^1 USER MANUAL
Contents
1. The P1 connector is used to connect the Compact MACRO Station to 4 channels of servo amps flags and encoders 24 ACC 2E Four Axis Piggyback Board Connector Descriptions Accessory 2E TB1 4 Point Terminal Block Pin Symbol 1 GND Common Reference Voltage 2 5V Input Positive Supply Voltage Supplies all digital circuits 3 15V Input Positive Supply Voltage 12V to 15V required for Opt 1B Opt 4 can be used for flag power 4 15V Input Positive Supply Voltage 12V to 15V required for Opt 1B Opt 4 can be used for flag power Connection Side Power Connector 4 Leeeoe 1 4 point terminal block TB2 4 Pin Terminal Block This terminal block provides the output for the Compact MACRO Station s watchdog timer relay both normally open and normally closed contacts Normally closed V or OV Normally open V or OV Note The normally closed relay contact is open while the Compact MACRO Station s operating properly it has power and the watchdog timer is not tripped and closed when the Compact MACRO Station is not operating properly either it has lost power or the watchdog timer has tripped The normally open relay contact is closed while Compact MACRO Station is operating properly and open when the Compact MACRO Station is not operating properly Connection Side Power Connector 4 Leeeoe 1 4 point termina2. OVERVIEW The ACC 2E Axis Expansion Board provides two or four channels of PMAC2 style servo interface circuitry for UMAC Turbo and Ultralite MACRO Station controllers The ACC 2E is part of the UMAC or MACRO Stack 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 JEXP expansion bus Up to two ACC 2E boards can be connected to one UMAC providing up to 8 channels of servo interface circuitry for either the UMAC Turbo or UMAC MACRO systems The ACC 2E board contains no processor it has 1 highly integrated 4 channel PMAC2 style Servo IC with the buffering circuitry and connectors around them The ACC 2E stacks into either the 3U Turbo PMAC or the MACRO CPU cards and uses one slot in the rack The ACC 2E provides four channels of PMAC2 style digital servo interface through two 100 pin high density JMACH connectors breakout supported through PMAC2 style ACC 8 boards sine wave drives can be supported through ACC 8E Up to two ACC 2E boards are permitted in a Compact MACRO Station configuration With ACC 2E option A the on board 4 channels of analog output 4 sets of flag isolation and PMAC 1 style interface through 96 pin DIN connector Pinout like PMAC 1 VME breakout supported through ACC 8D or ACC 8P with Option V cable Note The ACC 2E was not des
3. i EEN ENEE di davies E alle an 8 Direct PWM Mode for MA CRO srice ganedueneyeeiy ce Eeer EENEG ed amp DAG Ouiput Mode for MACRO EE 8 PEM Output Mode for MACRO mariane n e E EREI N E E NER 9 ENCODER LOSS FEATURE cscsssssssssssscssssssescssssessssnesscsncesossssssssssssesssssessesssssessossssonsssssessssnesenssoss 10 Principle of Operations seess SES ai ee din eet aslo adeeb eka 10 UMAC Turbo Encoder Loss Detecpon cies cseecseeseeesecseeeeeeeeeeeeeeeeeeeeesaecsaecaecaecaecaaecaeesaeseaeeeaeees 11 MACRO Station Encoder Loss Detectton ei cec cee eseceecseecneeeeeeeeeeeeceeeeeeeeeseceaecsaecaecsaecaaecaeecaeeaeeaaeees 11 ACC 2E 4 AXIS PIGGYBACK BOARD CONNECTOR DESCRIPTION 0 cssesssssssssssnsscesoseseees 14 J1 J3 SEXP_A JEXP_C For Interboard Connecton 14 J4 IMACHI1 DIG PMAC2 Style Axis Interface Connector Description cceeeseeseeseeneeeecneeeeeneeees 14 J5 IMACH2 DIG PMAC2 Style Axis Interface Connector Description cceeeseecseseeneeeecneeeeeneeees 18 P1 SMACH ANA PMAC 1 Style Axis Interface Connector Descrnptpon 22 PI JIMAGH ANA 96 Pin Header s cccsacesescoacestiesisaciacveciviasssesesasseadoteedandesactesdatentesssdad oieddensoaddessacee vents 22 TB 4 Poimt Terminal Bl cken ee ea ea EEE EE EE REEERE acne 25 TB2 4 Pin Terminal Block ui uEee ee Ee acdeccaese pad boaact aces soteds EEE cident EAA EEEE geg 25 Table of Contents Accessory 2E Table of Contents Accessory 2E
