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ACC-24E2S___________________________Axis Expansion

1. VO CO NY D MN BY Go Ixx83 Motor xx Phase Position Address Ixx83 tells Turbo PMAC where to get its commutation position feedback every phase update cycle Usually this contains the address of an encoder phase position register The following table shows the possible values of Ixx83 for ACC 24E2 encoder phase position registers UMAC Software Setup 19 Accessory 24E2S Turbo PMAC Ixx83 ACC 24E2 Encoder Register Settings Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 078201 078209 078211 078219 1 ACC 24E2x Channel n Encoder Reg 078301 078309 078311 078319 2 ACC 24E2x Channel n Encoder Reg 079201 079209 079211 079219 3 ACC 24E2x Channel n Encoder Reg 079301 079309 079311 079319 4 ACC 24E2x Channel n Encoder Reg 07A201 07A209 07A211 07A219 5 ACC 24E2x Channel n Encoder Reg 07A301 07A309 07A311 07A319 6 ACC 24E2x Channel n Encoder Reg 07B201 07B209 07B211 07B219 7 ACC 24E2x Channel n Encoder Reg 9 07B301 07B309 07B311 07B319 8 ACC 24E2x Channel n Encoder Reg UMAC Turbo Example Setups The following section shows how to quickly setup the key variables for a stepper motor PFM system The ACC 24E2S has three modes of outputs which are setup by either the Turbo UMAC or the MACRO CPU The output modes available for the ACC 24E2S are Direct PWM DAC or PFM but only use the PFM
2. 14 UMAC Software Setup Accessory 24E2S UMAC SOFTWARE SETUP System Configuration I Variables Starting in Turbo PMAC firmware version V1 934 the Turbo PMAC determines automatically which Servo and MACRO ICs are present on power up reset and enables the I variables for these ICs In previous versions 165 had to be set manually to tell the Turbo PMAC which ICs were present so that the proper I variables could be enabled In V1 934 and newer versions Turbo PMAC reports which ICs are present in read only variable 14900 If using a Turbo PMAC with firmware 1 933 and below refer to the Turbo PMAC Software Reference Manual for a detailed description of these system configuration I variables Servo IC Configuration I Variables Turbo PMAC I variables in the range I7000 7999 control the configuration of the Servo ICs The hundreds digit represents the number of the Servo IC 0 to 9 in the system Servo ICs 0 and 1 are or can be on board the Turbo PMAC board itself Servo ICs 2 through 9 are or can be on external devices such as the ACC 24E2 Servo IC Numbering The number m of the Servo IC on the ACC 24E2 board is dependent on the addressing of the board with DIP switches S1 1 81 3 and S1 4 which place the board as the first through eighth external devices First ACC 24E2 with option 1 Servo IC 2 channels 1 4 Second ACC 24E2 with option 1 Servo IC 3 channels 5 8 Third ACC 24E2 with option 1 Se
3. The step and direction outputs are RS422 compatible and are capable of being connected in either differential mode or single ended configurations for 5V input drivers Flag input terminals are provided to allow connection of 12V 24V sensors or limit switches Up to eight ACC 24E2S boards can be connected to one UMAC providing up to 32 additional channels of stepper interface circuitry Because each MACRO Station CPU can service only eight channels of servo data only two ACC24E2S boards can be connected to the MACRO Station for stepper motor connection The ACC 24E2S is also an ideal board to use for dual feedback systems because it can process four encoders with one single board on the 3U rack The ACC 24E2S board contains no processor it has one highly integrated 4 channel PMAC2 style Servo IC with the buffering circuitry and connectors around them The four axis ACC 24E2S plugs into the backplane and uses one slot in the Rack Features The ACC 24E2S board can be used with any UMAC or MACRO Station CPU interfacing through the Expansion port The ACC 24E2S can only support pulse and direction commands from the controller Board Configuration An ACC 24E2S comes standard with one Servo IC providing four servo interface channels which are brought out on terminal blocks Each channel of servo interface circuitry includes the following e Four output command signal sets configurable as pulse and direction outputs only
4. 18 UMAC Software Setup Accessory 24E2S Ixx24 Motor xx Flag Mode Ixx24 defines 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 24E2 Bit 0 of Ixx24 must be set to 1 to tell the Turbo PMAC that this flag set is in a Type 1 PMAC2 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 Ixx25 Motor xx Flag Address Ixx25 tells Turbo PMAC where to access its flag data for Motor xx If ACC 24E2 is interface to the flags Ixx25 must contain the address of the flag register in ACC 24E2 The following table shows the address of the flag register for each channel of each ACC 24E2 Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 078200 078208 078210 078218 1 ACC 24E2x Channel n Flag Set 3 078300 078308 078310 078318 2 ACC 24E2x Channel n Flag Set 4 079200 079208 079210 079218 3 ACC 24E2x Channel n Flag Set 5 079300 079308 079310 079318 4 ACC 24E2x Channel n Flag Set 6 07A200 07A208 07A210 07A218 5 ACC 24E2x Channel n Flag Set 7 07A300 07A 308 07A310 07A318 6 ACC 24E2x Channel n Flag Set 8 07B200 07B208 07B210 07B218 7 ACC 24E2x Ch
5. eese o Ge ee nu 17 Encoder Conversion Table I Variables 1 cccccessccessceensecesneeensecescceessecsuceeescecseneeesaeceeceeeseceeaeecaeeeeaeeceaaecseneeenaeeees 17 Motor Addressing I Variables cccccccesscescesscusecesecusecaseeseeeseeeseeseeeecesecesecaecsaecaaecsaeeseeeseeeseeeaeeeeeeeceaeceaesaeenas 18 UMAC R Ro SUN ii RA EE EE ER 20 ULTRALITE MACRO STATION SETUP eee se esse se esse sees sees ee se ese Se ese sees se suse ta sons Be stata sees suse toss suse Se EG Be Ee Ee EG Se 21 Hardware Setup for MACRO Station Use e esse see se ese ee on nn on nn nn 21 Node Specific Gate Array MI variables iese ees sees ee ee se ee se ee se ee ee nn 21 Encoder Timer n Decode Control MSn MI910 ee se ee Re on rn 21 Flag Capture Control MSn MI911 MI913 ee ee ee ee ee se or s nn 22 Output Mode Select MSn MI9 16 ee ee ee ee Re ee GR rn 23 MACRO Station Encoder Conversion Table MSn MI120 MI1S 1 ees ese ee ee ee ee RA GR ee ee ER Re ee ee ee ee ER Re ee ee 24 Using ACC 24E2S with the MACRO Station Ultralite or Turbo Ultralite Change Output Mode to PFM on the Third Channel 25 ON EE EE EE RE N N EE EE N 24 PMAC2 GUN ER e N OR RE EE n 24 Table of Contents i Accessory 24E2S PMAC2 Turbo Ultralite MACRO ICO 5 e iet RR Re UN ed Re RE pon 25 PMAC2 Turbo Ultralite MACRO ICI eae te ett ree e E ee oc 25 PMAC2 Turbo Ultralite MACRO C2 5 reet p aet P HERR e RE rl e eoe eR Cao Eg e aee
6. Direct PWM Mode Only A and B are DAC 10V Outputs for torque velocity and sinusoidal input amplifiers C is PWM A and B are PWM Stepper Systems C is PFM A and B are DAC 10V Outputs with MLDT Feedback C is PEM The default output at he MACRO Station is PWM MSn I916 0 MACRO Station Encoder Conversion Table MSn MI120 MI151 At power up the MACRO Station will set up all of the key memory locations and MI Variables automatically based on the SW1 connector and firmware of the MACRO Station The key variables setup at power up are the encoder conversion table servo output registers and flag input registers Encoder Conversion Table for ACC 24E2 at MACRO Station MSO MI120 S00C040 output at X 0010 at MACRO Station encoder 1 MS0 MI121 00C048 output at X 0011 at MACRO Station encoder 2 MS0 MI122 00C050 output at X 0012 at MACRO Station encoder 3 MS0 MI123 00C058 output at X 0013 at MACRO Station encoder 4 MS0 MI120 00C060 output at X 0014 at MACRO Station encoder 5 MS0 MI121 00C068 output at X 0015 at MACRO Station encoder 6 MS0 MI122 00C070 output at X 0016 at MACRO Station encoder 7 MS0 MI123 00C078 output at X 0017 at MACRO Station encoder 8 Using ACC 24E2S with the MACRO Station Ultralite or Turbo Ultralite Change Output Mode to PFM on th
7. USER MANUAL Accessory 24E2S DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components
8. T O Supplemental Flag W or Pulse Output 1 Also Pulse Output 12 CHT1 PUL_1 T O Supplemental Flag T or Pulse Output 1 Also Pulse Output Connector TB2 Top Output2 Encoder 2 Pin Symbol Function Description Notes 1 CHA2 Input Enc 2 Pos A Chan 2 CHA2 Input Enc 2 Neg A Chan 3 CHB2 Input Enc 2 Pos B Chan 4 CHB2 Input Enc 2 Neg B Chan 3 CHC2 AENA2 Input Enc 2 Pos C Chan or AENA2 Also AENA2 6 CHC2 AENA2 Input Enc 2 Neg C Chan or AENA2 Also AENA2 7 ENCPWR Input Power for encoder 8 GND Common Digital Reference 9 CHU1 DIR_2 I O Supplemental Flag U or Direction 2 Also Direction Output 10 CHV 1 DIR_2 I O Supplemental Flag V or Direction 2 Also Direction Output 11 CHW1 PUL_2 I O Supplemental Flag W or Pulse Output 2 Also Pulse Output 12 CHT1 PUL_2 VO Supplemental Flag T or Pulse Output 2 Also Pulse Output Connector TB3 Top EQU Outputs Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 BEQUI Output Compare Output 1 3 BEQU2 Output Compare Output 2 Acc 24E2S Terminal Block Description 39 Accessory 24E2S Connector TB1 Bottom Encoder 3 Pin Symbol Function Description Notes 1 CHA3 Input Enc 3 Pos A Chan 2 CHA3 Input Enc 3 Neg A Chan 3 CHB3 Input Enc 3 Pos B Chan 4 CHB3 Input Enc 3 Neg B Chan 5 CH
9. e Four 3 channel differential single ended encoder input Four sets of five input flags and one compare output flag Introduction 1 Accessory 24E2S Introduction Accessory 24E2S E POINT JUMPER SETTINGS ACC 24E2S Jumpers Jumper Configuration Description Default El 1 2 Jumper 1 2 for Stepper Mode Output for Channel 1 Jump 1 2 No jumper for Channel 1 TUVW inputs E2 1 2 Jumper 1 2 for Stepper Mode Output for Channel 2 Jump 1 2 No Jumper for Channel 2 TUVW inputs E3 1 2 Jumper 1 2 for Stepper Mode Output for Channel 3 Jump 1 2 No Jumper for Channel 3 TUVW inputs E4 1 2 Jumper 1 2 for Stepper Mode Output for Channel 4 Jump 1 2 No Jumper for Channel 4 TUVW inputs E5 1 2 3 Jump 1 2 for Turbo 3U CPU and MACRO CPU Jump 1 2 Jump 2 3 for legacy MACRO CPU before 6 00 Ell 1 2 Jump 1 2 to enable AENA1 Jump 1 2 No Jumper to disable AENA1 E12 1 2 Jump 1 2 to enable AENA2 Jump 1 2 No Jumper to disable AENA2 E13 1 2 Jump 1 2 to enable AENA3 Jump 1 2 No Jumper to disable AENA3 E14 1 2 Jump 1 2 to enable AENA4 Jump 1 2 No Jumper to disable AENA4 E16 1 2 3 Jump 1 2 to receive phase and servo clocks Factory set Jump 2 3 to transmit phase and servo clocks OPTI 1 2 For factory use only OPT2 1 2 For factory use only OPT3 1 2 For factory use only The channels refer to the Servo IC associated with the individual ACC 24E2S board For example in an eight
