acc-5e______________________________umac macro & i/o
Contents
1. Row A Row B Row C 1 5Vdc 5Vdc 5Vdc 2 GND GND GND 3 BDO1 DATO BDOO 4 BD03 SELO BD02 5 BD05 DATI BD04 6 BD07 SELI BD06 7 BD09 DAT2 BD08 8 BD11 SEL2 BD10 9 BD13 DAT3 BD12 10 BD15 SEL3 BD14 11 BD17 DAT4 BD16 12 BD19 SEL4 BD18 13 BD21 DAT5 BD20 14 BD23 SELS5 BD22 15 BS1 DAT6 BSO 16 BAO SEL6 BAOO 17 BAO3 DAT7 BAO2 18 BX Y SEL7 BA04 19 N C BAO06 N C 20 BAOS5 BAO7 CS4 21 N C BAO8 N C 22 CS16 BAO9 N C 23 BA13 BA10 BA12 24 BRD BAI1 BWR 25 BS3 MEMCSO0 BS2 26 MEMCSI RESET 27 PHASE IREQI SERVO 28 PHASE IREQ2 SERVO 29 N C IREQ3 N C 30 15Vdc N C 15Vdc 31 GND GND GND 32 5Vdc 5Vdc 5Vdc 1 Refer to the UBUS Specification for detailed signal descriptions 2 Items shown in gray boxes represent optional UBUS backplane operation Jumpers must be installed to use these signals UMAC MACRO amp I O Connector Pinouts 25 Accessory 5E U17 MACRO Fiber Optic Connector OPT A B olo 2 Socket SC Style Front View Pin Symbol Function Description Notes 1 RX Fiber Input MACRO Ring Receiver 2 TX Fiber Output MACRO Ring Transmitter 1 The fiber optic version of MACRO uses 62 5 125 multi mode glass fiber optic cable terminated in an SC style connector The optical wavelength is 1 300nm 2 Itis possible to adapt wire to fiber operation when using OPT B 26 UMAC MACRO amp I O Connector Pinouts BANK2. USER MANUAL Accessory 5E DELTA TAU Iy Data Systems Inc NEW IDEAS IN MOTON 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 or c
3. no significant current will flow The pull up resistor on the line will bias the line high in the absence of anything actively pulling the line low at significantly lower impedance Suggested M Variables The 16 I O lines are memory mapped into PMAC s address space in register Y C082 Typically these lines are used as a unit with specially designed multiplexing I O accessories and appropriate multiplexing M variables TWB TWD TWR and TWS formats in which case PMAC2 handles the direct control of these I O lines automatically However these lines can also be accessed individually with M variables Following is a suggested set of M variable definitions to use these data lines M40 gt Y S 078402 8 SELO Line J2 Pin 4 M41 gt Y 078402 9 SEL1 Line J2 Pin 6 M42 gt Y 5078402 10 SEL2 Line J2 Pin 8 M43 gt Y 078402 11 SEL3 Line J2 Pin 10 M44 Y 078402 12 SEL4 Line J2 Pin 12 M45 Y 078402 13 SEL5 Line J2 Pin 14 M46 gt Y 078402 14 SEL6 Line J2 Pin 16 M47 Y 078402 15 SEL7 Line J2 Pin 18 M48 gt Y 078402 8 8 U SELO 7 Lines treated as a byte M50 gt Y S078402 0 DATO Line J2 Pin 3 M51 gt Y 078402 1 DATO Line J2 Pin 5 M52 gt Y 078402 2 DATO Line J2 Pin 7 M53 gt Y S078402 3 DATO Line J2 Pin 9 M54 Y 078402 4 DATO Line J2 Pin 11 M55 2Y 078402 5 DATO Line J2 Pin 13 M56 2Y 078402 6 DATO Line J2 Pin 15 M57 Y 0784
4. 16 s for the second PFM channel Example for Base Address of 78400 1681623 first supplemental channel output mode U 1682623 Second supplemental channel output mode M902 X 78414 8 16 S first supplemental output channel PFM address M1002 X 7841C 8 16 S Second supplemental output channel PFM address I O Configuration 13 Accessory 5E Now by setting M902 or M1002 to a value you will see the PFM output on pins 11 18 on the handwheel port The maximum value of M902 or M1002 is 32767 will corresponds to a PFM value 1 2 the PFM clock set by 16803 The pulse width is configured through 16804 for all of the channels at the same base address Reference the Turbo Software Reference Manual for all of the details of this setup 14 I O Configuration Accessory 5E UMAC MACRO amp I O BOARD CONNECTOR SUMMARY J2 J3 J5 J6 J7 J9 J10 J11 P1 U17 JTHW JIO JTAG JDISP JHW WD RJ45IN RJ450UT JEXP OPTO XCVR Thumbwheel port connector 26 pin box header connector I O interface connector 32 I O lines 40 pin box header connector Programming header Factory use only Alphanumeric display connector 14 pin box header Handwheel port pulse and direction output combined 20 pin box header Watchdog relay connector 4 pin mini combicon connector MACRO wire based input 8 pin RJ45 connector OPTB or OPTC only MACRO wire based output 8 pin RJ45 connector OPTB or OPTC onl
5. Base Array Config SW1 Settings MACR Channel Base Ident OIC Address Address Address 4 3 2 1 m OPT2 on on on on 0 78400 79400 78F10 on on on off 1 79400 7A400 79F10 on on off on 2 7A400 7B400 7AF10 on on off off 3 7B400 78500 7BF10 on off on on 4 78500 79500 78F14 on off on off 5 79500 7A500 79F14 on off off on 6 7A500 7B500 7AF14 on off off off 7 7B500 78600 7BF14 off on on on 8 78600 79600 78F18 off on on off 9 79600 7A600 79F18 off on off on 10 7A600 7B600 7AF18 off on off off 11 7B600 78700 7BF18 off off on on 12 78700 79700 78FIC off off on off 13 79700 7A700 79F1C off off off on 14 7A700 7B700 7AFIC off off off off 15 7B700 Not 7BFIC Availabl e The memory mapping for the UBUS MACRO amp I O accessory allows 16 channels to be selected The dipswitch selects between any of the 16 banks of memory This allows for up to 16 ACC 5Es to be logically configured The ACC 5E defines the mapping for its memory depending upon whether it is a single gate array or dual gate array device The dual gate option for the ACC 5E is OPT 2 Note The 2 gate array base addresses are shown in the last column of the table Therefore although there are 16 slots to place the ACC 5E into these same slots may be occupied by MACRO accessory cards that have OPT2 installed When this occurs the accessory card occupies the equivalent of two slots an
