indicator Driver 58 AGND Input Analog Common 59 A 15V OPT V Input Analog 15V Supply 60 A 15V Input Analog 1
29. MHz frequency is selected This lower frequency improves the operation of ACC 28 A D converter boards connected to the ACC 24P The DCLK frequency on the ACC 24P 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 24P from the PMAC through J5 pin 10 On older versions of the ACC 24P 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 strongly recommended to simplify system wiring and to provide more noise immunity It is completely operationally compatible with the older external clock source configuration This internal clock source configuration is required if there is more than one ACC 24P connected to a single Turbo PMAC If the internal clock source configuration is chosen the signal must come 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 24P 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
30. NA3 when global jumper E17 is ON default for non conducting on enable AENA3 when E17 is OFF No jumper installed Jump pins 1 2 for non conducting on enable AENA4 when global jumper E17 is ON default for conducting on enable 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 24P E17E H Individual Amplifier Enable Direction Polarity Control Option 1 Required E Point amp Physical Layout Location Description Default E17E 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 AENAS when E17 is OFF No jumper installed 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 ju
31. ariable determines whether the encoder index channel an input flag or both are used for the capture of the encoder position e Encoder I Variable 3 Capture Flag Select This variable determines which input flag is used for encoder capture if one is used Encoder Conversion Table Entries To use feedback or master position data from an ACC 24P entries must be added to the encoder conversion table ECT to address and process this data The default conversion table in the PMAC does not contain these entries The position data obtained through an ACC 24P board is usually 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 24P incremental encoder channels are shown in the following table ACC 24P PMAC ECT Entry ACC 24P PMAC ECT Entry Channel Channel Channel Channel 1 9 m0C020 5 13 m0C030 2 10 m0C024 6 14 m0C034 3 11 m0C028 7 15 m0C038 4 12 m0C02C 8 16 m0C03C PMAC Software Setup Accessory 24P 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 for no extension of an incremental encoder The ECT entries for ACC 28B A D converters read throu
32. clock for v 9 10 11 12 Clock 2 BDATAI Output D to A Data DAC data for Channel 9 10 11 12 3 ASELO Output Chan Select Bit 0 Select for Channel 9 10 11 12 4 ASEL1 Output Chan Select Bit 2 Select for Channel 9 10 11 12 5 CONVERT 01 Output A to D Convert ADC convert signal Channel 9 10 11 12 6 ADCINI Input A to D Data ADC data for Channel 9 10 11 12 7 OUTI Output Amp Enable Dir Amp Enable Direction for Channel 9 8 OUT2 Output Amp Enable Dir Amp Enable Direction for Channel 10 9 OUT3 Output Amp Enable Dir Amp Enable Direction for Channel 11 10 OUT4 Output Amp Enable Dir Amp Enable Direction for Channel 12 11 HF41 Input Amp Fault Amp Fault input for Channel 9 12 HF42 Input Amp Fault Amp Fault input for Channel 10 13 HF43 Input Amp Fault Amp Fault input for Channel 11 14 HF44 Input Amp Fault Amp Fault input for Channel 12 15 5V Output 5V Supply Power Supply out 16 GND Common PMAC Common Miscellaneous 1 0 Typically this connector is used for direct connection to ACC 23 or ACC 28 the analog to digital converter boards Connector Descriptions 33 Accessory 24P JS2 This connector contains miscellaneous I O signals related to the second DSPGATE on ACC 24P Typically it is used for direct connection to ACC 28 analog to digital converter board JS2 16 Pin Header Pin Symbol Function Description Notes 1 DCLK
33. ct Acc 24P 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 Board expansion port address enable Set S1 3 to ON position when connecting to Turbo PMAC PMAC2 enables addressing of multiple Acc 24 boards Set S1 1 S1 2 S1 3 S1 4 to OFF position when connecting to regular non Turbo PMAC ON S1 4 Board expansion port address enable Set S1 3 to ON position when connecting to Turbo PMAC PMAC2 enables addressing of multiple Acc 24 boards Set S1 1 S1 2 S1 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 1 IC Base Address Board 1 IC 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 ON ON lo oN ESS 4TH O NI 07B200 07B300 E17 Global Amplifier Enable Direction Polarity Control E Point amp Physical Location Description Default Jump pins 1 2 for conducting on enable AENA signals when channel specific jumpers E17A H are OFF default for non conducting on enable signals when E17A H are ON Remove jumper for non conducting