4. settings for direct DAC outputs are shown below Channel Setting Channel Setting 1 MS0 MI916 3 5 MS8 MI916 3 2 MS1 MI916 3 6 MS9 MI916 3 3 MS4 MI916 3 7 MS12 MI916 3 4 MS5 MI916 3 8 MS13 MI916 3 ACC 2E Four Axis Piggyback Board Jumpers 9 ACC 2E Axis Expansion Board ENCODER LOSS FEATURE Many newer PMAC and UMAC systems have dedicated circuitry for the detection of the loss of incremental encoder feedback However there is presently no dedicated firmware function to take action when loss of encoder is detected Principle of Operation The encoder loss detection circuitry works only for differential incremental encoders In proper operation the digital states of the complementary inputs for a channel e g A and A should always 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 complem
5. true AENA1 signal on P1 Jump pins 1 and 2 for low true AENA1 signal on P1 E17B AENA2 Polarity Select Option A only Remove jumper for high true AENA2 signal on P1 Jump pins 1 and 2 for low true AENA2 signal on P1 E17C AENA3 Polarity Select Option A only Remove jumper for high true AENA3 signal on P1 Jump pins 1 and 2 for low true AENA3 signal on P1 E17D AENA4 Polarity Select Option A only Remove jumper for high true AENA4 signal on P1 Jump pins 1 and 2 for low true AENA4 signal on P1 E87 Flag Return Voltage Control Option A only Remove jumper to separate FRET from signal common GND on board Must supply external FRET 12V to 24V for sinking flag drivers Jump pins 1 and 2 to tie FRET to signal common on board Must tie E90 1 2 and use sourcing flag drivers ACC 2E Four Axis Piggyback Board Jumpers ACC 2E Axis Expansion Board E90 Flag Return Source Control Option A only Jump pins 1 and 2 to use FRET or GND see E87 as flag return voltage Jump pins 2 and 3 to use analog A 15V supply as flag return voltage Must use sinking flag drivers E101 AENA EQU Sinking Sourcing Output Select Option A only CAUTION Wrong jumper setting will damage IC Jump pins 1 and 2 for ULN2803A sinking driver IC in U2 for AENA amp EQU Jump pins 2 and 3 for UDN2981A sourcing driver IC in U2 for AENA amp EQU E102 AENA EQU Sinking Sourcing Output Select Option A only CAUTION Wrong jumper setti
6. 0 pin male box header with center key 0 050 pitch AMP part 1 04068 7 Delta Tau part 014 00100 FPB ACC 2E Four Axis Piggyback Board Connector Descriptions 17 ACC 2E Axis Expansion Board J5 JMACH2 DIG PMAC2 Style Axis Interface Connector Description ring O COJN AD Nn AJY ele Ka Symbol Function Description Notes external supply external supply GND Common _ Reference Voltage Also pulse input Also pulse input Also direction input Also direction input Index channel Index channel CHU3 Input Channel 3 U Flag Hall Effect Fault Code or SUB count CHV3 Input Channel 3 V Flag Hall Effect Fault Code or SUB count SUB count CHT3 Channel 3 T Flag Fault Code or sub count USER3 General Purpose User Flag Hardware capture flag or sub count Hardware capture flag Hardware capture flag Hardware capture flag For loss of Acc supply voltage Low is PMAC watchdog fault SCLK34 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper SCLK34 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper Programmable frequency Programmable frequency Programmable sequence Programmable sequence MSB first MSB first MSB first MSB first High is enable Low is enable Programmable polarity FAULT3 Input Amplifier Fault Programmable polarity 18 ACC 2E Four Axis Piggyback Board Connector Descriptions Accessor