6. I O21 Data Line J3 Pin 22 M22 2Y 78400 22 I O22 Data Line J3 Pin 23 M23 gt Y 78400 23 I O23 Data Line J3 Pin 24 M24 gt Y 78401 0 I O24 Data Line J3 Pin 25 M25 gt Y 78401 1 I O25 Data Line J3 Pin 26 M26 Y 78401 2 I 026 Data Line J3 Pin 27 M27 gt Y 78401 3 I O27 Data Line J3 Pin 28 M28 gt Y 78401 4 I O28 Data Line J3 Pin 29 M29 gt Y 78401 5 I O29 Data Line J3 Pin 30 M30 gt Y 78401 6 I O30 Data Line J3 Pin 31 M31 gt Y 78401 7 I O31 Data Line J3 Pin 32 Direction Control The direction control bit for each of these I O bits is located in the corresponding bit in the matching X register For example with the base address set at 78400 the direction control bit for I O03 is located at X 78400 3 the direction control bit for I O30 is located at X 78401 6 Because the buffer ICs can only be switched by byte it is best to define 8 bit M variables for the direction control Suggested definitions are M32 gt X 78400 0 8 Direction control for I O00 to I 007 M34 gt X 78400 8 8 Direction control for I O08 to I O15 M36 gt X 78400 16 8 Direction control for I O16 to 1 023 M38 gt X 78401 0 8 Direction control for I O24 to I O31 I O Configuration 9 Accessory 5E These M variables should take values of 0 or 255 SFF only 0 sets the byte to input 255 sets the byte to output The default values are zero for all of the above re
7. Input Handwheel 2 B Input 10 HW2 B Input Handwheel 2 B Input 11 PULI1 Output Pulse Output 1 12 PULI Output Pulse Output 1 13 DIR1 Output Direction Output 1 14 DIR1 Output Direction Output 1 15 PUL2 Output Pulse Output 2 16 PUL2 Output Pulse Output 2 17 DIR2 Output Direction Output 2 18 DIR2 Output Direction Output 2 19 GND Common Power Supply Return 20 5V Vcc Power Supply Pwr supply output from UBUS backplane 30 pps ba hears T SIP SOCKET WU LB pue 220SIP8l p T 7 vec LRA ii GNDo d HW1 Ai g ier HWI Aie DIR 1 Y auk ES DIR 1 190 S ate bi HW1_A1 SUTA b DIR 1 HWI 61 LA Enac HW1_B1 41 Enac our b PUL 1 OWI RA HW1 B1 5 OUT C 6 HW1 B1 PUL 1 7 INC OUT C 6 PUL 1 15 85 HW2 A2 1i etim HWS A2 DIR 2 35 NB aure t DIR 2 PUL b HW2_A2 Surg bit DIR 2 DI 12 EBD 12 EN B D DIR 1 b Hw2 B2 OUTD pii PUL 2 E S HW2 B2 ii aivo HW2 B2 PUL 2 3 wp our Lio PUL 2 DIR 2 ND GNDO ht 2 5VO 5V S016 or 16 oe HEADER 20 Circuitry For J7 JHW Interface 22 UMAC MACRO amp I O Connector Pinouts Accessory 5E TB1 Watchdog Relay Connector SISISIS Front View 4 pin Mini Combicon Pin Symbol Function Description Notes 1 NC Relay Contact Normally closed contact This Pin is connected to J9 2 and J9 4 when the watchdog is tripped 2 COM Relay Contact Watchdog Common Connected to pin 4 3 NO Relay Contac
8. T 1 1 HEADER 26 SEL 7 12 13 d D A8 88 Hy 0 oy A9 89 Hin anp 33 GND GND Fas O37 Ato B10 LARD Ss A11 B11 Hgo 35 vee vec Hg 0 3 12 B12 Pog E CHS A13 B13 H5 57 GND GND F355 E91 SIR E P725 BI5 34 D H TR2 Ha 74FCT16245ATA ca rssoP cm Tu Ir T AUF AUF 0 o GND GND Circuitry for J2 JTHW Interface UMAC MACRO amp I O Connector Pinouts Accessory 5E J4 JI O General Purpose I O Port 40 pin Header E BOS BOB B HB B EB ONEBOM B m B od dm nl B ow B oBs s PS BP S P BP 5 P B Front View Pin Symbol Function Description Notes 1 1 000 Bidirect Input or Output 00 2 I O01 Bidirect Input or Output 01 3 I O02 Bidirect Input or Output 02 4 I O03 Bidirect Input or Output 03 5 1 004 Bidirect Input or Output 04 6 1 005 Bidirect Input or Output 05 7 1 006 Bidirect Input or Output 06 8 1 007 Bidirect Input or Output 07 9 1 008 Bidirect Input or Output 08 10 1 009 Bidirect Input or Output 09 11 I O10 Bidirect Input or Output 10 12 I O11 Bidirect Input or Output 11 13 I O12 Bidirect Input or Output 12 14 I O13 Bidirect Input or Output 13 15 I O14 Bidirect Input or Output 14 16 I O15 Bidirect Input or Output 15 17 I O16 Bidirect Input or Output 16 18 I O17 Bidirect Input or Output 17 19 I O18 Bidirect Input or Output 18 20 I O1
9. 02 7 DATO Line J2 Pin 17 M58 gt Y 078402 0 8 U DAT0 7 Lines treated as a byte Direction Control In the default configuration set automatically at power up reset DATO to DAT7 are set up as non inverting inputs SELO to SEL7 are set up as non inverting outputs with a zero low voltage value If any of the multiplexer port accessories are to be used this configuration must not be changed The direction control bit for each of these I O bits is located in the corresponding bit in the matching X register For example the direction control bit for DAT3 is located at X 78402 3 the direction control bit for SEL6 is located at X 78402 14 I O Configuration 7 Accessory 5E Because the buffer ICs can only be switched by byte it is best to define 8 bit M variables for the direction control Suggested definitions are M60 gt X 078402 0 8 Direction control for DATO to DAT7 M62 gt X 078400 8 8 Direction control for SELO to SEL7 These M variables should take values of 0 or 255 SFF only 0 sets the byte to input 255 sets the byte to output In addition the bi directional buffer IC for each byte has a direction control line accessible as a software control bit These control lines and bits must match the ASIC direction bits In the UMAC version of the Turbo PMAC the buffer direction control bits are at UMAC address Y 78F10 11 and Y 78411 8 These address are based off the Configuration Identificatio