34. cussed in this section See the PMAC Software Reference for more detailed descriptions of the variables Note This manual refers to the 8 servo interface channels on the ACC 24P as Channels 1 8 When connected to a PMAC these channels map into PMAC as PMAC channels 9 16 respectively Channel Setup I Variables Each channel on the ACC 24P has four setup I variables The following table lists the I variable numbers for each channel ACC 24P 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 exactly the same on an ACC 24P as they do on the PMAC 1 itself The variables are e Encoder I Variable 0 Encoder Decode Control This variable is typically set to 3 or 7 for x4 quadrature decode depending on which way is up e Encoder I Variable 1 Encoder Filter Disable This variable is typically 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 Encoder I Variable 2 Capture Control This v
35. d up to 23 mm 1 inch high On Board Clock Generation Circuitry This eliminates the need to bring a 2 strand cable from the PMAC PC or PMAC Lite J6 to ACC 24P J5 or J6 to provide the hardware clock signals for the encoder inputs and DAC outputs Daisychain Capability for Turbo PMAC Up to four of the new ACC 24P 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 E17H permit individual high true low true control of the 8 amplifier enable signals Existing jumper E17 can invert the polarity of all amplifier enable signals 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 Sinking or Sourcing Input Flags The new ACC 24P permits the use of either sinking or sourcing input flags home limits fault the old ACC 24P permitted only sinking input flags Voltage Interlock Circuit The new ACC 24P 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 Buffered Isolated Compare Outputs The new J9 10 pin header provides optically isolated outputs for the position compare function for each encoder with outputs rated to 24V and 100mA Compatibility Issues The new ACC 24P can be operated in a manne
36. d to it with full software support for using its features Board Configuration Base Version The base version of the ACC 24P provides a 2 3 slot board with e 4channels axis interface circuitry each including e 16 bit 10V analog output e 3 channel differential single ended encoder input e 4 optically isolated input flags 2 optically isolated output flags e Interface to external 16 bit serial ADC 60 pin IDC servo connector Expansion port connector to PMAC Turbo PMAC CPU Auxiliary port connector for PMAC hardware clock signals e On board hardware clock generation circuitry Option 1 ACC 24P can be expanded past the standard four channels of axis interface circuitry by factory configuration with the order of Option 1 Introduction 1 Accessory 24P Option 1 provides an additional 4 channels of axis interface circuitry with a 60 pin connector identical to the first four channels The key components are a DSPGATE Servo IC in U38 and a connector in J7 Hardware Updates Significant upgrades were made to the ACC 24P board in the 602192 103 version This new version replaces earlier versions of the ACC 24P board bringing important improvements which include Surface Mount Technology Most components are surface mounted for higher reliability and greater long term part availability Raised Bottom Edge The bottom edge of the board has been raised so that it can clear high profile parts on the PC mother boar
37. ection See the PMAC Software Reference for more detailed descriptions of the variables System Configuration I Variables Turbo PMAC variable 165 tells the controller which external devices containing Servo ICs such as the ACC 24P are present in the system 1653 is a 4 bit value with each bit representing 1 of the 4 possible devices that can be connected to a Turbo PMAC The bit must be set to 1 to the Turbo PMAC software that the device is present Bit 0 with a value of 1 specifies whether the 1 device is present Bit 1 with a value of 2 specifies whether the 2 device is present Bit 2 with a value of 4 specifies whether the 3 device is present Bit 3 with a value of 8 specifies whether the 4 device is present An ACC 24P can be either the 1 2 3 or 4 device depending on the setting of DIP switches S1 1 and S1 2 Normally these external devices are added in order so 165 takes one of 4 values 1 external device alone 165 1 1 and 2 external devices 165 3 1 2 and 3 external devices 165 7 1 2 3 and 4 external devices 165 15 Turbo PMAC variable 166 tells the controller which type of IC is present on a given external device 166 is a 4 bit value with each bit representing 1 of the 4 possible devices that can be connected to a Turbo PMAC The bit is set to 0 if the device contains Type 0 PMAC 1 style DSPGATE Servo ICs it is set to 1 if the device contains Type 1 PMAC2 style DSPGATEI Serv