7. A ACC 8E or ACC 8A Channels Setting Channels Setting 1 4 17005 7FFFOO 1 4 17005 7FFFCO 5 8 17105 7FFFO0 5 8 17105 7FFFCO ACC 2E Four Axis Piggyback Board Jumpers ACC 2E Axis Expansion Board PFM Output Mode for UMAC Turbo To setup Direct PWM outputs the user will set 7mn6 equal to two or three DAC outputs would typically be used with the Delta Tau ACC 8S The PMAC2 gate array on the ACC 2E would put the C output into PFM mode Typical settings for direct DAC outputs are shown below Channel Setting Channel Setting 1 17016 3 3 17116 3 2 17026 3 6 17126 3 3 17036 3 7 17136 3 4 17046 3 8 17146 3 MACRO Outputs To setup the output mode for the MACRO the user must set MSn MI916 to the proper value The Gate Array on the ACC 2E has three outputs per channel as shown below MI916 A B C Setting Output Output Output MI916 0 PWM PWM PWM MI916 1 DAC DAC PWM MI916 2 PWM PWM PFM MI916 3 DAC DAC PFM Direct PWM Mode for MACRO To setup Direct PWM outputs the user will set MI916 equal to zero Direct PWM outputs would typically be used with the Delta Tau ACC 8F The PMAC 2 gate array on the ACC 2E would put the A B and C outputs into PWM mode Typical settings for direct PWM outputs are shown below Channel Setting Channel Setting 1 MS0 MI916 0 5 MS8 MI916 0 2 MS1 M
8. Direction controlled by 73 Programmable frequency 74 Programmable frequency 75 Programmable sequence 76 Programmable sequence 77 MSB first 78 MSB first 79 MSB first 80 MSB first 81 High is enable 82 Low is enable 83 Programmable polarity 84 Programmable polarity DAC_CLK2 Clock control 86 PWMATOP2 Output Phase A Top CMD or DAC Programmable function 87 PWMABOT2 Output Phase A Bottom CMD or Programmable function 88 PWMABOT 2 Output Phase A Bottom CMD or Programmable function 89 PWMBTOP2 Output Phase B Top CMD or DAC Programmable function 90 PWMBTOP2 Output Phase B Top CMD or DAC Programmable function 91 PWMBBOT2 Output Phase B Bottom CMD or Programmable function 92 PWMBBOT 2 Output Phase B Bottom CMD or Programmable function DAC2B DAC B Serial Data control 16 ACC 2E Four Axis Piggyback Board Connector Descriptions Accessory 2E J4 JMACH1 DIG PMAC2 Style Axis Interface Connector Description Cont Pin Symbol Function Description Notes DIR2 Direction control DIR2 Direction control PULSE2 PFM Pulse control PULSE2 PFM Pulse control E 97 GND 98 GND 99 5V Output Input 5V Power For external circuit or from 100 SV Output Input 5V Power For external circuit or from external supply The JMACH1 connector provides the interface pins for channels 1 and 2 It is usually connected to a breakout board such as one of the ACC 8x family of boards or an application specific interface board Connector 10
9. Encoder A Channel Positive Al4 CHA2 Input Encoder A Channel Negative Do not ground if not used Al5 DAC4 Output Analog Out Positive 4 10V to GND A16 DAC4 Output Analog Out Negative 4 10V to GND A17 AENA4 DIR4 Output AMP ENA DIR 4 Jumperable polarity E17D AIS FAULT4 Input AMP Fault 4 Programmable polarity A19 MLIM4 Input Negative End Limit 4 Failsafe high true A20 PLIM4 Input Positive End Limit 4 Failsafe high true A21 HMFL4 Input Home Flag 4 Programmable polarity A22 DAC2 Output Analog Out Pos 2 10V TO GND A23 DACH Output Analog Out Neg 2 10V TO GND A24 AENA2 DIR2 Output AMP ENA DIR 2 Jumperable polarity E17B A25 FAULT2 Input AMP Fault 2 Programmable polarity A26 MLIM2 Input Negative End Limit 2 Failsafe high true A27 PLIM2 Input Positive End Limit 2 Failsafe high true A28 HMFL2 Input Home Flag 2 Programmable polarity A29 FRET RETURN Flag Return See E87 E90 A30 A 15V INPUT Analog 15V Supply A31 GND COMMON Digital Common A32 5V OUTPUT 5V Power For encoders 22 ACC 2E Four Axis Piggyback Board Connector Descriptions Accessory 2E P1 JMACH ANA Vid L lSielslststsieteisisteiststetsietets 96 Pin Header ee EES ale Eeler Lake Continued Front View Pin Symbol Function Description Notes BOl 5V Output 5V Power For encoders B02 GND Common Digital Common B03 DIR1 Output PFM Dir