10. 9 Bidirect Input or Output 19 21 1 020 Bidirect Input or Output 20 22 1 021 Bidirect Input or Output 21 23 1 022 Bidirect Input or Output 22 24 1 023 Bidirect Input or Output 23 25 1 024 Bidirect Input or Output 24 26 1 025 Bidirect Input or Output 25 27 1 026 Bidirect Input or Output 26 28 1 027 Bidirect Input or Output 27 29 1 028 Bidirect Input or Output 28 30 1 029 Bidirect Input or Output 29 31 1 030 Bidirect Input or Output 30 32 1 031 Bidirect Input or Output 31 33 GND Common Power Supply Return 34 GND Common Power Supply Return 35 PHASE Output Phase Clock Output 36 SERVO Output Servo Clock Output 37 GND Common Power Supply Return 38 GND Common Power Supply Return 39 5V Vcc Power Supply Pwr supply output from UBUS backplane 40 5V Vcc Power Supply Pwr supply output from UBUS backplane UMAC MACRO amp I O Connector Pinouts 19 Accessory 5E 45V 8V Uto OE1 T R1 AO Bo Al B1 GND GND A2 B2 A3 B3 VCC VCC A4 B4 A5 B5 GND GND AG B6 AT B7 A8 B8 A9 B9 GND GND A10 B10 A11 B11 vec VCC A12 B12 A13 B13 GND GND A14 B14 A15 B15 OE2 T R2 TAFCTT6245A TSSOP CO Uti OE1 T R1 AO BO Al B1 GND GND A2 B2 A3 B3 vcc vcc A4 B4 AS B5 GND GND AG B6 AT B7 AB B8 A9 B9 GND GND A10 B10 A11 B11 vcc VCC A12 B12 A13 B13 GND GND A14 B14 A15 B15 OE2 T R2 74FCT16245ATA TSSOP COROROIOIOTOTOTOTOTORO 4 24 2
11. U BAN SCLK BANK K gi LTCOMP VUN LTCOM e DLB WF DLB E d Q lt OUT BIST QUTO ois OUT OUTS OUT ous 3 S 260 cure OUT6 OUT oure ours ou OU3 OUT OQUT4 OUT8 OUT4 OUT8 ls 2 id es UMAC MACRO amp I O M The diagrams below shows the mappin Accessory 5E SCLK Read Write 0 Servo and phase clock input mode Source is supplied from UBUS 1 Servo and phase clock source power up default VLTN Violation Status Read Only 0 No violation 1 Violation W F Wire Fiber Read Write 0 Fiber Power up default 1 Wire BANK Bank Select Read Write 0 Bank 0 1 Bank 1 DLB Data Loop Back Read Write 0 Disabled power up default 1 Enabled BIST Built In Self Test Read Write 0 Disabled power up default 1 Enabled OUTO OUTS8 Read Write These are registered bits that operate hardware located on the circuit board i e JDISP The user must take care not to change these bits when changing other configuration bits LINK FAULT Link Fault Interrupt Read Only 0 ERROR Input signal that is selected by W F has no activity 1 NORMAL Input signal is present Vendor Codes Read Only Least sig 4 bits in 2 adjacent registers Vendor codes are assigned by board manufacturer per the UBUS Specification This board has a vendor code of 0000 0001 the code for Delt
12. a Tau Data Systems Inc Option Codes Read Only Least sig 5 bits in 2 adjacent registers Located in CS16 register base address 2 these bits are set as follows 00000 Owxyz w O3 strap x O2 strap y Ol strap MACRO is installed z O0 1 Dual gate array 0 Single gate array Revision Codes Read Only Least sig 4 bits in base address of bank 1 This register is located in the CS16 register base address bank one these bits are set as follows 00000 Owxyz Card Type Code Read Only 14 bits in 3 adjacent registers of bank 1 Located starting in CS16 register base address 1 these bits are set by the board manufacturer to indicate which board this is Delta Tau Data Systems Inc assigns the board number into this space as converted to hexadecimal Since the number of this board is 603437 the value of these registers is set to 3437 520D6D g MACRO IC Base Address amp Register Map 28 UMAC MACRO amp I O Memory Maps Accessory 5E Refer to the Turbo PMAC Software Reference for a detailed description of each register used in the gate arrays on the ACC SE accessory card The table described in S1 Dipswitch UBUS MACRO IC Base Address section above shows the base addresses available for the ACC 5E UMAC Turbo systems may have up to 16 MACRO ICs although only 4 at any given time can support automatic firmware functions by designation as MACRO ICs 0 3 configured by DO 123 The 16 possible base addres
13. aaO OOOO CODNIAT LOM OX O0 IOS CONO CXDOO IO HS COQIO u12 OE1 TRI AD BO Al Bi GND GND A2 B2 A3 B3 vec vec A4 B4 A5 B5 GND GND AS B6 AT B7 AB B8 A9 B9 GND GND A10 B10 An B11 vec vec A12 B12 A13 B13 GND GND A14 B14 A15 R15 OE2 T R2 TH 48 EH 46 45 44 43 42 4 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 IO 24 lO 25 TII CEU o ZZ UO IO 26 lO 27 a 10KSIP10C or lt lt 1OKSIP10C toksiP10C 10KSIP10C HEADER 40 10 30 lO 31 GND PHASE SERVO 16245 TSSOP C20 1UF GND GND Circuitry For J3 JI O Interface UMAC MACRO amp I O Connector Pinouts Accessory 5E J6 JDISP Display Port Connector L J 14 pin Header REFA Front View Pin Symbol Function Description Notes 1 5V Vcc Power Supply Pwr supply output from UBUS backplane 2 GND Common Power Supply Return 3 RS Output Read Select Connected to OUT8 4 Vee Output LCD Display Intensity Pot adjusts between 5V and GND 5 E Output LCD Display Enable Connected to OUT7 6 R W Output Read write Signal Connected to OUT6 7 DB1 Bidirect Data Bit 1 8 DBO Bidirect Data Bit 0 9 DB3 Bidirect Data Bit 3 10 DB2 Bidirect Data Bit 2 11 DB5 Bidirect Data Bit 5 12 DB4 Bi