10. level trigger not edge triggered MI913 parameter determines which of the Flag inputs will be used for position capture if one is used see MI912 0 HMFLn Home Flag n 1 PLIMn Positive End Limit Flag n 2 MLIMn Negative End Limit Flag n 3 USERn User Flag n Typically this parameter is set to O or 3 because in actual use the LIMn flags create other effects that usually interfere with what is trying to be accomplished by the position capture To capture on the LIMn flags disable their normal functions with Ix25 or use a channel n where none of the flags is used for the normal axis functions Output Mode Select MSn MI916 The ACC 24E2 family of boards can be used for multiple mode outputs At the MACRO Station the output mode must be set up on MACRO Station variable MSn MI916 The table below shows the output modes available for each of the ACC24E2 boards The output mode select will be set up automatically if using either the P2Setup or the Turbo Setup programs Board Direct PWM Mode DAC Mode Pulse and Direction ACC 24E2 Yes No Yes ACC 24E2A No Yes Yes ACC 2AE2S No No Yes Ultralite MACRO Station Setup 23 Accessory 24E2S The PMAC2 Style outputs allow the PMAC to control up to three individual output channels based on the mode These outputs are described as output A output B and output C MSn MI916 Output Description Typical Use A B and C are PWM
11. 1 CHT1 PUL_1 VO Supplemental Flag T or Pulse Output 1 Also Pulse Output 2 CHVIHDIR 1 IO Supplemental Flag V or Direction 1 Also Direction Output 3 GND Common Digital Reference 4 CHCI AENAI IO Enc 1 Neg C Chan or AENAI Also Amplifier Enable 5 CHBI Input Enc 1 Neg B Chan 6 CHAI Input Enc 1 Neg A Chan 7 GND Common Reference Voltage 8 BEQU2 Output Compare output2 9 CHWIHPUL 1 T O Supplemental Flag W or Pulse Output 1 Also Pulse Output 10 CHUIHDIR 1 VO Supplemental Flag U or Direction 1 Also Direction Output 11 ENCPWR Output Digital Supply Power for encoder 12 CHCIHAENA1 Input Enc Pos C Chan or AENA 1 Also Amplifier Enable 13 CHB1 Input Enc 1 Pos B Chan 14 CHAI Input Enc Pos A Chan 15 BEQUI Output Compare output Acc 24E2S Terminal Block Description 41 Accessory 24E2S DB15 Style Connector J2 Top Encoder 2 EQU Pin Symbol Function Description Notes 1 CHT2 PUL_2 VO Supplemental Flag T or Pulse Output 2 Also Pulse Output 2 CHV2 DIR_2 IO Supplemental Flag V or Direction 2 Also Direction Output 3 GND Common Digital Reference 4 CHC2 AENA2 VO Enc 2 Neg C Chan or AENA2 Also Amplifier Enable 5 CHB2 Input Enc 2 Neg B Chan 6 CHA2 Input Enc 2 Neg A Chan 7 GND Common Reference Voltage 8 BEQU2 Output Compare output2 9 CHW 2 PUL 2 VO Sup
12. Address To use the result of the conversion table for position loop feedback for Motor xx Ixx03 should contain the address of the result register in the conversion table 003503 in the above example Ixx04 Velocity Loop Feedback Address To use the result of the conversion table for velocity loop feedback for Motor xx Ixx04 should contain the address of the result register in the conversion table 003503 in the above example Ixx05 Master Position Address To use the result of the conversion table for the master position for Motor xx Ixx05 should contain the address of the result register in the conversion table 003503 in the above example Ixx10 and Ixx95 Power On Position Address and Format To use the MLDT for absolute power on position for Motor xx Ixx95 should be set to 180000 up to 24 bits of parallel Y data and Ixx10 should be set to the address of the timer register used 30 MLDT Feedback for UMAC Turbo amp UMAC MACRO Accessory 24E2S Ixx10 for ACC 24E2A MLDT Timer Registers Ixx95 180000 ACC 24 Servo IC Channel 1 Channel 2 Channel 3 Channel 4 1A 2 078200 078208 078210 078218 1B 3 078300 078308 078310 078318 2A 4 079200 079208 079210 079218 2B 5 079300 079308 079310 079318 3A 6 07A200 07A208 07A210 07A218 3B 7 07A300 07A308 07A310 07A318 4A 8 07B200 07B208 07B210 07B218 4B 9 07B300 07B308 07B310 07B318
13. Feedback for UMAC Turbo amp UMAC MACRO Accessory 24E2S Power On Feedback Address for PMAC2 Ultralite Both the Ultralite and the Turbo Ultralite can obtain absolute position at power up or upon request n The Ultralite must have Ix10 setup and the Turbo Ultralite needs both Ixx10 and Ixx95 setup to enable this power on position function For power on position reads as specified in this document MACRO firmware version 1 114 or newer is needed the Turbo Ultralite firmware must be 1 936 or newer and the standard Ultralite must have firmware version 1 16H or newer Ix10 permits an automatic read of an absolute position sensor at power on reset If Ix10 is set to 0 the power on reset position for the motor will be considered to be 0 regardless of the type of sensor used There are specific settings of PMAC s PMAC2 s Ix10 for each type of MACRO interface If a Turbo Ultralite is used Ixx95 must also be set appropriately The Compact MACRO Station has a corresponding variable I11x for each node that must be set Absolute Position for Ultralite Compact MACRO Station Feedback Type Ix10 Ix10 firmware version 1 16H and above Unsigned Signed F3000n ACC 8D Opt 9 Yaskawa Absolute Encoder Converter 72000n F2000n ACC 8D Opt 10 Sanyo Absolute Encoder Converter 74000n F4000n ACC 28B or ACC 28E Analog Digital Converter 74000n F4000n MACRO Station Option 1C ACC 6E A D Converter 74000n F4000n MACRO Station Parallel Input 74
14. Ixx80 Power On Mode Set Ixx80 to 4 to delay the absolute power on position read until the pulse output frequency can be set Ixx81 and Ixx91 Power On Phase Position Address and Format Occasionally the MLDT is used to establish an absolute phase reference position for Turbo PMAC commutated motors In this case Ixx81 and Ixx91 are set to the same values as Ixx10 and Ixx95 respectively see above Pulse Output Frequency The pulse output frequency is established by assigning an M variable to the C sub channel command register and writing a value to that M variable after every power up reset The suggested M variable for the Motor xx using this register is Mxx07 gt Y address 8 16 S where address is specified according to the following table Mxx07 for ACC 24E2S MLDT Pulse Output Registers ACC 24 Servo IC Channel 1 Channel 2 Channel 3 Channel 4 1A 2 078204 07820C 078214 07821C 1B 3 078304 07830C 0783 14 07831C 2A 4 079204 07920C 079214 07921C 2B 5 079304 07930C 079314 07931C 3A 6 07A204 07A20C 07A214 07A21C 3B 7 07A304 07A30C 07A314 07A31C 4A 8 07B204 07B20C 07B214 07B21C 4B 9 07B304 07B30C 07B314 07B31C The frequency of the pulse output should produce a period just slightly longer than the longest expected response time for the echo pulse For MLDTs the response time is approximately 0 35 usec mm 9 usec inch On an ML
15. T H A M B R se Ee 6 c Float Shield BV A oy Float Shield ae 11 sa N A f V H 1 Sensor 11 f Hal w PEF HEH Sensor 2 T Shield Ht Shield 5V Output Device 2 0v M e Output Device 1 Output Device 1 Output Device 2 UMAC Software Setup Accessory 24E2S ACC 24E2S Stepper Motor Outputs TTL level ACC 24E2S PFM Stepper Output Bus Voltage 4 Bus Voltage A B AFNAs AENA BV GND Dira Dir Stepper le Amplifier Stepper d Amplifier Channel Jumper E1 amp E11 Channel2 Jumper E2 amp E12 Channel3 Jumper E3 amp E13 Channel4 Jumper E4 amp E14 Channelt Jumper E1 amp E11 Channel2 Jumper E2 amp E12 E11 E12 E13 and E14 are for Channel3 Jumper E3 amp E13 Amp enable Channel4 Jumper E4 amp E14 E ep E11 E12 E13 and E14 are for Motor H Amp enable Position Limits Home Flag and User Flag ACC 24E2S Sourcing Flags ACC 24E2S Sinking Flags 15 24V Supply is 24V Supply 5 OV 24y i OV 24y m n E FLG RTN 1 5 FLG RTN 1 HOME Home 4 HOME Home MUM 3 MUMI 2 PUM 2 PUMI 1 USERI Neg 1 USERI Neg Pos Pos User User
16. ee amp Bussi saddle E AE nan 8 ACC 24E2S Discrete On board Logic with UMAC Turbo CPU sese 8 ACC 24E2S Discrete On board Logic with UMAC MACRO CPU sssssssssseseeeeeenenee nennen 9 Position Compare Port Driver IC EE teet breiter E EH ee EE N 9 8 6 Does uie EL AE EE EN EN LE EE EEN 11 ACC 24E2S Terminal Block Layout Diagram esse sees sees see se ee ee nn on SR on on nu 11 ACC 24E2S DB125 Option Layout Diagram esse see ses see see se ee ee o nn 11 Matine COnme tors m 12 Terminal Block Connectors iese se se GR ee neo o rn 12 DB15 Connector Option se see see se ee oo o o nu 12 lui AA V 12 sample W wins Dia SCANS EEUU 13 TTL Level Inputs and Outputs ees see se se Ge ee Ge o nn 13 ACC 24E2S Stepper Motor Outputs TTL level ee Se Se Ge ee ee nt 14 Position Limits Home Flag and User Flag iese esse esse esse ee es se noo one en seen eterne entente entente entente enne 14 UMAC SOFTWARE SETUP eeuse esse sesse sees sees ee se ese sees se sees se ee Be Ee Be ee Gee Se 15 IKE EDE Variables HR OR NR N OR EE GE OG EN 15 Servo IC Configuration I Variables eese nn 15 Servo TC N DEE RE EE e pio Ua ives EE EE ie e RE EE ON 15 Servo Channel Numbering eese o nu 15 Multi Channel I Variables eese eese GR ee nn 16 Single Channel Variables
17. inputs using the lines alone it is desirable for unconnected inputs to prevent the pick up of spurious noise it is permissible for differential line driver inputs If this socketed resistor is configured as a pull up resistor by reversing the SIP pack in the socket the two parallel 2 2 kQ resistors act as a single 1 1 kQ pull up resistor holding the line at 5V in the absence of an external signal This configuration is required if encoder loss detection is desired it is required if complementary open collector drivers are used it is permissible for differential line driver inputs even without encoder loss detection If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket marked by a wide white square solder pin on the front side of the board then the pack is configured as a bank of pull down resistors If the pack is reversed in the socket it is configured as a bank of pull up resistors The following table lists the pull up pull down resistor pack for each input device Device Resistor Pack Pack Size Encoder 1 RP19 6 pin Encoder 2 RP21 6 pin Encoder 3 RP27 6 pin Encoder 4 RP29 6 pin Termination Resistors The ACC 24E2S provides sockets for termination resistors on differential input pairs coming into the board As shipped there are no resistor packs in these sockets If these signals are brought long distances into the ACC 24E2A board and ringing a