10. I916 0 6 MS9 MI916 0 3 MS4 MI916 0 7 MS12 MI916 0 4 MS5 MI916 0 8 MS13 MI916 0 DAC Output Mode for MACRO To setup Direct PWM outputs the user will set M1916 equal to one or three DAC outputs would typically be used with the ACC 2E Option 1A or the Delta Tau ACC 8A or ACC 8E The PMAC2 gate array on the ACC 2E would put the A and B outputs into DAC mode Typical settings for direct DAC outputs are shown below Channel Setting Channel Setting 1 MS0 MI916 3 5 MS8 MI916 3 2 MS1 MI916 3 6 MS9 MI916 3 3 MS4 MI916 3 7 MS12 MI916 3 4 MS5 MI916 3 8 MS13 MI916 3 ACC 2E Four Axis Piggyback Board Jumpers Accessory 2E Depending on the type of interface card the user is using for their DAC ouputs the DAC strobe word might have to be modified for proper operation The DAC Strobe word must set to 7FFFOO for 16 bit DACs on the ACC 1E option 1A default and it must be set to 7FFFCO for 18 bit operation if used with the ACC 8E or ACC 8A ACC 2E Option 1A ACC 8E or ACC 8A Channels Setting Channels Setting 1 4 MS0 MI905 7FFF00 1 4 MS0 MI905 7FFFC0 5 8 MS0 MI909 7FFF00 5 8 MS0 MI909 7FFFC0 PFM Output Mode for MACRO To setup Direct PWM outputs the user will set MI916 equal to two or three DAC outputs would typically be used with the Delta Tau ACC 8S The PMAC 2 gate array on the ACC 2E would put the C output into PFM mode Typical
11. USER MANUAL ACCESSORY 2E A 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 Awww 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 cau
12. an encoder loss on encoder 1 or 5 if P802 1 we have an encoder loss on encoder 2 or 6 if P803 1 we have an encoder loss on encoder 3 or 7 if P804 1 we have an encoder loss on encoder 4 or 8 When a loss of encoder is detected the MACRO Station will display an E 12 ACC 2E Four Axis Piggyback Board Jumpers Accessory 2E ACC 2E Four Axis Piggyback Board Jumpers 13 ACC 2E Axis Expansion Board ACC 2E 4 AXIS PIGGYBACK BOARD CONNECTOR DESCRIPTION J1 J3 JEXP_A JEXP_C For Interboard Connection Consult factory if pinout information needed J4 JMACH1 DIG PMAC2 Style Axis Interface Connector Description Pin Symbol Function Description Notes 1 5V Output Input 5V Power For external circuit or from external supply 2 5V Output Input 5V Power For external circuit or from 3 4 5 Also pulse input 6 Also pulse input 7 Also direction input 8 Also direction input 9 Index channel 10 Index channel 11 CHUI1 Input Channel 1 U Flag Hall Effect Fault Code or sub count sub count sub count 14 CHT1 Channel 1 T Flag Fault Code or sub count 15 USER1 Input General Purpose User Flag Hardware capture flag or sub count 16 PLIM1 Positive Overtravel Limit Hardware capture flag 17 MLIM1 Negative Overtravel Limit Hardware capture flag 18 Hardware capture flag 19 ACCFLT1 Input Accessory Fault Flag For loss of ACC supply 20 WDO Output Watchdog Output Low is PMAC wat
13. ce To monitor the encoder loss the user must query the MI4 variable either in a PLC or with online commands When any axis has an encoder loss then bit 5 of MSn MT4 is set to 1 The encoder which failed can be determined by reading bits 8 through 11 MSn MI4 Bit Fault Notes 0 CPU Fault 1 Ring Communications Error 2 Ring Break Detected 3 Station Fault 4 Ring Fault 5 Encoder Loss Fault 6 Amplifier Fault 7 Ring Break Notification Received 8 Encoder 1 or 5 Loss Fault 9 Encoder 2 or 6 Loss Fault 10 Encoder 3 or 7 Loss Fault 11 Encoder 4 or 8 Loss Fault 12 Ring Active 13 Multiplexer Port Parity Error From ACC 34 board with parity checking 13 23 Reserved for future use Example a MSO MI7 1 b Read MSO MI4 senable encoder loss detection To process the data in a PLC or online the user could do the following MSR MI4 P1000 copies value of MI4 into P1000 ACC 2E Four Axis Piggyback Board Jumpers Il ACC 2E Axis Expansion Board To Read bit 5 of MSO MI4 P800 P L000 amp 0020 20 To Read bit 8 of MSO MI4 P801 P 1000 amp 0100 100 To Read bit 9 of MSO MI4 P802 P 1000 amp 0200 200 To Read bit 10 of MSO MI4 P803 P 1000 amp 0400 400 To Read bit 11 of MSO MI4 P804 P L000 amp 0800 800 if P800 1 we have an encoder loss at the MACRO Station if P801 1 we have