14. alization variables here while 1 2 PLC in here perhaps E STOP routine endwhile CLOSE Display Port JDISP J6 Setup The JDISP connector J6 allows connection of the ACC 12 or ACC 12A liquid crystal displays or of the Acc 12C vacuum fluorescent display Both text and variable values may be shown on these displays using the DISPLAY command executing in either motion or PLC programs Handwheel Port JHW J7 Setup The Handwheel port on the Acc5E is a convenient and cheap tool to use for an extra two encoder inputs and two PFM outputs The encoder input lines do not provide a method for inputting an index pulse but quadrature encoder input is available The 2 PFM outputs can used be used in many different applications including driving stepper motors or laser outputs I O Configuration 11 Accessory 5E Channel Specific MACRO IC I Variables For MACRO IC Channel n where n 1 to 2 I Variables in the I6810s 16820s 16910s and 16920s control the hardware aspects of the MACRO IC DSPGATE2 ASIC that provides the machine interface for supplemental channels 1 and 2 Note that few of these functions are normally used on the Turbo PMAC2s By default only the two encoder inputs and the two C channel PWM PFM outputs are used These I variables are not active if the MACRO IC is not present or is a MACROGATE IC Encoder Input Setup To set up a supplemental encoder channel through the thumbwheel port th
15. ausing 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 5E Table of Contents INTRODUCTION E A EE A E T AOE E 1 ACCE SE B Oat Options 5 reo n n a e E ei E T a SU RS E EEA REEE 1 JUMPERS AND PINOUTS EL 3 Jumpers 1A IR Backplane Thumbwheel Port Connection 3 RPA SIP ReESIStO TTT 4 RPS SIP URC SIS LOM C wn 4 S1 Dipswitch UBUS MACRO IC Base Address sese 5 VO CONFIGURATION 7 Multiplexer Port JEHW I2 Setup rte rt OTHER UHR EXE pees and HIE CR BERE EE SEVERI EXE EEEE e RETE 7 Hardware Characteristics de due gee e E te etas une ee pet be debe neue NES eg Redes eeu v eve OP VR pud eeue n loce dug E 7 Siig ested M Variables iai tee ec ceci eee e uec eI CR HE seth ae cu Fate eR UD HO Qe e nau penne GE 7 Direction Control MEET 7 Tnyersion Control EET amp ALC TQ SOS2 tse tore dete tutem EM EI E EM ne amp TIO CA VSS CU E 8 Hardware ET LT amp Suggested T 9 Direction eT 9 Invers mem Ern 10 Alternate M R 10 Example Setup of JIO oce itte tertie ese eo eroe t
16. d therefore there may be fewer slots available for addressing Be careful to allow for OPT2 addressing when more than one ACC 5E card is used The ACC 5E with OPT 2 installed occupies 2 slots of address space However there is Note only one CS16 identification register for the accessory card even when OPT 2 is installed Jumpers and Pinouts Accessory 5E Jumpers and Pinouts Accessory 5E UO CONFIGURATION Two ports on the Accessory 5E may be used for general purpose I O the JIO J4 port and the JTHW J2 port Although their setup is similar to setting them up for a PMAC2 PC there are some addressing differences which need to be made clear Multiplexer Port JTHW J2 Setup The JTHW multiplexer port has 16 discrete digital I O lines for general purpose use The lines are configurable by byte for input or output on the DSPGATE2 I O IC the lines are individually configurable for input or output but the buffer ICs are only byte configurable and individually configurable for inverting or non inverting format Hardware Characteristics When configured as an output each line has a 5V CMOS totem pole driver This driver can sink or source up to 20 mA There is a 10 pull up resistor to 5V on each line for input purposes but the driver IC can hold the line high or low despite this resistor When configured as an input the buffer IC presents a high impedance input either sinking or sourcing
17. direct Data Bit 4 13 DB7 Bidirect Data Bit 7 14 DB6 Bidirect Data Bit 6 Note 1 Upon a clear reset power up this port will automatically output data to the LCD device Note 2 Note 3 Note 4 This port is designed to operate with the ACC 12 display products from Delta Tau Data Systems Inc This port is capable of being used as an 8 bit parallel input or output The value of Y 10D0 for Turbo UMAC is set to 80 for ACC 12A LCD Display Set this register to 16 for ACC 12C Vacuum Fluorescent Display or basic parallel output from the display buffer register Set this register to 00 if the JDISP connector is to be used as an 8 bit parallel port UMAC MACRO amp I O Connector Pinouts 21 Accessory 5E J7 JHW Handwheel Port Pulse and Direction Output Connector 20 pin Header Front View Pin Symbol Function Description Notes 1 GND Common Power Supply Return 2 5V Vcc Power Supply Pwr supply output from UBUS backplane 3 HW1_A Input Handwheel 1 A Input 4 HW1_A Input Handwheel 1 A Input 5 HW1_B Input Handwheel 1 B Input 6 HW1_B Input Handwheel 1 B Input 7 HW2_A Input Handwheel 2 A Input 8 HW2_A Input Handwheel 2 A Input 9 HW2_B