18. pulse on what is normally the T and W input flags on the encoder connector This is done by putting jumpers on E points E1 for channel 1 E2 for channel 2 E3 for channel 3 and E4 for channel 4 These jumpers are ON by default The PULSE high during the pulse and PULSE low during the pulse outputs from the encoder connector are connected to the differential pulse inputs on the MLDT The echo pulse differential outputs from the MLDT are connected to the CHA and CHA input pins on the same encoder connector If the MLDT uses RPM format in which there is a brief start echo pulse and a brief stop echo pulse the output from the MLDT should be connected to the CHA input on the ACC 24E2S and the output should be connected to the CHA input If the MLDT uses DPM format in which there is a single long echo pulse with the delay to the trailing edge measuring the position the output from the MLDT should be connected to the CHA input on the ACC 24E25 and the output should be connected to the CHA input MLDT Software Setup of the UMAC Turbo When the ACC 24E2S is used for MLDT feedback in a UMAC Turbo system a few I variables must be set up properly Hardware Setup I Variables for Servo IC m I7m03 PFM Clock Frequency In almost all cases the clock frequency driving the pulse generation circuitry for all channels on Servo IC m can be left at its default value of 9 83 MHz 0 102 usec I7m03 also contr
19. shown in the table below oN o o or 1 OFF OFF OFF OFF 121 00C040 00C060 Always set to OFF for legacy MACRO Stations part number 602804 100 thru 602804 104 S1 5 and S1 6 are used to determine whether the ACC 24E2 is communicating to a Turbo 3U PMAC or a MACRO Station CPU ACC 24E2 Clock Settings S 1 5 S1 6 Function OFF OFF 3U MACRO Station use The Phase Clock and Servo Clock must be configured on each ACC 24E2S Each system can have only one source for the servo and phase clocks and jumpers must be set appropriately to avoid a timing conflict or a watchdog condition Starting in UMAC Turbo firmware version 1 937 the firmware will set the clock settings automatically for the ACC 24E2 cards in the UBUS To enable this feature set jumper E16 from 2 to 3 for all of the ACC 24E2Ss plugged into the UMAC At re initialization either command or power up with E3 jumpered on UMAC the firmware will know that all of the cards are in the auto configuration setup and will assign the card with the lowest base address setting usually 78200 the task of sourcing the clocks by setting variable I19 to the appropriate register The clocks will be set initially to the factory default servo update cycle and phase clock cycle For a better understanding of this feature refer to the description of 119 in the Turbo Software Reference Manual For UMAC
20. the channel numbers 1 4 on the board For the second optional Servo IC on the ACC 24E2 the channel numbers 1 4 on the Servo IC correspond to board channel numbers 5 8 The most important variables are I7mn0 Servo IC m Channel n Encoder Decode Control Typically I7mn0 is set to 3 or 7 for x4 quadrature decode depending on which way is up If the channel is used for open loop stepper drive I7mn0 is set to 8 to accept internal pulse and direction or to 0 to accept external pulse and direction e g from an ACC 8S It is set to 12 if the channel is used for MLDT feedback I7mn2 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 I7mn3 Servo IC m Channel n Capture Flag Select I7mn3 determines which input flag is used for encoder capture if one is used I7mn6 Servo IC m Channel n Output Mode Select I7mn6 determines whether the A and B outputs are DAC or PWM and whether the C output is PFM pulse and direction or PWM Typically it is set to 0 either for 3 phase PWM or to 3 for DACs and PFM Encoder Conversion Table I Variables To use feedback or master position data from an ACC 24E2 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 it only contains entrie
21. this parameter defines the magnitude of the largest number that may be placed into the PFM register for output pulse frequency If the PMAC2 calculates a larger number than Ix69 s value the number will be clipped to the limiting value and the result of a limited output value will be a larger following error The default value appears to exceed most requirements for stepper motor applications but the maximum pulse rate should be limited near the end of the setup process The formula for setting x69 is MasFrequency KHz MHz PFMClock KHz MHz Ix69 x65536 The default setting for Ix69 is 20480 and the default PFM clock setting is set to approximately 9 8304 MHz Using the default values and solving for Max Frequency a maximum frequency output would be 3 0719 MHz Putting a cap on the pulse output rate may keep the stepper system from exceeding its maximum step rate which will help keep the motor from losing sync with the PMAC2 PMAC2 Motor Servo Gain l variables for Stepper Motors The PMAC 2 applies its gain formulas for stepper motor systems the same way it does for a classic servo system The basic difference with a stepper system is that the typical encoder feedback interface is handled using electronic circuitry rather than a physical encoder The PMAC 2 Stepper interface allows the use of both an electronic encoder feedback and or physical encoder feedback depending upon the hardware settings When used with an actual phy
22. 000n F4000n MACRO Station MLDT Input 74000n F4000n n is the MACRO node number used for Motor x 0 1 4 5 8 9 C 12 or D 13 Absolute Position for Turbo Ultralite Ixx95 720000 740000 F20000 F40000 Addresses are MACRO Node Numbers MACRO Node Ixx10 for Ixx10 for Ixx10 for Ixx10 for Number MACRO IC 0 MACROIC1 MACROIC2 MACRO IC 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 Compact MACRO Station Feedback Type Ixx95 Unsigned Ixx95 Signed ACC 8D Opt 7 Resolver Digital Converter 730000 F30000 ACC 8D Opt 9 Yaskawa Absolute Encoder Converter 720000 F20000 ACC 8D Opt 10 Sanyo Absolute Encoder Converter 740000 F40000 ACC 28B Analog Digital Converter 740000 F40000 MACRO Station Option 1C ACC 6E A D Converter 740000 F40000 MACRO Station Parallel Input MLDT SSI 740000 F40000 When PMAC or PMAC2 has Ix10 set to get absolute position over MACRO it executes a station auxiliary read command MS node 1920 to request the absolute position from the Compact MACRO Station The station then references its own I11x value to determine the type format and address of the data to be read
23. 00100 256 decimal Ixx91 should be set to 740000 to specify parallel data through a MACRO node 32 MLDT Feedback for UMAC Turbo amp UMAC MACRO Accessory 24E2S MLDT Feedback for UMAC MACRO The data from the MLDT is processed as a parallel word input at the MACRO Station and then transmitted back to the Ultralite using the traditional Servo Node The encoder conversion table at the MACRO Station must be modified to process this data From the Ultralite standpoint nothing must be modified to read the position and velocity data Since the data is absolute the data can be sent at the Ultralite also as absolute data for correct position at power up This is accomplished with the proper setup of MSn MI11x at the MACRO Station and Ix10 at the Ultralite or Ix10 and Ix95 with the Turbo Ultralite Regardless of the type of Ultralite retrieving the power on position is the same The information must be retrieved from MACRO Station variable MSn MI920 for each node transfer as specified by Ix10 at the Ultralite MSn MI920 does not have to be set up because the MACRO Station will place the power on position in the appropriate register at power up MLDT Software Setup of the UMAC MACRO When the ACC 24E2S is used for MLDT feedback in a UMAC MACRO system there are a few MI variables in the MACRO Station and a few in the PMAC2 or Turbo PMAC2 driving the Station that must be set up properly Station Hardware Setup I Variables for Servo
24. 01 1 I7m01 ie Turbo PMAC Ultralite 17m00 If I7m00 is the same as 17000 or 16800 I7m01 will be the same as 17001 or 16801 If the ACC 24E2 is interfaced to a Turbo PMAC 1 board it should be set by calculation to obtain the same phase clock frequency as that set by the jumpers on the Turbo PMAC 1 I7m02 Servo IC m Servo Clock Frequency Control Even though the IC is receiving an external servo clock see I7m07 above usually it is best to create the same internal servo clock frequency in the Servo IC This means that I7m02 for the IC should be set the same as 7002 on a non Ultralite Turbo PMAC2 or the same as 16802 on a Turbo PMAC2 Ultralite When connected to a Turbo PMAC 1 I7m02 should create the same division from the phase clock as jumpers E3 E6 do on the Turbo PMAC 1 I7m03 Servo IC m Hardware Clock Frequency Control The hardware clock frequencies for the Servo IC should be set according to the devices attached to it There is no reason that these frequencies have to be the same between ICs There is seldom a reason to change this value from the default 16 UMAC Software Setup Accessory 24E2S Single Channel I Variables The single channel setup I variables for Channel n of Servo IC m work the same on an ACC 24E2 as they do on a Turbo PMAC2 itself Each Servo IC has four channels n numbered 1 to 4 For the first standard Servo IC on the ACC 24E2 the channel numbers 1 4 on the Servo IC are the same as