38. eis eetri 34 Vda oline dE EL 34 JO Merc MEI MIELE 34 n petra 35 JO cssc d re ctl e M MI EMI MEE 35 J7 MACH2 Second Machine Port Connector eese eee ener nennen nhe enne ens 36 J7 JMACHA2 60 Pin Header esses sees eene nennen tenent en rnnt inre sn nns ee rese tense n rese nens n nnns nennen 36 J8 JMACHI First Machine Port Connector eere enne nnne 38 J8 JMACHI 60 Pin Header eese eene eere enne en tnsn nensi n rese tnr inre nan nn anar nana n nnne nennen 38 J9 JEQU Position Compare Output Conpnector eese enne 40 JI TIE A ca venes sch sa seet eet E ests sass menesstattnegde tate faces EA E A restau 40 JST First A D Port e 40 ISL 16 Pin NEE 40 JS1 Second A D Port Connector Option 1 required 00 eee eee ecsseeeeeseceeeseeseceeesecseesecneeeecaeeaeeaecneeseeneees 41 IST 160 Pin Header E E 4 PIS TSA Bus Connector AAAMOOO OS AO 41 TB1 Standalone Power Supply Terminal Block 41 ii Table of Contents Accessory 24P INTRODUCTION Overview The ACC 24P Axis Expansion Board provides four or eight channels of PMAC 1 style servo interface circuitry for PMAC and Turbo PMAC controllers One ACC 24P board can be connected to a single non Turbo PMAC board providing up to eight additional channels of servo interface circuitry Up to four ACC 24P boards can be connected to
39. f each ACC 24P These addresses can be used for single analog outputs or double analog outputs ACC 24P PMAC Ix02 Value ACC 24P PMAC Ix02 Value Channel Channel Channel Channel 1 9 C023 5 13 C033 2 10 C022 6 14 C032 3 11 C02B 7 15 C03B 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 Ix04 Motor x Velocity Loop Feedback Address Ix05 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 24P e Ix10 Motor x Power On Position Address Ix10 tells the Turbo PMAC where to read absolute power on position if any Typically the only times Ix10 will contain the 12 PMAC Software Setup Accessory 24P address of an ACC 24P register is if the position is obtained from an A D converter on an ACC 28A B connected through the ACC 24P The following table shows the possible values of Ix10 for ACC 28 A D converters ACC 24P PMAC Ix10 Value ACC 24P PMAC Ix10 Value Channel Channel Channel Channel 1 9 m1C023 5 13 m1C033 2 10 m1C022 6 14 m1C032 3 11 m1C02B 7 15 m1C03B 4 12 m1C02A 8 16 m1C03A The first he
40. gh an ACC 24P are shown in the following table ACC 24P PMAC ECT Entry ACC 24P PMAC ECT Entry Channel Channel Channel Channel 1 9 mnC026 5 13 mnC036 2 10 mnC027 6 14 mnC037 3 11 mnC02E T 15 mnC03E 4 12 mnC02F 8 16 mnC03F The first hexadecimal digit of the entry represented by m in the above table is a 1 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 24P several of the addressing I variables for the motor must contain the addresses of registers in the ACC 24P or the addresses of encoder conversion table registers containing data processed from the ACC 24P 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 24P is to create the command signals x02 must contain the address of the register The following table shows the address of the DAC output register for each channel o
41. ins 2 and 3 This defeats isolation of the input flags and generally should only be used for demonstration systems This 12V can also be used to supply the output flag drivers if E100 connects pins 2 and 3 E87 must also be ON defeating the isolation between the digital and analog circuits Expansion Port Connection to PMAC The ACC 24P connects to the PMAC through the 50 pin J1 header on the ACC 24P A short flat cable connects this to the JEXP header on the PMAC If multiple ACC 24 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 24P 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 4 strands is provided with the ACC 24P This port can also be used to send one or two position compare signals as selected by E54 E65 back to PMAC s interrupt controller to interrupt the host computer It is strongly recommended that the ACC 24P 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 send back position compare interrupt signals this connector does not need to be used If the Hardware Setup 9 Accessory 24P connector