18. eg ise pepe ie ioi beer ted verde uev vet adest 11 Display Pott JDISP I6 Setup iie e et eee ene Feel andre yide D pe PUDE qu qe i bes uate GE 11 Handwheel Port JHW J7 Setup tete it eite emt ertet eiaeiiio iaeia isise 11 Channel Specific MACRO IC LVanigbler sss sese 12 Encoder Input Setups eter ettet e Ree HERE RE Doble teer nenssnnedeids E EEE EE O EAE RE EENS 12 BEM O tp t Setups Rm 13 UMAC MACRO amp I O BOARD CONNECTOR SUMMARY sssessess eers vesse serere enserre suse tasas 15 UMAC MACRO amp I O CONNECTOR PINOUTS eere eerie eese enses tastes thats sustenta eta sens ennes ener 17 J2 J DEHW Dh mbwheel R oer reete Pee noH Hu ep Gee noeh ether inerte ear AE AENEA aane o AE eal 17 J4 JI O General Purpose I O Port eter tte tret tentent ert nr tbe eene eie da 19 J6 JDISP Display Port Connector sssini senenin naa rit e bored etie rite Phe edo 21 J7 JHW Handwheel Port Pulse and Direction Output Connector 22 TBI Watchdog Relay Connector icti titt tree tt retro te ute ol eet E ba tae beoe te sets iP ev Euer ee pee R RS 23 AIO TI MACRO TO Opt B C 18 1I Beute R t Hee ELS Ronnies Taea aaea RLS 23 P1 UBUS Interface Connector ER Hr 25 U17 MACRO Fiber Optic Connector OPT A BI 26 UMAC MACRO amp I O MEMORY MAPS esseessessseseccerosoesesesceceroroeseserccoesosoesesesoeeosoroeseseeceseroroeseeesoerosoesesesseseeeee 27 Identification and Configuration Regi
19. ere is very little software setup involved One parameter you will have to change is the encoder decode This UMAC I variable is I68n0 or I69n0 where is the supplemental channel There is firmware support for a system with 4 Acc5E s addressed to Macro IC 0 3 based on the settings of S1 You could then access to 8 supplemental encoder channels with I variable pointers Since it is possible to connect up to 16 Accessory 5Es into a system there are methods available to set up additional supplemental encoders through M Variable pointers Consult Delta Tau Technical Support if you wish to bring in more than 8 supplemental encoder channels l68n0 l69nO I66n0 and 169n0 control how the encoder input signal for Channel n n 1 to 2 on a DSPGATE2 MACRO IC is decoded into counts For MACRO ICs 0 and 2 n n for MACRO ICs 1 and 3 n n 5 i e 16810 controls MACRO IC 0 Channel 1 16970 controls MACRO IC 3 Channel 2 As such this defines the sign and magnitude of a count The following settings may be used to decode an input signal I68n0 I69n0 0 Pulse and direction CW I68n0 I69n0 1 x1 quadrature decode CW I68n0 I69n0 2 x2 quadrature decode CW I68n0 I69n0 3 x4 quadrature decode CW I68n0 I69n0 4 Pulse and direction CCW I68n0 I69n0 5 x1 quadrature decode CCW I68n0 I69n0 6 x2 quadrature decode CCW I68n0 I69n0 7 x4 quadrature decode CCW I68n0 I69n0 8 Internal pulse and direction I68n0 I69n0 9 No
20. erface with SC style fiber optic transceiver and RJ 45 electrical connector Option C 16 node MACRO interface with RJ 45 electrical connectors Option 2 Additional 16 nodes of MACRO interface 32 nodes total Requires Option A B or C Introduction 1 Accessory 5E Introduction Accessory 5E JUMPERS AND PINOUTS The picture below shows the location of jumpers resistor packs dipswitch and connectors 4 Po S 5 C 5 vo T 9 y wy w GY o K A y So K O JUMPERS 1A 1R LINK INDICATOR gt Ptr J10 RJ45 INPUT J11 RJ45 OUTPUT i J5 JISP U17 FIBER TRANSCEIVER 7 E ve D s Oo Ey Y y So du a MACRO amp I O Card Layout Shown w OPTB installed Note The ACC 5E accessory shown here is not the exact revision of the circuit board that is currently distributed However all the components represented here exist on current revisions Jumpers 1A 1R Backplane Thumbwheel Port Connection Install these 16 shorting bars when the backplane is used for thumbwheel port functions The UBUS Specification does not require these lines to be connected and these backplane lines may actually be used for other purposes Normally these jumpers are not installed Jumpers and Pinouts Accessory 5E RP4 SIP Resistor This common bussed 6 pin resistor pack is used to select between single ended and differential handwheel encoder inputs When p
21. gisters In addition the bidirectional buffer IC for each byte has a direction control line accessible as a software control bit These control lines and bits must match the ASIC direction bits The buffer direction control bits are at the UMAC Configuration Identification Address depends on SW2 with bits 7 to 10 controlling the four bytes of the JIO port A bit value of 0 specifies input 1 specifies output With base address of 78400 the suggested M variable definitions are M33 gt Y 78F10 7 Buffer direction control for I O00 to I 007 M35 gt Y 78F10 8 Buffer direction control for I 008 to I O15 M37 gt Y 78F10 9 Buffer direction control for I 016 to 1 023 M39 gt Y S78F10 10 Buffer direction control for I 024 to 1 031 In the default configuration automatically set at power up reset I O00 to I O31 are set up as inputs M32 through M39 z 0 This is done for maximum safety no lines can be forced into an undesirable high or low state Any of these lines that are to be used as outputs must be changed to outputs by user programs usually this is done in PLC 1 acting as a reset PLC scanning through once on power up reset then disabling itself Inversion Control Each line on the JIO port is individually controllable as to whether it is an inverting I O point 0 5V 1 0V or a non inverting I O point 020V 1 5V For base address 78400 registers X 78404 and X 78405 contain t