25. 17230 8 Simulated feedback for channel 3 17240 8 Simulated feedback for channel 4 1102 5078204 Command output to CHIA address default address 2 for stepper 1202 507820C Command output to CH2A address default address 2 for Stepper 1302 5078214 Command output to CH3C address default address 2 for Stepper 1402 507821C Command output to CH4C address default address 2 for Stepper 20 UMAC Software Setup Accessory 24E2S ULTRALITE MACRO STATION SETUP The ACC 24E2 family of JEXP accessories also can be used with MACRO Station to breakout the standard amplifier flag and encoder signals The gate arrays on the ACC 24E2 family of accessories are located in the traditional channel 9 16 locations of the PMAC2 memory map Note In order for the MACRO Station to setup its output and input channels automatically MACRO Station firmware 1 114 or greater must be used Currently there are three types of ACC 24Es to be used with the MACRO Station ACC 24E2 Direct PWM commutation outputs ACC 24E2A 10V Outputs for torque velocity and sinusoidal input amplifiers ACC 24E2S Dedicated 4 channel stepper interface card MACRO Station Gate Array Locations for ACC 24E2 Chan 9 10 11 12 13 14 15 16 Hex CO40 C048 C050 C058 C060 C068 CO70 C078 Hardware Setup for MACRO Station Use A few hardware selections must be set in order t
26. 3 81 Encoder 2 Inputs TB3 Top Phoenix Contact 3 FRONT MC1 5 3 ST3 81 Compare Outputs TB1 Bottom Phoenix Contact 12 FRONT MC1 5 12 ST3 81 Encoder 3 Inputs TB2 Bottom Phoenix Contact 12 FRONT MC1 5 12 ST3 81 Encoder 4 Inputs TB3 Bottom Phoenix Contact 3 FRONT MC1 5 3 ST3 81 Compare Outputs TB1 Front Phoenix Contact 20 FRONT MC1 5 20 ST3 81 Flags DB15 Connector Option Name Manufacturer Pins Type Details J1 Top AMP 15 AMP 745072 2 Encoder 1 Inputs and Compare Outputs J2 Top AMP 15 AMP 745072 2 Encoder 2 Inputs and Compare Outputs J1 Bottom AMP 15 AMP 745072 2 Encoder 3 Inputs and Compare Outputs J2 Bottom AMP 15 AMP 745072 2 Encoder 4 Inputs and Compare Outputs Indicators LED Color Description D11 Green Encoder 1 amp 2 Power OK D12 Green Encoder 3 amp 4 Power OK 12 UMAC Software Setup Accessory 24E2S Sample Wiring Diagrams This section has typical wiring diagrams for the TTL level inputs flags and limits PFM outputs TTL Level Inputs and Outputs Quadrature Encoders TI sl ay Ed T LI BEOU s Shield RFOIH A sa i GND s Shield m AJ Ha I A PX Ok B H H 104 Al t B H H H H Ease B it H 1 ncoder H H i i 3 1 1 1 Encoder cl c I 1 I 1 BV i cl it GND Ve OE 5V i u r ov GND v Float Shield U XY kod w v Float Shield T 1 W
27. C2 or Turbo PMAC2 PMAC 2 Ix10 Power On Position Address and Format To get the absolute position in this format for Motor x through MACRO node n n 0 to 15 decimal Ix10 should be set to 74000n where n here is the hexadecimal representation of the node number n 0 to F hex Turbo PMAC2 Ixx10 amp Ixx95 Power On Position Address and Format To get the absolute position for Motor xx through MACRO node n n 0 to 63 decimal Ixx10 should be set to n in hex format 0000nn where nn is the hexadecimal representation of the node number nn 00 to 3F hex If node 0 is used Ixx10 should be set to 000100 256 decimal Ixx95 should be set to 740000 to specify parallel data through a MACRO node If the MLDT is used for absolute power on phase position for commutation the proper variables must be set on the PMAC2 or Turbo PMAC2 PMAC 2 Ix81 Power On Phase Position Address and Format To get the absolute phase position in this format for Motor x through MACRO node n n 0 to 15 decimal Ix81 should be set to 74000n where n is the hexadecimal representation of the node number n 0 to F hex Turbo PMAC2 Ixx81 amp Ixx91 Power On Phase Position Address and Format To get the absolute phase position for Motor xx through MACRO node n n 0 to 63 decimal Ixx81 should be set to n in hex format 0000nn where nn is the hexadecimal representation of the node number nn 00 to 3F hex If node 0 is used Ixx81 should be set to 0
28. C3 AENA3 Input Enc 3 Pos C Chan or AENA3 Also AENA3 6 CHC3 AENA3 Input Enc 3 Neg C Chan or AENA3 Also AENA3 7 ENCPWR Input Power for encoder 8 GND Common Digital Reference 9 CHU3 DIR_3 IO Supplemental Flag U or Direction 3 Also Direction Output 10 CHV3 DIR_3 VO Supplemental Flag V or Direction 3 Also Direction Output 11 CHW3 PUL_3 I O Supplemental Flag W or Pulse Output Also Pulse Output 3 12 CHT3 PUL_3 I O Supplemental Flag T or Pulse Output 3 Also Pulse Output Connector TB2 Bottom Encoder 4 Pin Symbol Function Description Notes 1 CHA4 Input Enc 4 Pos A Chan 2 CHA4 Input Enc 4 Neg A Chan 3 CHB4 Input Enc 4 Pos B Chan 4 CHB4 Input Enc 4 Neg B Chan 3 CHC4 AENA4 Input Enc 4 Pos C Chan or AENA4 Also AENA4 6 CHC4 AENA4 Input Enc 4 Neg C Chan or AENA4 Also AENA4 7 ENCPWR Input Power for encoder 8 GND Common Digital Reference 9 CHU1 DIR_4 VO Supplemental Flag U or Direction 4 Also Direction Output 10 CHV 1 DIR_4 I O Supplemental Flag V or Direction 4 Also Direction Output 11 CHW1HPUL 4 VO Supplemental Flag W or Pulse Output 4 Also Pulse Output 12 CHT1 PUL_4 I O Supplemental Flag T or Pulse Output 4 Also Pulse Output Connector TB3 Bottom Compare Outputs Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 BEQU3 Output Compare Output 3 3 BEQU4 Output Compare Output 4 40 Acc 24E2S Terminal Block Description Acc
29. DT 1500 mm 60 in long the longest response time is approximately 540 psec a recommended period between pulse outputs for this device is 600 usec for a frequency of 1667 Hz To produce the desired pulse output frequency the following formula can be used assuming a 16 bit M variable definition Omen e utputt re Z re 65 536 PFMCLK _ Freq kHz Or OutputFreq kHz Mxx07 65 536 PFMCLK _ Freq kHz MLDT Feedback for UMAC Turbo amp UMAC MACRO 31 Accessory 24E2S To produce a pulse output frequency of 1 667 kHz with the default PFMCLK frequency of 9 83 MHz calculate 1 667 Mxx07 65536 11 9 380 To write this value to the register a power on PLC routine is suggested this can also be done with on line commands from the host computer Sample PLC code to do this for Channel 1 using the above example value is OPEN PLC 1 PLC 1 is first program to execute CLEAR M107 11 Set pulse frequency CMD Absolute Position Read DISABLE PLC 1 So will not execute again CLOSE PMAC2 Turbo PMAC2 Conversion Table amp Motor I Variables Once the MACRO Station has been set up to process the MLDT feedback the PMAC2 or Turbo PMAC2 can process the ongoing position feedback with its conversion table Ix03 and Ix04 just as for any other feedback from a MACRO Station If the MLDT is used for absolute power on position for the servo loop the proper variables must be set on the PMA
30. IC MS anynode MI903 MI907 PFM Clock Frequency In almost all cases the clock frequency driving the pulse generation circuitry for all channels on the Servo IC can be left at its default value of 9 83 MHz 0 102 usec Few will need to change MI903 MI907 which also controls other clock signals from its default value of 2258 MS anynode M1904 M1908 PFM Pulse Width The pulse width set by MI904 MI908 in units of PFM clock cycles must be set long enough for the MLDT to see and long enough to contain the rising edge of the RPM start echo pulse or the rising edge of the single DPM echo pulse For example if this edge can come up to 2 usec after the start of the excitation pulse and the PMAC clock cycle is at its default of about 0 1 usec then I7m04 must be set at least to 20 MS node MI916 Output Format Select For the channel associated with this node to be used for MLDT feedback MI916 must be set to 1 or 3 for the C sub channel to be used for PFM format output On an ACC 24E2A I7mn6 must then be set to 3 for the A and B sub channels to be used for DAC format output MS node MI910 MLDT Feedback Select For the channel associated with this node to be used for MLDT feedback MI910 must be set to 12 In this mode the pulse timer is cleared on the output pulse and latched on the echo pulse counting in between at 117 96 MHz Station Conversion Table Processing I Variables The pulse timer for Servo IC m Channel n holds a number pr
31. MLDT Feedback for UMAC Turbo amp UMAC MACRO 35 Accessory 24E2S MACRO Parallel Absolute Position Setup MI111 through MI118 MI11x specify whether where and how absolute position is to be read on the Compact MACRO Station for a motor node MI1 1x controls the xth motor node which usually corresponds to Motor x on PMAC and sent back to the Ultralite If MI1 1x is set to 0 no power on reset absolute position value will be returned to PMAC If MII 1x is set to a value greater than 0 then when the PMAC requests the absolute position because its Ix10 and or Ix81 values are set to obtain absolute position through MACRO sending an auxiliary MS node M1920 command the Compact MACRO Station will use MI1 1x to determine how to read the absolute position and report that position back to PMAC as an auxiliary response For an MLDT take the output from the encoder conversion table ECT at the MACRO Station and process it as an absolute position because the information in the ECT is synchronized properly Remember that the output from the encoder conversion table will reside in the X register For example with the following entry MS0 MI120 2 30C040 10 of ECT MSO M1I121 SFFFFFF 11 of ECT MS0 MI122232 12 of ECT The output from the ECT will reside in X 12 and this will be the register to obtain the absolute data from MII 1x consists of two parts The low 16 bits last four hexadecimal digits specify
32. O 1122 32 MS0 1i101 12 1 D80010 Ms0 ill 1110 7 40000 7 15 255 default might need to increase from factory default 24 bit output at 12 grab data from 1 entry of ECT X register read abs from MLDT Feedback for UMAC Turbo amp UMAC MACRO 37 Accessory 24E2S 38 MLDT Feedback for UMAC Turbo amp UMAC MACRO Accessory 24E2S ACC 24E2S TERMINAL BLOCK DESCRIPTION The terminal blocks on the ACC 24E2S are described as TB1 Top TB2 Top TB3 Top TB1 Bottom TB2 Bottom TB3 Bottom and TB1 Front The top connectors have the Encoder signals the bottom connectors have the Amplifier signals and the front connectors contain the Limit and Flag signals Connector TB1 Top Output1 Encoder 1 Pin Symbol Function Description Notes 1 CHA1 Input Enc 1 Pos A Chan 2 CHAI Input Enc 1 Neg A Chan 3 CHB1 Input Enc 1 Pos B Chan 4 CHBI Input Enc 1 Neg B Chan 5 CHC1 AENA1 Input Enc 1 Pos C Chan or AENA 1 Also AENA 1 6 CHCI AENAI Input Enc 1 Neg C Chan or AENAI Also AENAI 7 ENCPWR Input Power for encoder 8 GND Common Digital Reference 9 CHU1 DIR_1 T O Supplemental Flag U or Direction 1 Also Direction Output 10 CHVIHDIR 1 VO Supplemental Flag V or Direction 1 Also Direction Output 11 CHW1 PUL_1