42. lf not into this limit Automatic limit function can be disabled with Ix25 Note 10 Functional polarity for homing or other trigger use of HMFLn controlled by Encoder Flag Variable 2 1902 1907 etc HMFLn selected for trigger by Encoder Flag Variable 3 1903 1908 etc Must be conducting to UN usually AGND to produce a 0 in PMAC software Connector Descriptions 39 Accessory 24P J9 JEQU Position Compare Output Connector J9 JEQU Pin Symbol Function Description Notes 1 EQUI 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 EQUS5 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 only provided if Option 1 is ordered JS1 First A D Port Connector JS1 16 Pin Header 15000000009 1 1 00000000 2 Front View Pin Symbol Function Description Notes 1 DCLK Output D to A A to D Clock DAC and ADC clock for Chan 1 2 3 4 2 BDATA1 Outp
43. ly for power supply Even in standalone applications passive backplane boards can be very useful for mounting and power supply Power Supply Connection The ACC 24P requires 5V power for its digital circuits 1A in a 4 channel configuration 2A in an 8 channel configuration with Option 1 It also 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 also 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 e Bus connector If the ACC 24P is mounted in an electrically active ISA bus slot it automatically draws its 5V power from the bus 8 Hardware Setup Accessory 24P e 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 e JMACH connectors Up to 2A may be brought in through each 60 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 e Bus connector If the ACC 24P is mounted in an electrically active ISA 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 24P e Termi
44. mper E17 is ON default for non conducting on enable AENA6 when E17 is OFF No jumper installed Jump pins 1 2 for non conducting on enable AENA7 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 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 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 24P E18 E21 Encoder Single Ended Differential Control Option 1 Required E Point amp Physical Location Description Default Layout ENC 8 through 5 1 2 Jumper installed for Jump pin 1 to 2 to tie complementary E18 E21 encoder inputs to 2 5V Jump pin 2 to 3 to tie complementary E18 ENC 8 encoder inputs to 5V El9 ENC 7 For no encoder connection Jump pin E
45. nal 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 24P Point 1 is GND Point 3 is 12V Point 4 is 12V e JMACH connectors 15V supplies may be brought in on pins 58 59 and 60 of the 60 pin J8 JIMACHI 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 JMACHI connector The 12V to 15V provided on pin 59 of the J8 J MACHI 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 JMACH2 JEQU connector A 12V to 24V supply brought in on pin 59 of the J7 JMACH2 connector or on pin 9 of the J9 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 ISA connector The 12V provided on point 3 of TB1 or through the P1 ISA bus connector can be used as the input flag supply if E90 connects p
46. nectors JMACHI and JS1 The Option 1 Servo IC on an ACC 24P occupies Channels 5 8 on the board using connectors JMACH2 and JS2 For example the Standard Servo IC on the first ACC 24P is Servo IC 2 to Turbo PMAC and is configured by variables 17200 17299 Servo Channel Numbering Each Servo IC has 4 channels of servo interface circuitry The ten s digit n of the I variable configuring the IC represents the channel number on the IC n 1 to 4 For example Channel 1 of the Standard Servo IC on the 1 ACC 24P 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 24P correspond to Channels 1 4 respectively on the ACC 24P board itself The Channels 1 4 on the Option 1 Servo IC on an ACC 24P correspond to Channels 5 8 respectively on the ACC 24P 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 24P as they do on a Turbo PMAC 1 itself These are e I7mn0 Servo IC m Channel n Encoder Decode Control I7mn0O is typically set to 3 or 7 for x4 quadrature decode depending on which way is up e I7mnl Servo IC m Channel n Encoder Filter Disable I7mn1 is typicall
47. ng table contains the possible settings of Ix81 for hall sensor absolute position with an ACC 24P ACC 24P PMAC Ix81 Value ACC 24P 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 ACC 24P PMAC Ix81 Value ACC 24P 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 PMAC Software Setup 13 Accessory 24P e 1x83 Motor xx Phase Position Address 1x83 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 Ix83 for ACC 24P encoder phase position registers ACC 24P PMAC Ix83 Value ACC 24P PMAC 1x83 Value Channel Channel Channel Channel 1 9 C021 5 13 C031 2 10 C025 6 14 C035 3 11 C029 7 15 C039 4 12 C02D 8 16 C03D 14 PMAC Software Setup Accessory 24P TURBO PMAC SOFTWARE SETUP Use of the ACC 24P requires the proper setup of several I variables on the Turbo PMAC These settings are discussed in this s