22. he inversion control bits X 78404 bits 0 to 23 control I O00 to I O23 respectively X 78405 bits 0 to 7 control I O24 to I O31 respectively Suggested M Variable definitions m41 x 78404 0 8 m42 x 78404 8 8 m43 x 78404 16 8 m44 x 78405 0 8 m45 x 78404 0 24 A value of 0 in the control bit sets the corresponding I O point as inverting A value of 1 in the control bits sets the corresponding I O point as non inverting At power up reset UMAC automatically sets all of the I O points on the JIO port as inverting On power up all of the inputs are at zero and pulled up to 5V Alternate Uses The direction control of the buffer ICs must be set properly for the alternate uses of the I O points just as for the general purpose I O uses These lines must be set properly at power up Each general purpose I O point on the JIO port has an alternate use as a supplemental fixed use I O point on a supplemental machine interface channel 1 or 2 The default setting of configures this port for the general purpose I O If the user needs the supplemental channel registers then you must set these bits to 0 at power up to use each line as a general purpose I O point The points are individually controllable as to general purpose use or fixed use by control registers Y 78404 and Y 78405 when base address is at 78400 Refer to these registers in the memory I O map to see the alternate uses of each point At
23. laced with pin 1 of the resistor pack at pin 1 of the SIP socket this resistor pack biases the negative side of the differential handwheel encoder inputs to 2 5Vdc This is the configuration for single ended encoders When placed with pin 1 of the resistor pack at pin 6 of the SIP socket this resistor pack biases the negative side of the differential handwheel encoder inputs to 5Vdc This is the configuration for differential encoders Refer to the schematic below for the handwheel encoder input circuit 5V RP3 2 2KSIP10C 1KSIP10C Eu SIP SOCKET g RPA e PO eee 220S P8 l 2 2KSIP6C GND HW2 B2 HWZ A2 HW1 B1 HW1 A1 RP5 SIP Resistor TO CONNECTOR J7 This 8 pin resistor pack has 4 individual resistors that are used to apply a termination resistance between differential handwheel encoder inputs Remove this resistor pack when using single ended encoders to reduce a threshold shift that occurs when there is no negative side input Refer to the schematic above for the application of RP5 in the handwheel encoder circuit Jumpers and Pinouts Accessory 5E S1 Dipswitch UBUS MACRO IC Base Address This 4 position dipswitch is used to select the UBUS address for the ACC 5E ACC 5E Mapping Table CS4 Mappings Turbo 2 Gate MACRO amp I O PMAC
24. n Address chosen by the dip switch S1 setting A bit value of 0 specifies input 1 specifies output Suggested M variable definitions are M61 5Y 5 78F10 11 Buffer direction control for DATO to DAT M63 Y 5 78F11 8 Buffer direction control for SELO to SEL7 If it is desired to change either of these I O bytes it must be done by user programs usually this is done in PLC 1 acting as a reset PLC scanning through once on power up reset then disabling itself Inversion Control Each line on the JTHW port is individually controllable as to whether it is an inverting I O point 0 5V 1 0V or a non inverting I O point 020V 1 5V Register X 78406 contains the inversion control bits X 78406 bits 0 to 7 control DATO to DAT7 respectively X 78406 bits 8 to 15 control SELO to SEL7 respectively A value of 0 in the control bit sets the corresponding I O point as non inverting A value of 1 in the control bits sets the corresponding I O point as inverting At power up reset PMAC automatically sets all of the I O points on the JTHW port as non inverting To use any of the multiplexed I O accessory boards on the JTHW port all I O points on the port must be left non inverting Alternate Uses Because of the byte wide direction control buffer ICs it is not possible to use all of the I O points on the JTHW in their alternate uses Each general purpose I O point on the JTHW port has an alternate use a
25. or velocity feedback through the handwheel port Alternatively you could use the data from the following M Variables M901 gt X 78411 0 24 encoder counter for handwheel encoder 1 M991 gt X 3509 0 24 output from the encoder conversion table with 1 T interpolation M1001 gt X 78419 0 24 encoder counter for handwheel encoder 1 M1091 gt X 350a 0 24 output from the encoder conversion table with 1 T interpolation 168n2 169n2 and 168n3 I69n3 are used to setup the encoder capture characteristics see Turbo Software Reference Manual If you are using the encoder capture function the captured data will be located at X BaseAddress 3 0 24 PFM Output Setup There is also very little setup needed when configuring the 2 PFM output signals on the Handwheel port of the 5E Variables I68n6 169n6 through 168n8 I69n8 are the variables provided through firmware You can reference all of these variables in the Turbo Software Reference Manual le8n6 l69n6 I68n6 I69n6 0 Outputs A amp B are PWM Output C is PWM I68n6 I69n6 1 Outputs A amp B are DAC Output C is PWM I68n6 I69n6 2 Outputs A amp B are PWM Output C is PFM I68n6 I69n6 3 Outputs A amp B are DAC Output C is PFM Since we want PFM outputs we would select a value of 2 or 3 for this variable The output register will then be located at address BaseAddress 4 8 16 s for the first PFM output and BaseAddress 12 8