33. Turbo systems with firmware older than version 1 937 set one of the ACC 24E2 s to transmit E16 set 2 3 the phase and servo clock usually the card at the lowest base address setting and set the rest of the ACC 24E2s to receive E16 set 1 2 the phase and servo clocks For MACRO systems the clock select jumper should be set to receive servo and phase clocks For the ACC 24E2S E16 should be set 1 2 UMAC Software Setup Accessory 24E2S Resistor Pack Configuration Differential or Single Ended Encoder Selection The differential input signal pairs to the PMAC have user configurable pull up pull down resistor networks to permit the acceptance of either single ended or differential signals in one setting or the detection of lost differential signals in another setting The inputs of each differential pair each have a hard wired 1 KO pull up resistor to 5V This cannot be changed The inputs of each differential pair each have a hard wired 2 2 KQ resistor to 5V also each has another 2 2 kQ resistor as part of a socketed resistor pack that can be configured as a pull up resistor to 5V or a pull down resistor to GND If this socketed resistor is configured as a pull down resistor the default configuration the combination of pull up and pull down resistors on this line acts as a voltage divider holding the line at 2 5V in the absence of an external signal This configuration is required for single ended
34. annel n Flag Set 9 07B300 07B308 07B310 07B318 8 ACC 24E2x Channel n Flag Set Ixx81 Motor xx Power On Phase Position Address Ixx81 tells Turbo PMAC2 where to read absolute power on position for motor phase commutation if any Typically it will contain the address of an ACC 24E2 register for only two types of absolute phasing sensors hall effect commutation sensors or their optical equivalents connected to the U V and W input flags on an ACC 24E2 channel or the encoder counter filled by simulated quadrature from a Yaskawa absolute encoder connected to the ACC 24E2 through an ACC 57E board The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa absolute encoders Turbo PMAC Ixx81 ACC 24E2 Encoder Register Settings Ix91 480000 580000 Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 078201 078209 078211 078219 1 ACC 24E2x Channel n Encoder Reg 078301 078309 078311 078319 2 ACC 24E2x Channel n Encoder Reg 079201 079209 079211 079219 3 ACC 24E2x Channel n Encoder Reg 079301 079309 079311 079319 4 ACC 24E2x Channel n Encoder Reg 07A201 07A209 07A211 07A219 5 ACC 24E2x Channel n Encoder Reg 07A301 07A309 07A311 07A319 6 ACC 24E2x Channel n Encoder Reg 07B201 07B209 07B211 07B219 7 ACC 24E2x Channel n Encoder Reg 07B301 07B309 07B311 07B319 8 ACC 24E2x Channel n Encoder Reg
35. axis application there would be two ACC 24E2S boards The first ACC 24E2S would have axes 1 4 and the second ACC 24E2S would contain axes 5 8 For legacy MACRO Stations part number 602804 100 through 602804 104 Note Delta Tau added the amplifier enable outputs with the release of the 603441 101 revision of the ACC 24E2S card and jumpers E11 E12 E13 and E14 were added for this feature The first revision of this accessory 603441 100 does not have amplifier enable outputs or jumpers E11 E12 E13 or E14 E Point Jumper Settings Accessory 24E2S E Point Jumper Settings Accessory 24E2S HARDWARE SETUP Switch Configuration UMAC Address DIP Switch S1 S1 1 S1 3 S1 4 Board No IC No I Variable Base Range Address ON ON ON 1 2 17200 078200 OFF ON ON 2 3 17300 078300 ON OFF ON 3 4 17400 079200 OFF OFF ON 4 5 17500 079300 ON ON OFF 5 6 17600 07A200 OFF ON OFF 6 7 17700 07A300 ON OFF OFF 7 8 17800 07B200 OFF OFF OFF 8 9 17900 07B300 S1 S1 3 S1 4 are used to address the ACC 24E2S as shown in this table S1 2 S1 5 S1 6 Function ON ON ON 3U Turbo PMAC Use S1 2 S1 5 and S1 6 are used to determine whether the ACC 24E2S is communicating to a Turbo 3U PMAC or a MACRO Station CPU MACRO Station Address DIP Switch S1 S1 1 S1 2 S1 3 S1 4 are used to address the ACC 24E2 as
36. d generically as I7m00 I7m09 UMAC Software Setup 15 Accessory 24E2S Multi Channel I Variables There are several multi channel I variables that must be set up properly for proper operation of the ACC 24E2 in a Turbo PMAC system The most important are I7m07 Servo IC m Phase Servo Clock Direction This variable should be set to 3 for any Servo IC on an ACC 24E2 so it inputs its phase and servo clocks from signals generated on the Turbo PMAC itself I7m00 Servo IC m MaxPhase PWM Frequency Control Typically this will be set to the same value as the variable that controls the system clocks I7000 on a non Ultralite Turbo PMAC2 or 16800 on a Turbo PMAC2 Ultralite If a different PWM frequency is desired or the ACC 24E2 is used with a Turbo PMAC 1 in which the system clock frequencies are set by jumpers then the following constraint should be observed in setting this variable 2 PWMFreq kHz PhaseFreq f Integer I7m01 Servo IC m Phase Clock Frequency Control Even though the IC is receiving an external phase clock see I7m07 above usually it is best to create the same internal phase clock frequency in the Servo IC This yields the following constraint 17m00 I7 m01 1 17000 17001 1 Non Ultralite Turbo PMAC2 17m00 I7m01 1 16800 16801 1 Turbo PMAC2 Ultralite Solving for I7m01 the result is 17000 I7001 1 17m01 1 Non Ultralite PMAC2 T7m00 16800 168
37. ddress of a processed position value in the encoder conversion table even when the raw data comes from the ACC 24E2 The first line of the encoder conversion table is at address 003501 the last line is at address 0035C0 Ixx10 Motor xx Power On Position Address Ixx10 tells the Turbo PMAC where to read absolute power on position if any Typically the only times Ixx10 will contain the address of an ACC 24E2 register is if the position is obtained from an A D converter on an ACC 28B connected through the ACC 24E2 or if it is obtained from an MLDT e g Temposonics sensor excited directly from an ACC 24E2 SYI OD BY The following table shows the possible values of Ixx10 for MLDT timer registers Ixx10 for ACC 24E2 MLDT Timer Registers Ixx95 170000 Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 078200 078208 078210 078218 1 ACC 24E2x Channel n Timer 3 078300 078308 078310 078318 2 ACC 24E2x Channel n Timer 4 079200 079208 079210 079218 3 ACC 24E2x Channel n Timer 5 079300 079308 079310 079318 4 ACC 24E2x Channel n Timer 6 07A200 07A208 07A210 07A218 54 ACC 24E2x Channel n Timer 7 07A300 07A308 07A310 07A318 6 ACC 24E2x Channel n Timer 8 07B200 07B208 07B210 07B218 7 ACC 24E2x Channel n Timer 9 07B300 07B308 07B310 07B318 8 ACC 24E2x Channel n Timer
38. e Setup of the UMAC MACRO ee ee se ee Se Ge ona on on on nn nn 33 Station Hardware Setup I Variables for Servo IC eese Ge ee GR ee ee Ge en nennen 33 Station Conversion Table Processing I Variables eese eene teen eterne nennen 33 Station Motor Node I Variables eese eese esee nu 34 Power On Feedback Address for PMAC2 Ultralite eese esee eene nennen nennen 35 MACRO Parallel Absolute Position Setup eee eiren tenete ennt i then trennen inneren nennen 36 Example MLDT Setup for UMAC MACRO ee ee ee se ee Gee on sn ee en 37 ACC 24E2S TERMINAL BLOCK DESCRIPTION ees sesse ese se esse sees se sees se see Se sos ns Se EG Be Ee Ke ee os ss Ge ee ee 39 Connector TB1 Top Output I Encoder 1 eese on eno nn 39 Connector TB2 Top Output2 Encoder 2 iese see se se ee oe Se nn 39 Connector TB3 Top EQU Outputs sees see sees se ee se nn ee ee Se Ge ee ed Gee Gee Ge ee ee ee ee ee ee ens 39 Connector TBI Bottom Encoder 3 see se ese ee s ee nn 40 Connector TB2 Bottom Encoder 4 eese nn 40 Connector TB3 Bottom Compare Outputs eese eene o nn 40 Connector TBl Front Limits I OE ER 41 DBI5 Style Connector J1 Top Encoder 1 EOU eise esse ese ese ee se ee ee o hn ee eene rennen tenen nein nenne 41 DB15 Style Connector J2 Top Encoder 2 EQU ooo cece se esse esse ese ee se ee se r ee ee nn 42 DB15 Style C
39. e Third Channel MSn MI916 2 or 3 1 Change Encoder decode to read Pulse and Direction if using simulated feedback MSn MI910 8 2 Change PID gains as specified in the ACC 24E2S Manual 3 Change Motor Command Output Address at the Ultralite 1x02 or TURBO Ultralite Ixx02 to pulse and direction output PMAC2 Ultralite 1 o sco2 5 s SCO 2 1 cO6 6 9 SCOB6 4 5 SCOAE 8 13 SCOBE 24 Ultralite MACRO Station Setup Accessory 24E2S PMAC2 Turbo Ultralite MACRO ICO 078422 078432 078426 078436 07842A 07843A 07842E 07843E PMAC2 Turbo Ultralite MACRO IC1 079422 079432 079426 079436 07942A 07943A 07942E 07943E PMAC2 Turbo Ultralite MACRO IC2 07A422 07A432 07A426 07A436 07A42A 07A43A 07A42E 07A43E PMAC2 Turbo Ultralite MACRO IC3 07B422 07B432 07B426 07B436 07B42A 07B43A 07B42E 07B43E Ultralite MACRO Station Setup Accessory 24E2S 26 Ultralite MACRO Station Setup Accessory 24E2S MOTOR PARAMETER SETUP FOR UMAC AND MACRO The motor parameter setup is identical for both the Turbo PMAC and the Ultralite MACRO Station systems The key motor parameters to setup are the maximum pulse frequency output and the PID gains 1x69 is the motor x output command limit for motor number x For stepper motor systems
40. er control Internal pulse resets timer external pulse latches timer 13 Not used 14 Not used 15 Not used In any of the quadrature decode modes PMAC is expecting two input waveforms on CHAn and CHBn each with approximately 50 duty cycle and approximately one quarter of a cycle out of phase with each other Times one x1 decode provides one count per cycle x2 provides two counts per cycle and x4 provides four counts per cycle Select x4 decode to get maximum resolution The clockwise CW and counterclockwise CCW options simply control which direction counts up If it is the wrong direction sense simply change to the other option e g from 7 to 3 or vice versa Warning If the direction sense of an encoder with a properly working servo is changed without also changing the direction sense of the output destabilizing positive feedback to the servo and a dangerous runaway condition will result In the pulse and direction decode modes PMAC is expecting the pulse train on CHAn and the direction sign signal on CHBn If the signal is unidirectional the CHBn line can be allowed to pull up to a high state or it can be hardwired to a high or low state If MI910 is set to 8 the decoder inputs the pulse and direction signal generated by Channel n s pulse frequency modulator PFM output circuitry This permits the Compact MACRO Station to create a phantom closed loop when driving an open loop stepper system No jumpe