48. o ICs The ACC 24P contains the PMAC 1 style Servo ICs so the bit of 166 for the ACC 24P must be set to O for proper operation e Bit 0 with a value of 0 is set to 1 if the 1 ACC 24P is present e Bit 1 with a value of O is set to 1 if the 2 ACC 24P is present e Bit 2 with a value of O is set to 1 if the 3 ACC 24P is present e Bit 3 with a value of O is set to 1 if the 4 ACC 24P is present If only ACC 24P boards are present on the Expansion port 166 is left at the default value of 0 Turbo PMAC Software Setup 15 Accessory 24P Servo IC Configuration I Variables Turbo PMAC I variables in the range 17000 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 1 are or can be on board the Turbo PMAC board itself Servo ICs 2 through 9 are or can be on external devices such as the ACC 24P Servo IC Numbering The number m of the Servo IC on the ACC 24P board is dependent on the addressing of the board with DIP switches S1 1 and S1 2 which place the board as the 1 2 3 or 4 external device e 1 ACC 24P Servo IC 2 Standard Servo IC 3 Option 1 e 2 ACC 24P Servo IC 4 Standard Servo IC 5 Option 1 e 3 ACC 24P Servo IC 6 Standard Servo IC 7 Option 1 e 4 ACC 24P Servo IC 8 Standard Servo IC 9 Option 1 The Standard Servo IC on an ACC 24P occupies Channels 1 4 on the board using con
49. on enable AENA signals when channel specific jumpers E17A H are OFF default for conducting on enable AENA signals when E17A H are ON Jumper installed Note The default ULN2803A sinking drivers have a low output voltage when conducting and can pull high when not conducting The optional UDN29814 sourcing drivers have a high output voltage when conducting and can pull low when not conducting Acc 24P Jumper and Switch Description 23 Accessory 24P E17A D Individual Amplifier Enable Direction Polarity Control E Point amp Physical Layout Location Description Default E17A Jump pins 1 2 for non conducting on enable AENA1 when global jumper E17 is ON default for conducting on enable AENA 1 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 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 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 AE
50. or motor phase commutation if any Typically it will contain the address of an ACC 24P 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 24P channel or the encoder counter filled by simulated quadrature from a Yaskawa absolute encoder connected to the ACC 24P through an ACC 8D Option 9 board The following table contains the possible settings of Ixx81 for hall sensor absolute position with an ACC 24P Turbo PMAC Ixx81 ACC 24P Hall Phasing Settings 1x91 800000 FF0000 Hall Flag 1 ACC 24P 2 ACC 24P 3 ACC 24P 4 ACC 24P Channel Channel 2 078204 079204 07A204 07B204 Channel 4 07820C 07920C 07A20C 07B20C Channel 6 078304 079304 07A304 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 24P Encoder Register Settings 1x91 480000 580000 Encoder 1 ACC 24P 2 ACC 24P 3 ACC 24P 4 ACC 24P 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 0
51. r that is 100 compatible with the old ACC 24P The board is shipped from the factory with settings for 100 compatible operation To ensure your operation is compatible double check the following settings Clock Generation Circuitry If you desire 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 E34A E34 E35 E36 E37 E38 E98A or E98B If you desire to use the on board clock signals which provide 100 operational compatibility there must be a jumper on only one of the set E34A E34 E35 E36 E37 E38 which select the frequency exactly as they do 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 Introduction Accessory 24P e Daisychain Capability To use the ACC 24P with a non Turbo PMAC PC or PMAC Lite DIP switches S1 1 S1 2 S1 3 and S1 4 must be in the OFF position e Amplifier Enable Polarity For jumper E17 to control the high true low true polarity of all of the amplifier enable outputs as before all jumpers E17A E17H must be OFF 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 e Sinking So
52. rom digital 4 12V Input Analog Negative Supply E85 E87 E88 must be ON Voltage no isolation from digital Connector Descriptions 41