26. power up reset UMAC automatically sets up all of the I O points on the port for general purpose use Suggested M Variable Definitions M46 gt Y 78404 0 24 setup for 100 23 M47 gt Y 78405 0 8 setup for 1024 32 10 I O Configuration Accessory 5E Example Setup of JIO If the above definitions were made we could set these variables to their proper values in an initialization PLC This example sets up the first 2 bytes as outputs and the second 2 bytes as inputs All set to non inverting I usually will use the following technique for an initialization PLC define DIR CONTROL 1 m32 define BUFF CONTROL 1 33 define DIR CONTROL 2 m34 define BUFF CONTROL 2 m35 define DIR CONTROL 3 m36 define BUFF CONTROL 3 m37 define DIR CONTROL 4 m38 define BUFF CONTROL 4 m39 define INV CTRL O 23 m45 define INV CTRL 24 31 m44 define Alt use O0 23 m46 define Alt use 24 31 47 OPEN PLC 6 CLEAR DIR CONTROL 1 255 set as output BUF CONTROL 1 2 1 set as output DIR CONTROL 2 255 set as output BUF CONTROL 2 1 set as output DIR CONTROL 3 0 set as input BUF CONTROL 3 0 set as input DIR CONTROL 4 0 set as input BUF CONTROL 4 0 set as input INV CTRL 0 23 SFFFF set as non inverting INV CTRL 24 31 SFF set as non inverting Alt use 0 23 SFFFFFF Alt use O 7 SFF place other initi
27. s a supplemental fixed use I O point on a supplemental machine interface channel 1 or 2 The points are individually controllable as to general purpose use or fixed use by control register Y 78406 Refer to this register in the memory I O map to see the alternate uses of each point At power up reset UMAC automatically sets up all of the I O points on the port for general purpose use JIO J4 Setup The JIO port has 32 discrete digital I O lines for general purpose use The lines are configurable by byte for input or output on the DSPGATE2 I O IC the lines are individually configurable for input or output but the buffer ICs are only byte configurable and individually configurable for inverting or non inverting format Hardware Characteristics Because all of these lines default to inputs at power up reset any lines used as outputs will pull to 5V at power up reset until software configures them as outputs 8 I O Configuration Accessory 5E When configured as an output each line has a 5V CMOS totem pole driver This driver can sink or source up to 20 mA There is a 10 pull up resistor to 5V on each line for input purposes but the driver IC can hold the line high or low despite this resistor When configured as an input the buffer IC presents a high impedance sinking input no significant current will flow The pull up resistor on the line will bias the line high in the absence of anything actively pulling the line low at
28. ses are 07xy00 where x can be 8 9 A or B and y can be 4 5 6 or 7 This section assumes that MACRO ICs 0 3 have the default base addresses of 078400 078500 078600 and 078700 Here are some practices that should be followed to simplify the user s operation of the device ports i e JDISP JTHW on the ACC SE accessory card 1 Always start the first ACC 5E card at the base address of 78400 This is the first address available for a MACRO IC CS4 based device and has reference examples that directly refer to this address in the software reference manual 2 If multiple ACC 5E accessory cards are used in the UMAC system plan to use the device ports on the first lowest addressed ACC 5E UMAC MACRO amp I O Memory Maps 29
29. significantly lower impedance Suggested M Variables The 32 I O lines are memory mapped into UMAC s address space in the registers Base Address and Base Address 1 depending on SW2 settings Typically these I O lines are accessed individually with M variables Following is a suggested set of M variable definitions to use these data lines with a base address of 78400 MO gt Y 78400 0 I O00 Data Line J3 Pin 1 M1 Y 78400 1 I O01 Data Line J3 Pin 2 M2 Y 78400 2 I O02 Data Line J3 Pin 3 M3 gt Y 78400 3 I O03 Data Line J3 Pin 4 M4 Y 78400 4 I O04 Data Line J3 Pin 5 M5 Y 78400 5 I O05 Data Line J3 Pin 6 M6 Y 78400 6 I O06 Data Line J3 Pin 7 M7 gt Y 78400 7 I O07 Data Line J3 Pin 8 M8 Y 78400 8 I O08 Data Line J3 Pin 9 M9 Y 78400 9 I O09 Data Line J3 Pin 10 M10 gt Y 78400 10 I O10 Data Line J3 Pin 11 M11 gt Y 78400 11 I O11 Data Line J3 Pin 12 M12 2Y 78400 12 I O12 Data Line J3 Pin 13 M13 gt Y 78400 13 I O13 Data Line J3 Pin 14 M14 gt Y 78400 14 I O14 Data Line J3 Pin 15 M15 gt Y 78400 15 I O15 Data Line J3 Pin 16 M16 gt Y 78400 16 I O16 Data Line J3 Pin 17 M17 gt Y 78400 17 I O17 Data Line J3 Pin 18 M18 gt Y 78400 18 I O18 Data Line J3 Pin 19 M19 gt Y 78400 19 I O19 Data Line J3 Pin 20 M20 gt Y 78400 20 I O20 Data Line J3 Pin 21 M21 gt Y 78400 21
30. ster Map sese 27 MACRO IC Base Address amp Register O D 28 Table of Contents Accessory 5E Table of Contents Accessory 5E INTRODUCTION Delta Tau s Universal Motion and Automation Controller UMAC combines the power of the PMAC controller with an integrated packaging and connectivity strategy that gives the user revolutionary flexibility and ease of use The UMAC consists of a set of 3U format Euro cards 100 x 160 mm that can be assembled in a variety of different strategies The ACC 5bE UMAC MACRO amp I O accessory P N 300 603437 10X provides the interface capabilities for the LCD Display port handwheel port general purpose I O port thumbwheel port and MACRO in both fiber and wire formats ACC 5E Board Options ACC 5E UMAC I O and MACRO Accessory Shown w OPT2 amp OPTB installed This 3U size rack mounted board provides four general purpose non servo I O ports for the UMAC 1 The JDISP display port 2 The JTHW multiplexor port 3 The JIO general purpose I O port 4 The JHW handwheel port These are the same ports that are present along the top of a PC bus PMAC2 or out the front of a VME bus PMAC2 Optionally it can also provide a 16 node or 32 node MACRO ring interface It connects to the CPU board through the UBUS backplane expansion port It is intended for Pack use only Option A 16 node MACRO Interface with SC style fiber optic transceiver e Option B 16 node MACRO int