41. erface circuitry of the ACC 24E2 several of the addressing I variables for the motor must contain the addresses of registers in the ACC 24E2 or the addresses of encoder conversion table registers containing data processed from the ACC 24E2 These I variables can include Ixx02 Motor xx Command Output Address Ixx02 tells Turbo PMAC where to write its command outputs for Motor xx If ACC 24E2 is to create the command signals Ixx02 must contain the address of the register The following table shows the address of the C output register for each channel of each ACC 24E2S These addresses can be used for single analog outputs double analog outputs or direct PWM outputs Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 078204 07820C 078212 07821A 1 ACC 24E2x Channel n PFM PWMnA 078304 07830C 078312 07831A 2 ACC 24E2x Channel n PFM PWMnA 079204 07920C 079212 07921A 3 ACC 24E2x Channel n PFM PWMnA 079304 07930C 079312 07931A 4 ACC 24E2x Channel n PFM PWMnA 07A204 07A20C 07A212 07A21A 5 ACC 24E2x Channel n PFM PWMnA 07A304 07A30C 07A312 07A31A 6 ACC 24E2x Channel n PFM PWMnA 07B204 07B20C 07B212 07B21A 7 ACC 24E2x Channel n PFM PWMnA 07B304 07B30C 07B312 07B31A 8 ACC 24E2x Channel n PFM PWMnA Ixx03 Motor xx Position Loop Feedback Address Ixx04 Motor xx Velocity Loop Feedback Address Ixx05 Motor xx Master Position Address Usually the Ixx03 Ixx04 and Ixx05 variables contain the a
42. essory 24E2S Connector TB1 Front Limits 1 Pin Symbol Function Description Notes 1 USERI Input General Capture Flagl Sinking Or Sourcing 2 PLIMI Input Positive Limit Flagl Sinking Or Sourcing 3 MLIMI Input Negative Limit Flagl Sinking Or Sourcing 4 HOME Input Home Flag Sinking Or Sourcing 5 FLG_1_RET Input Return For All Flags1 V 12 To 24v Or Ov 6 USER2 Input General Capture Flag2 Sinking Or Sourcing 7 PLIM2 Input Positive Limit Flag2 Sinking Or Sourcing 8 MLIM2 Input Negative Limit Flag2 Sinking Or Sourcing 9 HOME2 Input Home Flag2 Sinking Or Sourcing 10 FLG 2 RET Input Return For All Flags2 V 12 To 24v Or Ov 11 USER3 Input General Capture Flag3 Sinking Or Sourcing 12 PLIM3 Input Positive Limit Flag3 Sinking Or Sourcing 13 MLIM3 Input Negative Limit Flag3 Sinking Or Sourcing 14 HOME3 Input Home Flag3 Sinking Or Sourcing 15 FLG_3_RET Input Return For All Flags3 V 12 To 24v Or Ov 16 USER4 Input General Capture Flag4 Sinking Or Sourcing 17 PLIM4 Input Positive Limit Flag4 Sinking Or Sourcing 18 MLIM4 Input Negative Limit Flag4 Sinking Or Sourcing 19 HOME4 Input Home Flag4 Sinking Or Sourcing 20 FLG_4_RET Input Return For All Flags4 V 12 To 24v Or Ov DB15 Style Connector J1 Top Encoder 1 EQU Pin Symbol Function Description Notes
43. eversed are RP19 RP21 RP27 and RP29 ACC 24E2S Discrete On board Logic with UMAC Turbo CPU Channel Resistor Status Bit Address Status Bit Address Status Bit Error Pack Even Numbered Odd Numbered Bit State Servo IC Servo IC Name 1 RP19 Y 07xF08 5 Y 07xF0C 5 QL 1 0 2 RP21 Y 07xF09 5 Y 07xFOD 5 QL 2 0 3 RP27 Y 07xF0A 5 Y 07xFOE 5 QL 3 0 4 RP29 Y 07xFOB 5 Y 07xFOF 5 QL 4 0 The x digit in this hex address matches the value 8 9 A or B in the fourth digit from the right in the board s own base address e g 079200 If alternate addressing of Servo ICs is used e g Servo IC 2 add 20 to these addresses 8 UMAC Software Setup Accessory 24E2S ACC 24E2S Discrete On board Logic with UMAC MACRO CPU Channel Resistor Status Bit Address Status Bit Address Status Bit Pack First Servo IC Second Servo Bit Error IC Name State 1 RP19 Y B8C8 5 Y B8CC 5 QL 1 0 2 RP21 Y B8C9 5 Y B8CD 5 QL 2 0 3 RP27 Y B8CA 5 Y B8CE 5 QL 3 0 4 RP29 Y B8CB 5 Y B8CF 5 QL 4 0 First Servo IC has base address C040 second Servo IC has base address C060 Position Compare Port Driver IC As with the other PMAC controllers the UMAC has the high speed compare outputs allowing the firing of an output based on position This circuit will fire within 100 nsec of reaching the desired posit
44. ion The position compare output port on the ACC 24E2 and its Option 1 daughter card has a socketed driver IC in a 8 pin DIP socket at component U27 This IC gives a fast CMOS driver The following table lists the properties of each driver IC Part of Pins Max Voltage amp Output Type Max Frequency Current DS75451N 8 5V 10 mA Totem Pole 5 MHz CMOS UMAC Software Setup Accessory 24E2S 10 UMAC Software Setup Accessory 24E2S CONNECTIONS ACC 24E2S Terminal Block Layout Diagram P1 Designates Pin 1 ACC 24E2S DB15 Option Layout Diagram 1 TR Yo n TOP s2 eppo s 8 s s 4 2 3 11 1009 8 7 6 5 4 3 2 1 c o S P1 112 3 4 5 6 7 8 9 10 11 12 1 2 3 4 5 6 7 8 9 10 11 12 C BJA J2 4 BOTTOM M d 11 UMAC Software Setup Accessory 24E2S Mating Connectors Terminal Block Connectors Name Manufacturer Pins Type Details TB1 Top Phoenix Contact 12 FRONT MC1 5 12 ST3 81 Encoder 1 Inputs TB2 Top Phoenix Contact 12 FRONT MC1 5 12 ST
45. n EQUn and combined into the EQU output for the first channel on the IC EQUI or EQUS executed as a logical OR 22 Ultralite MACRO Station Setup Accessory 24E2S MI911 for the first channel on an ASIC performs no effective function so is always 1 It cannot be set to 0 MI912 determines which signal or combination of signals and which polarity triggers a position capture of the counter for the encoder mapped to the specified node If a flag input home limit or user is used MI913 for the node determines which flag Proper setup of this variable is essential for a successful home search which depends on the position capture function The following settings may be used Capture under software control armed Capture on Index CHCn high Capture on Flag high Capture on Index high AND Flag high Capture under software control latched Capture on Index CHCn low Capture on Flag high Capture on Index low AND Flag high Capture under software control armed Capture on Index CHCn high 10 Capture on Flag low 11 Capture on Index high AND Flag low 12 Capture under software control latched 13 Capture on Index CHCn low 14 Capture on Flag low 15 Capture on Index low AND Flag low Dood gx cm de DIE The trigger is armed when the position capture register is read After this as soon as the Compact MACRO Station sees that the specified input lines are in the specified states the trigger will occur it is
46. ne 1 Method and Address This 24 bit value 6 hex digits should begin with a 3 filtered parallel data followed by the address of the timer register The possible values for this line are shown in the following table Encoder Conversion Table Parallel Filtered Data Format 1 Line for ACC 24E2S Boards with Servo IC m Channel n ACC 24 Servo IC Channel 1 Channel 2 Channel 3 Channel 4 1A 2 378200 378208 378210 378218 1B 3 378300 378308 378310 378318 2A 4 379200 379208 379210 379218 2B 5 379300 379308 379310 379318 3A 6 37A200 37A208 37A210 37A218 3B 7 37A300 37A308 37A310 37A318 4A 8 37B200 37B208 37B210 37B218 4B 9 37B300 37B308 37B310 37B318 Line 2 Width and Start This 24 bit value should be set to 013000 to specify the use of 19 bits 013 starting at bit 0 Line 3 Max Change This 24 bit value should be set to a value slightly greater than the maximum true velocity ever expected expressed in timer LSBs per servo cycle With a typical MLDT the 117 96 MHz timer LSB represents 0 024 mm 0 00094 inches the default servo cycle is 0 442 msec The result of this conversion is in the X register of the third line Any functions using this value should address this register For example if this were the first entry in the table which starts at 003501 the result would be in X 003503 Motor I Variables Ixx03 Position Loop Feedback
47. not present offsets or disturbances which need correction in the PMAC2 It is possible that Ix33 might be set to force zero steady state errors if they are present with electronic encoder feedback Ix34 Motor x Integration Mode The default value of 1 is sufficient for this since usually Ix33 is set to zero When Ix33 is set to 0 this I variable has no effect Ix35 Motor x Acceleration Feedforward Gain This I variable is set to 0 Typically this value does not need to be changed However Ix35 might be adjusted to compensate for the minor delays created by the electronics when accelerating the stepper The effect of adjusting Ix35 will be to reduce a slight following error during motor acceleration 28 Motor Parameter Setup for UMAC and MACRO Accessory 24E2S MLDT FEEDBACK FOR UMAC TURBO amp UMAC MACRO The ACC 24E2S can provide direct interface to magnetostrictive linear displacement transducers MLDTS through its encoder connectors This interface is for MLDTs with an external excitation format often called RS 422 format because of the signal levels The ACC 24E2S provides the excitation pulse and receives the echo pulse both with RS 422 signal formats This section provides basic information for using MLDTs with the ACC 24E2S More information can be found in the User Manuals for the Turbo PMAC or the MACRO Station MLDT Hardware Setup of the ACC 24E2S The ACC 24E2S must be set up to output the differential
48. o use this accessory with the MACRO Station Jumper 1 2 for MACRO or Turbo communications 603804 105 and above Jumper 1 2 for Clock Settings SWI 1 and SW 1 2 both on for C040 both off for C060 SW 1 3 through SW 1 6 set to off Node Specific Gate Array Ml variables MI variables MI910 through MI919 on the MACRO station control the hardware setup of the hardware interface channel on the station associated a MACRO node The matching of hardware interface channels to MACRO nodes is determined by the setting of the SW1 rotary switch on the CPU Interface Board of the MACRO station These variables are accessed using the MS station auxiliary read and write commands The number immediately after the MS specifies the node number and therefore the channel number mapped to that node by the SW1 setting Encoder Timer n Decode Control MSn MI910 MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts As such this defines the sign and magnitude of a count The following settings may be used to decode an input signal Pulse and direction CW x1 quadrature decode CW x2 quadrature decode CW x4 quadrature decode CW Pulse and direction CCW x1 quadrature decode CCW x2 quadrature decode CCW x4 quadrature decode CCW Internal pulse and direction Not used D eo DIA Gv Ge Nore D Ultralite MACRO Station Setup 21 Accessory 24E2S 10 Not used 11 Not used 12 MLDT pulse tim