53. setting must match the installed Les type of driver IC or damage to the IC 27 will result 1 Jump pin 1 to 2 to apply V 12V to PA 24V to pin 10 of U74 should be ULN2803A for sink output configuration for AENA1 4 and EQU 1 4 flag outputs Jump pin 2 to 3 to apply AGND to pin 10 of U74 should be UDN2981A for source output configuration for AENAI 4 and EQU 1 4 flag outputs E104 CAUTION 1 2 Jumper T The jumper setting must match the installed EA type of driver IC or damage to the IC 2 will result d Jump pin 1 to 2 to AGND to pin 9 of MZ U74 should be ULN2803A for sink output configuration for AENA1 4 and EQUI 4 flag outputs Jump pin 2 to 3 to apply V 12V to 24V to pin 9 of U74 should be UDN2981A for source output configuration for AENA1 4 and EQUI 4 flag outputs 32 Acc 24P Jumper and Switch Description Accessory 24P CONNECTOR DESCRIPTIONS J1 Expansion Port Connector J1 is a 50 pin IDC header that provides the connection to PMAC s JEXP Expansion Port Contact the factory if pinout information is required JS1 This connector contains miscellaneous I O signals related to the first DSPGATE on Acc 24p Typically it is used for direct connection to ACC 28 analog to digital converter board JS1 16 Pin Header Pin Symbol Function Description Notes 1 DCLK Output DtoA AtoD DAC amp ADC
54. st 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 JO or if Option 1 is ordered on Pin 59 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 It is also possible to use the 12V digital supply from the P1 ISA bus connector or the TB1 terminal block This configuration defeats the optical isolation of the flag receivers and is not recommended for industrial systems It may be useful for desktop 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 sued for the analog output circuitr
55. urcing Input Flags To use sinking input flags simply connect the flags as you have done before Documentation Note Because multiples of the new ACC 24P can be used with a single Turbo PMAC the channel numbers for the ACC 24P 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 24P is used with a regular non Turbo PMAC its Channels 1 8 map into PMAC channels 9 16 respectively Introduction 3 Accessory 24P Introduction Accessory 24P HARDWARE SETUP Output Flag Driver ICs The output flags on the ACC 24P 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 if Option 1 is ordered component U12 contains the driver for the second four channels ULN2803A or equivalent sinking driver ICs are installed at the factory These 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 E103 and E104 for U12 see Output Flag Configuration Jumpers below Switch Configuration Address DIP Switch S1 S1
56. ut D to A Data DAC Data for Chan 1 2 3 4 3 ASELO Output Chan Select Bit 0 Select for Chan 1 2 3 4 4 ASEL1 Output Chan Select Bit 1 Select for Chan 1 2 3 4 5 CNVRTOI Output A to D Convert ADC convert sig Chan 1 2 3 4 6 ADCIN1 Input A to D Data ADC data for Chan 1 2 3 4 7 OUTI Output Amp Enable Dir Amp Enable input for Chan 1 8 OUT2 Output Amp Enable Dir Amp Enable input for Chan 2 9 OUT3 Output Amp Enable Dir Amp Enable input for Chan 3 10 OUT4 Output Amp Enable Dir Amp Enable input for Chan 4 11 HF41 Input Amp Fault Amp Fault input for Chan 1 12 HF42 Input Amp Fault Amp Fault input for Chan 2 13 HF43 Input Amp Fault Amp Fault input for Chan 3 14 HF44 Input Amp Fault Amp Fault input for Chan 4 15 5V Output 5V Supply Power supply out 16 GND Common PMAC Common ACC 28A B connection digital amplifier connection 40 Connector Descriptions Accessory 24P JS1 Second A D Port Connector Option 1 required JS1 16 Pin Header 10000000 0 1 16100000000 2 Front View Pin Symbol Function Description Notes 1 DCLK Output D to A A to D Clock DAC and ADC clock for Chan 5 6 7 8 2 BDATAS Output D to A Data DAC data for Chan 5 6 7 8 3 ASELO Output Chan Select Bit 0 Select for Chan 5 6 7 8 4 ASEL1 Output Chan Select Bit 1 Select for Chan 5 6 7 8 5 CNVRTOS Output A to D Convert ADC convert sig