31. t Normally open contact This pin is connected to J9 2 and J9 4 when the system is functioning normally This pin is disconnected when the Watchdog circuit trips error condition 4 COM Relay Contact Watchdog Common Connected to pin 2 D2 MMBD301LT1 SOT23 Watchdog Relay Circuit J10 J11 MACRO I O Opt B C 8 pin RJ45 Front View Pin Symbol Function Description Notes 1 DATA Data Differential MACRO Signal J10 DATA input J11 DATA output 2 DATA Data Differential MACRO Signal J10 DATA input J11 DATA output 3 Unused Unused terminated pin See schematic below 4 Unused Unused terminated pin See schematic below 5 Unused Unused terminated pin See schematic below 6 Unused Unused terminated pin See schematic below 7 Unused Unused terminated pin See schematic below 8 Unused Unused terminated pin See schematic below The cable used for MACRO wired connections is CATS verified straight through 8 conductor UMAC MACRO amp I O Connector Pinouts 23 Accessory 5E 24 PE 68515 C64 01 mid 2kv 2 J11 rj45 Jii CONS M5 MTG HOLE UMAC MACRO amp I O Connector Pinouts Accessory 5E P1 UBUS Interface Connector 96 pin EURO Connector Front View on Accessory Card Pin
32. t used I68n0 I69n0 10 Not used I68n0 I69n0 11 x6 hall format decode CW I68n0 I69n0 12 MLDT pulse timer control Internal pulse resets timer external pulse latches timer I68n0 I69n0 13 Not used I68n0 I69n0 14 Not used I68n0 I69n0 15 x6 hall format decode CCW Requires version B or newer of the DSPGATE2 MACRO IC 12 I O Configuration Accessory 5E After setting up the decode properties you can process the data in the encoder conversion table The encoder counter data for the first encoder will be located at the BaseAddress 11 from your SW1 setting The second channel of encoder data will be at BaseAddress 19 The following is an example for the encoder conversion table settings for an Accessory 5E with two encoders wired into the Handwheel port and switch settings for a base address of 78400 1681027 7x4 quadrature decode CCW T6820 7 7x4 quadrature decode CCW T8008 S78410 l T interpolation where data is at 78411 at 9 entry of ECT 18009 2 78418 1 T interpolation where data is at 78419 at 10 entry of ECT 1903 3509 Motor 9 position is now set up for position feedback through the handwheel port 1904 3509 Motor 9 position is now set up for velocity feedback through the handwheel port 1003 350a Motor 10 position is now set up for position feedback through the handwheel port 1004 S 350a Motor 10 position is now set up f
33. urn 21 n c Not Connected 22 GND Common Power Supply Return 23 n c Not Connected 24 GND Common Power Supply Return 25 5V Vcc Power Supply Pwr supply output from UBUS backplane 26 n c Not Connected The JTHW connector provides the UMAC system with the ability to communicate either by using the thumbwheel port protocol or by a user created parallel means UMAC MACRO amp I O Connector Pinouts 17 Accessory 5E 18 45V 45V o 9 H c u D u n oo m j u a n in B imas m 4 c iz DATA 0 E 13 DATA 1 14 15 DATA 2 T 18 1 DATA 3 17 18 DATA 4 1 19 1 DATA 5 20 i S HW DATA 6 22 ND DATA 7 28 DATO ATO 24 OUTA SELO ELO T bari ATi 74FCT16245ATA T z SELT EL1 C23 TSSOP C24 DAT2 AT2 c L S m AUF AUF T F SEL3 EE GND GND DAT4 ATA z SEL4 ELA DATS ATS SELS ELS 1 DAT AT Eu B S SELG EL n DAT7 AT 1 OUTS SEL EL SEL 0 2 4 Kos SEL 1 E Not alg Kag D SEL 2 T 5 ND SELS 6 N Kos SEL 4 1 8 1 d p SELS 10KSIP10C SEL 6
34. y UBUS Interface 96 pin DIN connector MACRO Fiber optic interface 2 SC style optical connectors OPTA or OPTB only UMAC MACRO amp I O Board Connector Summary 15 Accessory 5E 16 UMAC MACRO amp I O Board Connector Summary Accessory 5E UMAC MACRO amp I O CONNECTOR PINOUTS The schematic circuits shown in this section are for interface reference only Subtle differences may exist between the circuits shown here and the actual hardware used J2 JTHW Thumbwheel Port 26 pin Header Front View Pin Symbol Function Description Notes 1 GND Common Power Supply Return 2 GND Common Power Supply Return 3 DATO Bidirect Thumbwheel Data Line 0 4 SELO Bidirect Thumbwheel Select Line 0 5 DATI Bidirect Thumbwheel Data Line 1 6 SELI Bidirect Thumbwheel Select Line 1 7 DAT2 Bidirect Thumbwheel Data Line 2 8 SEL2 Bidirect Thumbwheel Select Line 2 9 DAT3 Bidirect Thumbwheel Data Line 3 10 SEL3 Bidirect Thumbwheel Select Line 3 11 DATA Bidirect Thumbwheel Data Line 4 12 SELA Bidirect Thumbwheel Select Line 4 13 DATS Bidirect Thumbwheel Data Line 5 14 SEL5 Bidirect Thumbwheel Select Line 5 15 DAT6 Bidirect Thumbwheel Data Line 6 16 SEL6 Bidirect Thumbwheel Select Line 6 17 DAT7 Bidirect Thumbwheel Data Line 7 18 SEL7 Bidirect Thumbwheel Select Line 7 19 n c Not Connected 20 GND Common Power Supply Ret
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