49. obe tede 25 PMAC2 Turbo Ultralite MACRO 1C reete t ot eese E N teas E E ede 25 MOTOR PARAMETER SETUP FOR UMAC AND MACRO e ese se ese sees ee sees se ese se ee bee Ge See se see se sone Se nn 27 PMAC2 Motor Servo Gain I variables for Stepper Motors ese see see eke ee ed Ge ee Ge ee ek ee GRA Ge Re Ge Re GR enne 27 1x30 Motor x Proportional Gain se se Se Se ee Se nn 27 Ex3T Motor x Derivative Gain iese ve gee se et ee sa pte oge es uda qp ote ese Gees hede seed vay OR ese sd prvo 27 1x32 Motor x Velocity Feedforward Gain se se Ge Gee on on on en nn 27 DESEE Motor KANE BIOL GOIN SRL 28 1x34 Motor x Integration Mode iese se ese se ese ee Se o o nn 28 1x35 Motor x Acceleration Feedforward Gan ees ese se se Ge ee GR ee on none non nn 28 MLDT FEEDBACK FOR UMAC TURBO amp UMAC MACRO uu esse se esse see se ese sees se see se suse Be sens enses ee se EG Se suus 29 MLDT Hardware Setup of the ACC 2A4E2S ies nu 29 MLDT Software Setup of the UMAC Turbo iese se see see Ge ee Gee on nu 29 Hardware Setup I Variables for Servo IC m see sees ee on ono sn ee trn 29 Conversion Table Processing I Variables se se se se ee oe o nn 29 Motor Variables OE EE EA ER N EE EE 30 Pulse Output EreguenEY EE 31 PMAC2 Turbo PMAC2 Conversion Table amp Motor I Variables eese 32 MLDT Feedback for UMAC MACRO ee ee se se ee Ge ee o nn 33 MLDT Softwar
50. ols other clock signal has a default value of 2258 and rarely needs to be changed I7m04 PFM Pulse Width The pulse width set by I7m04 in units of PFM clock cycles must be set long enough for the MLDT to see and long enough to contain the rising edge of the RPM start echo pulse or the rising edge of the single DPM echo pulse For example if this edge can come up to 2 usec after the start of the excitation pulse and the PMAC clock cycle is at its default of about 0 1 usec then I7m04 must be set at least to 20 I7mn6 Output Format Select For Servo IC m Channel n to be used for MLDT feedback I7mn6 must be set to 1 or 3 for the C sub channel to be used for PFM format output On an ACC 24E2A I7mn6 must then be set to 3 for the A and B sub channels to be used for DAC format output I7mn0 MLDT Feedback Select For Servo IC m Channel n to be used for MLDT feedback I7mnO must be set to 12 In this mode the pulse timer is cleared on the output pulse and latched on the echo pulse counting in between at 117 96 MHz Conversion Table Processing I Variables The pulse timer for Servo IC m Channel n holds a number proportional to the time and therefore the position This must be processed in the conversion table before it can be used by the servo loop It is best to use the filtered parallel data conversion a 3 line entry in the table three consecutive I variables MLDT Feedback for UMAC Turbo amp UMAC MACRO 29 Accessory 24E2S Li
51. onnector J1 Bottom Encoder 3 EQU ees ese ese ese ee see see ee on nemen nennen nennen 42 DB15 Style Connector J2 Bottom Encoder 4 BOU ese esse ese ese ee see see ee ee on Gee Gee Ge ee Ge ee ee ee ee AR nennen 43 UBUS PINOUT ER EE N EE EE M 45 PI UBUS 96 Pin Header ee ee ese ee ee se ee ee ee Ee nn ener ER Re ee ER Re sn Ge nennen nnns rennes rennen ee ee Re ee ee stre enters sn ee 45 Table of Contents Accessory 24E2S INTRODUCTION Overview The ACC 24E2S Axis Expansion Board provides four channels of PMAC2 style stepper interface and or encoder MLDT circuitry for UMAC and Ultralite MACRO Station controllers The ACC 24E2S is part of the UMAC or MACRO Pack family of expansion cards and these accessory cards are designed to plug into an industrial 3U rack system The information from these accessories is passed directly to either the UMAC or MACRO Station CPU via the high speed UBUS Other axis or feedback interface accessories include the following ACC 14E Parallel Feedback Inputs absolute enc or interferometers ACC 24E2 Digital Amplifier Breakout w TTL encoder inputs ACC 24E2A Analog Amplifier Breakout w TTL encoder inputs ACC 24E2S Stepper Amplifier Breakout w TTL encoder inputs ACC 28E 16 bit A D Converter Inputs up to four per card ACC 51E 4096 times interpolator for 1 Vpp sinusoidal encoders ACC 53E SSI encoder interface up to 8 channels
52. oportional to the time and therefore the position This must be processed in the conversion table before it can be used by the servo loop It is best to use the filtered parallel data conversion a 3 line entry in the table three consecutive MI variables The MI variables for the conversion table start at MI120 Line 1 Method and Address This 24 bit value 6 hex digits should begin with a 3 filtered parallel data followed by the address of the timer register The possible values for this line are shown in the following table MLDT Feedback for UMAC Turbo amp UMAC MACRO 33 Accessory 24E2S Encoder Conversion Table Parallel Filtered Data Format First Line for ACC 24E2A Boards ACC 24 Channel 1 Channel 2 Channel 3 Channel 4 30C040 30C048 30C050 30C058 30C060 30C068 30C070 30C078 Line 2 Bits Used Mask This 24 bit value should be set to 07FFFF to specify the use of the low 19 bits of the 24 bit source word Line 3 Max Change This 24 bit value should be set to a value slightly greater than the maximum true velocity ever expected expressed in timer LSBs per servo cycle With a typical MLDT the 117 96 MHz timer LSB represents 0 024 mm 0 00094 inches the default servo cycle is 0 442 msec The result of this conversion is in the X register of the third line Any functions using this value should address this register For example if this were the first entry in the table which starts at 000010 the result
53. 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 24E2S Table of Contents INTRODUCTION soon n ns tont 1 aad qe M 1 oi e N N REE 1 Board Config tatiODh ee N b bre epe N EE EER EE IE 1 E POINT JUMPER SETTINGS sesse se esse sees se esse se ese bees se sees se ee Se ee be ee See Se EG Se m M 3 oe ASI 3 HARDWARE SETUP sscssssssccessessccceasssceotsecsesseestsavasassececaseoseosassenceacsesoaassssosescsansedsacssbcsecsecssdsasssacaeseasseaesasacasbcesssbceassons 5 Switch Gro nalura to TER 5 UMAC Address DIP Switch SI E 5 MACRO Station Address DIP Switch S1 iese ee ee ee GR GR ee ee rn 2 ee Clock D RM Cnm 5 Resistor Pack Configuration nennen nn 6 Differential or Single Ended Encoder Selection eee esee no enne eterne nennen 6 VE or I RESISIONS ME EE ER OE EE 6 ACC 24E2 Limit and Flas Wirt RE EE N van 7 Connecting Limits Flags to the ACC 24E2 ees ee se ee ee ee ee eene nennen rene eene ener entree Ge ee
54. output because of the hardware limitations CO ON tA 02 To setup the output mode for the UMAC Turbo set I7mn6 to the proper value The Gate Array on the ACC 24E2S has three outputs per channel as shown below I7mn6 A B C Setting Output Output Output I7mn6 0 PWM PWM PWM I7mn6 1 DAC DAC PWM I7mn6 2 PWM PWM PFM I7mn6 23 DAC DAC PFM For this example the factory defaults for the other variables will allow the PFM outputs to be commanded with a low true Amplifier Fault and Limits plugged in If this is not the case modify Ixx24 Example 4 axis PFM from base address 078200 servo IC2 Jumpers E1 through E4 must be jumpered on ACC 24E2S for PFM outputs and E11 through E14 must be jumpered for amplifier enable outputs Assume that not all stepper motors have encoders for feedback For this type of system make sure I7mn6 is set for DAC and PFM output mode 1721623 sj CHIA and CH1B ouputs will be DAC and CHIC output will be PFM 1722623 sj CH2A and CH2B ouputs will be DAC and CH2C output will be PFM 1723623 sj CH3A and CH3B ouputs will be DAC and CH3C output will be PFM 1724623 sj CHAA and CH4B ouputs will be DAC and CH4C output will be PFM I7210 8 Simulated feedback for channel 1 17220 8 Simulated feedback for channel 2
55. plemental Flag W or Pulse Output Also Pulse Output 2 10 CHU2 DIR_2 IO Supplemental Flag U or Direction 2 Also Direction Output 11 ENCPWR Output Digital Supply Power for encoder 12 CHC2 AENA2 IO Enc 2 Pos C Chan or AENA2 Also Amplifier Enable 13 CHB2 Input Enc 2 Pos B Chan 14 CHA2 Input Enc 2 Pos A Chan 15 BEQU2 Output Compare output2 DB15 Style Connector J1 Bottom Encoder 3 EQU Pins Symbol Function Description Notes 1 CHT3 PUL_3 IO Supplemental Flag T or Pulse Output 3 Also Pulse Output 2 CHV3 DIR 3 VO Supplemental Flag V or Direction 3 Also Direction Output 3 GND Common Digital Reference 4 CHC3 AENA3 O Enc 3 Neg C Chan or AENA3 Also Amplifier Enable 3 CHB3 Input Enc 3 Neg B Chan 6 CHA3 Input Enc 3 Neg A Chan 7 GND Common Reference Voltage 8 BEQU2 Output Compare output2 9 CHW3 PUL_3 O Supplemental Flag W or Pulse Output Also Pulse Output 3 10 CHU3HDIR 3 VO Supplemental Flag U or Direction 3 Also Direction Output 11 ENCPWR Output Digital Supply Power for encoder 12 CHC3 AENA3 Input Enc 3 Pos C Chan or AENA 3 Also Amplifier Enable 13 CHB3 Input Enc 3 Pos B Chan 14 CHA3 Input Enc 3 Pos A Chan 15 BEQU3 Output Compare output3 42 Acc 24E2S Terminal Block Description Accessory 24E2S DB15 Style Connector J2 Bottom Encoder 4 EQU Pin Symbol Function Description Notes Also Pulse Output Also Di
56. rection Output Digital Reference Also Amplifier Enable CHWA PUL 4 Supplemental Flag W or Pulse Output Also Pulse Output 4 10 Also Direction Output 11 Power for encoder 12 Also Amplifier Enable 13 14 15 BEOU4 Output Compare output4 o oo 1 o NM EI Acc 24E2S Terminal Block Description 43 Accessory 24E2S 44 Acc 24E2S Terminal Block Description Accessory 24E2S UBUS PINOUTS P1 UBUS 96 Pin Header 20000000 OOO0O0O0O0QO Goo RS a RE For more details about the JEXP see the UBUS Specification Document Ubus Pinouts 45