57. x25 Default Board No amp Channel Ixx25 Default Value for Value for 1 ACC 24P V Flag Set 1 078200 1925 3 ACC 24P V Flag Set 1 07A200 12525 1 ACC 24P V Flag Set2 078204 11025 3 ACC 24P V Flag Set 2 07A204 12625 1 ACC 24P V Flag Set 3 078208 1125 3 ACC 24P V Flag Set 3 07A208 12725 1 ACC 24P V Flag Set 4 07820C 11225 3 ACC 24P V Flag Set 4 07A20C 12825 1 ACC 24P V Flag Set 5 078300 11325 3 ACC 24P V Flag Set 5 07A300 12925 1 ACC 24P V Flag Set 6 078304 11425 3 ACC 24P V Flag Set 6 07A304 13025 1 ACC 24P V Flag Set 7 078308 11525 3 ACC 24P V Flag Set 7 07A308 13125 1 ACC 24P V Flag Set 8 07830C 11625 3 ACC 24P V Flag Set 8 07A30C 13225 2 ACC 24P V Flag Set 1 079200 11725 4 ACC 24P V Flag Set 1 07B200 2 4 ACC 24P V Flag Set2 079204 11825 4 ACC 24P V Flag Set 2 07B204 2 ACC 24P V Flag Set 3 079208 11925 4 ACC 24P V Flag Set 3 07B208 2 ACC 24P V Flag Set 4 07920C 12025 4 ACC 24P V Flag Set 4 07B20C 2 ACC 24P V Flag Set 5 079300 12125 4 ACC 24P V Flag Set 5 07B300 2 ACC 24P V Flag Set 6 079304 12225 4 ACC 24P V Flag Set 6 07B304 2 ACC 24P V Flag Set 7 079308 12325 4 ACC 24P V Flag Set 7 07B308 2 ACC 24P V Flag Set 8 07930C 12425 4 ACC 24P V Flag Set 8 07B30C Turbo PMAC Software Setup 19 Accessory 24P e Ixx81 Motor xx Power On Phase Position Address Ixx81 tells Turbo PMAC where to read absolute power on position f
58. xadecimal 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 is interface 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 24P PMAC 1x25 Value ACC 24P PMAC 1x25 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 for details e 1x81 Motor x Power On Phase Position Address Ix81 tells PMAC where to read absolute power on position for motor phase commutation if any Typically it will contain the address of an ACC 24P 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 24P channel or the encoder counter filled by simulated quadrature from a Yaskawa absolute encoder connected to the ACC 24P through an ACC 8D Option 9 board The followi
59. y flag supply voltage OPT V to US4 flag output driver IC 1 2 Jumper installed 30 Acc 24P Jumper and Switch Description Accessory 24P E101 E102 Output Flag Supply Voltage Configure E Point amp Physical Location Description Default Layout E101 CAUTION 1 2 Jumper T The jumper setting must match the installed es type of driver IC or damage to the IC E will result 1 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 EQU 1 4 flag outputs Jump pin 2 to 3 to apply AGND to pin 10 of U11 should be UDN2981A for source output configuration for AENAI 4 and EQU 1 4 flag outputs E102 CAUTION 1 2 Jumper T The jumper setting must match the installed EA type of driver IC or damage to the IC 2 will result d Jump pin 1 to 2 to AGND to pin 9 of GE U11 should be ULN2803A for sink output configuration for AENA1 4 and EQUI 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 AENA1 4 and EQU 1 4 flag outputs Acc 24P Jumper and Switch Description 31 Accessory 24P E103 E104 Output Flag Supply Voltage Configure 1 required E Point amp Physical Location Description Default Layout E103 CAUTION 1 2 Jumper T The jumper
60. y 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 J9 or if Option 1 is ordered on Pin 59 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 24P can use either sinking or sourcing drivers Component U11 drives the flags for the first four channels if Option 1 is ordered U12 drives the flags for the last four channels ULN2803A or equivalent sinking driver ICs are installed at the factory in the sockets for these components these may be replaced with UDN2981A or equivalent sourcing drivers CAUTION Incorrect settings of these jumpers can permanently damage the driver ICs 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 jumper E101 should connect pins 2 and 3 jumper E102 should connect pins 2 and 3 Hardware Setup 7 Accessory 24P If a sinking driver IC is installed in U12 jumper E103 should connect pins 1 and 2 jumper E104 should connect pins 1 and 2 If a sourcing driver IC is installed in U12 jumper E103 should connect pins 2 and 3 jumper E104 should connect pins 2 and 3 Resistor Pack Configuration Termination Resistors The ACC 2
61. y set to O 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 e 7mn3 Servo IC m Channel n Capture Flag Select I7mn3 determines which input flag is used for encoder capture if one is used 16 Turbo PMAC Software Setup Accessory 24P Encoder Conversion Table I Variables To use feedback or master position data from an ACC 24P entries must be added to the encoder conversion table ECT using I variables 18000 18191 to address and process this data The default conversion table in the Turbo PMAC does not contain these entries The position data obtained through an ACC 24P board is usually 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 24P incremental encoder channels are shown in the following table Encoder 1 gna 3 a Channel ACC 24P ACC 24P ACC 24P ACC 24P Channel 1 mF8200 mF9200 mFA200 mFB200 Channel 2 mF8204 mF9204 mFA204 mFB204 Channel 3 mF8208 mF9208 mFA208 mFB208 Channel 4 mF820C mF920C mFA20C mFB20C Channel 5

^ 1 USER MANUAL ^2 Accessory 24P

Contents

Download Pdf Manuals

Related Search

Related Contents