57. rs or cables are needed to do this the connection is entirely within the ASIC The counter polarity matches the PFM output polarity automatically If MI910 is set to 12 the timer circuitry is set up to read magnetostrictive linear displacement transducers MLDTs such as Temposonics In this mode the timer is cleared when the PFM circuitry sends out the excitation pulse to the sensor on PULSEn and it is latched into the memory mapped register when the excitation pulse is received on CHAn Flag Capture Control MSn MI91 1 MI913 The flag capture registers must also be setup at the MACRO Station to for proper homing encoder capturing and setting compare outputs MI911 determines which encoder input the position compare circuitry for the machine interface channel mapped to the specified node uses MSn M1911 0 Use channel n encoder counter for position compare function MSn MI911 21 Use first encoder counter on IC encoder 1 for channels 1 to 4 encoder 5 for channels 5 to 8 for position compare function When MI911 is set to 0 the channel s position compare register is tied to the channe s own encoder counter and the position compare signal appears only on the EQUn output When MI911 is set to 1 the channel s position compare register is tied to the first encoder counter on the ASIC Encoder 1 for channels 1 4 Encoder 5 for channels 5 8 or Encoder 9 for channels 9 10 and the position compare signal appears both o
58. rvo IC 4 channels 9 12 Fourth ACC 24E2 with option 1 Servo IC 5 channels 13 16 Fifth ACC 24E2 with option 1 Servo IC 6 channels 17 20 Sixth ACC 24E2 with option 1 Servo IC 7 channels 21 24 Seventh ACC 24E2 with option 1 Servo IC 8 channels 25 28 Eighth ACC 24E2 with option 1 Servo IC 9 channels 29 32 The Standard Servo IC on an ACC 24E2 occupies Channels 1 through 4 on the board Example The Standard Servo IC on the first ACC 24E2 is Servo IC 2 to Turbo PMAC and is configured by variables 17200 17299 Servo Channel Numbering Each Servo IC has four channels of servo interface circuitry The tens 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 first ACC 24E2 is configured by variables I7210 17219 These channel specific I variables are represented generically as I7mnO 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 24E2 correspond to Channels 1 4 respectively on the ACC 24E2 board itself The Channels 1 4 on the Option 1 Servo IC on an ACC 24E2 correspond to Channels 5 8 respectively on the ACC 24E2 board I variables in the I7000s for which the tens digit is O Channel 0 affect all four channels of the PMAC2 style Servo IC on the ACC 24E2 These multi channel I variables are represente
59. s for the eight channels on board the Turbo PMAC Usually the position data obtained through an ACC 24E2 board is an incremental encoder feedback and occasionally an A D converter feedback from an ACC 28B board connected through the ACC 24E2 The ECT entries for ACC 24E2 incremental encoder channels are shown in the following table Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 m78200 m78208 m78210 m78218 1 ACC 24E2x Channel n Encoder Set m78300 m78308 m78310 m78318 2 ACC 24E2x Channel n Encoder Set m79200 m79208 m79210 m79218 3 ACC 24E2x Channel n Encoder Set m79300 m79308 m79310 m79318 4 ACC 24E2x Channel n Encoder Set m7A200 m7A208 m7A210 m7A218 5 ACC 24E2x Channel n Encoder Set m7A300 m7A308 m7A310 m7A318 6 ACC 24E2x Channel n Encoder Set m7B200 m7B208 m7B210 m7B218 7 ACC 24E2x Channel n Encoder Set 9 m7B300 m7B308 m7B310 m7B318 8 ACC 24E2x Channel n Encoder Set 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 oo NAD BR UMAC Software Setup 17 Accessory 24E2S Motor Addressing I Variables For a Turbo PMAC motor to use the servo int
60. sical encoder the axis should be tuned as if it were a typical servo motor The process of tuning the simulated feedback loop is identical to tuning a servo motor except that some of the parameters become more predictable 1x30 Motor x Proportional Gain To create a closed loop position response with a natural frequency of approximately 25Hz and a damping ratio of 1 use the following calculation 660000 Ix30 Ix08 xPFMClock MHz Example PFMCLK is set to default of 9 83 MHz and Ix08 is set to default of 96 Ix30 660 000 96 9 83 700 Ix31 Motor x Derivative Gain Derivative Gain is set to 0 because the motor system behaves like a velocity loop servo drive This parameter sets the system damping which should be unnecessary Ix32 Motor x Velocity Feedforward Gain Use the following equation to establish a value for Ix32 1x32 6660xServoFreq kHz ServoFreq kHz is the frequency of the servo interrupt as established by I900 I901 and 1902 Example ServoFreq is set to default of 2 258 kHz 1900 6527 I901 0 I902 3 1x32 6660 x2 258 15 050 Motor Parameter Setup for UMAC and MACRO 27 Accessory 24E2S Note If Ix30 were set differently than the above calculation then 1x32 would change inversely For instance if Ix30 were twice the above calculation then Ix32 would be half its calculation 1x33 Motor x Integral Gain Typically this I variable should be set to 0 The digital electronic loop does
61. t signal transitions is a problem SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing All termination resistor packs have independent resistors no common connection with each resistor using two adjacent pins 6 UMAC Software Setup Accessory 24E2S Channel Specific Resistor Packs Channel 1 Channel 2 Channel 3 Channel 4 SIP Description RP19 RP21 RP27 RP29 2 2KQ Reverse for encoder loss feature RP23 RP22 RP28 RP30 2200 Termination resistor to reduce ringing not installed by default RP38 RP42 RP47 RP51 1KO Install for SV limits Channel Specific Resistor Packs Resistor Pack SIP Description RP5 220 Terminator not installed only used for non UBUS RP6 2200 Pull Down for Old MACRO CPU Pull Up for UMAC Turbo amp MACRO ACC 24E2 Limit and Flag Wiring The ACC 8F allows the use of sinking or sourcing position limits and flags to the PMAC2 The opto isolator IC used is a PS2705 4NEC ND quad photo transistor output type This IC allows the current to flow from return to flag sinking or from flag to return sourcing 5V To PMAC ER 1 GND RETURN FLAG A sample of the positive limit circuit is shown below The 4 7K resistor packs used will allow 12 24V flag inputs If 0 5V flags are used then a 1kQ resistor pack RP can be placed in either RP38 RP42 RP47 or RP51 refer to the Resis
62. the address on the MACRO Station from which the absolute position information is read The high eight bits first two hexadecimal digits tells the Compact MACRO Station how to interpret the data at that address MACRO MI11x Parallel Word Example Signed 24 bit Absolute MLDT 0010 Hex D 8 0 Bit 23 22 21 20719 18 17 16715 14 13 12 Value 1 1 0 1 1 o 0 01 0 0 0 0 V of bits location 18 24dec Source Address 0710 Y address 0 X address 1 control bit Unsigned 0 signed 1 format bit X Y Address Bit If bit 22 of Ix10 is 0 the PMAC looks for the parallel sensor in its Y address space This is the standard choice since all I O ports map into the Y address space If this bit is 1 PMAC looks for the parallel sensor in its X address space Signed Unsigned Bit If the most significant bit MSB bit 23 of MI11x is 0 the value read from the absolute sensor is treated as an unsigned quantity If the MSB is 1 which adds 80 to the high eight bits of MI1 1x the value read from the sensor is treated as a signed twos complement quantity MSO MI111 D80010 read signed 24 bit absolute power on position from X 0010 36 MLDT Feedback for UMAC Turbo amp UMAC MACRO Accessory 24E2S Example MLDT Setup for UMAC MACRO P MLDT Example Setup Ms0 190 MSO 190 MSO 191 MSO i161 3825 3 2258 4 25 0 12 MS0 191 MS0 i12 MSO 1121 6 3 0 30C040 SFFFFFF MS
63. tor Pack Configuration section of this manual If these resistor packs are not added all flags Z Limits Home User and amplifier fault will be referenced from 0 5V UMAC Software Setup Accessory 24E2S Connecting Limits Flags to the ACC 24E2 The following diagram illustrates the sinking and sourcing connections to an ACC 24E2 This example uses 12 24V flags Sinking eae Separate Supply 12 24V N Sourcing FLAG Separate SUPPLY Supply 12 24V Loss of Encoder Circuit The encoder loss detection circuitry works for differential incremental encoders only In proper operation the digital states of the complementary inputs for a channel e g A and A always should be opposite when one is high the other is low If for some reason such as a cable connection coming undone one or more of the signal lines is no longer driven pull up resistors on the input line pull and hold the signal high The encoder loss detection circuitry uses exclusive or XOR gates on each complementary pair to detect whether the signals are in the same or opposite states These results are combined to produce a single encoder loss status bit that the processor can read In order to enable this function the socketed resistor packs for the encoder must be reversed from their factory default setting so that the complementary encoder lines A B and C are pulled up to 5V instead of pulled to 2 5V The resistor packs to be r
64. would be in X 0012 Station Motor Node I Variables MS anynode MI10x xth Motor Node Position Loop Feedback Address To use the result of the conversion table for position loop feedback for the xth motor node MI10x should contain the address of the result register in the conversion table 0012 in the above example MS anynode MI11x xth Motor Node Absolute Position Address To use the MLDT for absolute power on position for the xth motor node set MI11x to 18xxxx up to 24 bits of parallel Y data from Station address xxxx where xxxx is the address of the timer register MS anynode MI11x xth Motor Node Absolute Position ACC 24 Channel 1 Channel 2 Channel 3 Channel 4 30C042 30C04A 30C052 30C05A 30C062 30C06A 30C072 30C07A MS anynode MI16x xth Motor Node MLDT Frequency Control This variable establishes the frequency of the excitation pulse sent to the MLDT Its value is written automatically to the full 24 bit C sub channel command register for the channel assigned to this node so the PFM circuit will create a pulse train at this frequency To compute the output frequency as a function of MI16x the following formula can be used MI16x OutputFreq kHz PF MCLK Freq kHz a 16 777 216 4 To compute the required value of MI16x as a function of the desired output frequency the following formula can be used OutputFreq kHz PFMCLK Freq kHz MI16x 16 777 216 34 MLDT

ACC-24E2S___________________________Axis Expansion

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