14. chdog fault PMAC2 jumper PMAC2 jumper 23 Programmable frequency 24 Programmable frequency 25 Programmable sequence 26 Programmable sequence 27 MSB first 28 ADC_DAAI Input Channel A ADC Serial Data MSB first 14 ACC 2E Four Axis Piggyback Board Connector Descriptions Accessory 2E J4 JMACH1 DIG PMAC2 Style Axis Interface Connector Description Cont Pin Symbol Function Description 29 30 31 32 33 34 35 PWMATOPI1 Output Phase A Top CMD or DAC ec 36 PWMATOPI Output Phase A Top CMD or DAC er OM Gag TRONS 37 PWMABOTI Output Phase A Bottom CMD or DAC acia ON Sa bag ON 38 PWMABOTI Output Phase A Bottom CMD or DAC ET OM fasera paa n PN 39 PWMBTOP1 Output Phase B Top CMD or DAC acsm TJ 40 PWMBTOPI Output Phase B Top CMD or DAC es ls 41 PWMBBOTI Output Phase B Bottom CMD or DAC ET OM Sata 42 PWMBBOTI Output Phase B Bottom CMD or DAC Dacs OM fasea paa oa 43 PWMCTOP1 Output Phase B Top CMD or PFM im DT Dion 44 PWMCTOPI Output Phase B Top CMD or PFM Mme Dion 45 PWMCBOTI Output Phase B Bottom CMD or PFM see ON pug SPN PN 46 PWMCBOTI Output Phase B Bottom CMD or PFM Praise OM e 47 i GND Output Input 5V Power 53 GND Common _ Reference Voltage 54 55 56 57 58 59 60 CHC2 Input Encoder 2 Neg C Channel Notes MSB first MSB first High is enable Low is enable Programmable polarity Programmable polarity Programmable
15. d on the CPU Interface Board and can be used here even if the 2 axis board is not present Software setup of the MACRO Station should then be as if the 2 axis board was present 2 The encoder inputs here provide connections that are normally brought in on the 2 axis piggyback board These signals are processed on the CPU Interface Board They can be brought in here only if jumper E2 on this board is ON and no 2 axis board is present 3 The ACC 28B interface provided here provides connections that are normally made on the 2 axis piggyback board These signals are processed on the CPU Interface Board The connection can be made here only if jumper E3 on this board is OFF and no 2 axis board is present ACC 2E Four Axis Piggyback Board Connector Descriptions ACC 2E Axis Expansion Board P1 JMACH ANA 96 Pin Header Caz Oo Oe GAS Gallais AC 1 C 1 CH Gelle leleleieieiekeleielielets i i AM OOOD OOG Continued Front View Pin Symbol C01 5V C02 GND C03 CHC3 C04 CHC3 C05 CHB3 C06 CHB3 C07 CHA3 C08 CHA3 C09 CHC1 C10 CHC1 Cll CHB1 C12 CHB1 C13 CHAI C14 CHA1 C15 DAC3 C16 DAC3 C17 AENA3 DIR3 C18 FAULT3 C19 MLIM3 C20 PLIM3 C21 HMFL3 C22 DACI C23 DACI1 C24 AENA1 DIR1 C25 FAULT1 C26 MLIM1 C27 PLIM1 C28 HMFL1 C29 FEFCO C30 A 15V C31 GND C32 5V
16. e or 64 Fault Code or sub count 65 USER4 Input General Purpose User Flag Hardware capture flag or 66 Hardware capture flag 67 Hardware capture flag 68 Hardware capture flag 69 ACCFLT4 Input Accessory Fault Flag For loss of Acc supply 70 Low is PMAC watchdog fault 71 SCLK34 Input Output Encoder Sample Clock Direction controlled by 72 SCLK34 Input Output Encoder Sample Clock Direction controlled by 73 Programmable frequency 74 Programmable frequency 75 Programmable sequence 76 Programmable sequence 77 MSB first 78 MSB first 79 MSB first 80 MSB first 81 High is enable 82 Low is enable 83 Programmable polarity 84 Programmable polarity DAC_CLK4 Clock control DAC_CLK4 Clock control 87 PWMABOT4 Output Phase A Bottom CMD or Programmable function 88 PWMABOT4 Output Phase A Bottom CMD or Programmable function 89 PWMBTOP4 Output Phase B Top CMD or DAC Programmable function 90 PWMBTOP4 Output Phase B Top CMD or DAC Programmable function 91 PWMBBOT4 Output Phase B Bottom CMD or Programmable function DAC4B DAC B Serial Data control 20 ACC 2E Four Axis Piggyback Board Connector Descriptions Accessory 2E J5 JMACH2 DIG PMAC2 Style Axis Interface Connector Description Cont Pin Symbol Function Description Notes DAC4B DAC B Serial Data control DIR4 Direction control DIR4 Direction control PULSE4 PFM Pulse control PULSE4 PFM Pulse control E 97 GND 98 GND 99 5V Output Input 5V Power For external c
17. ection 1 B04 DIRI Output DEM Direction 1 B05 PULI Output PFM Pulse d B06 PUL1 Output DEM Pulse 1 B07 USER1 Input BOS DIR2 Output DEM Direction 1 B09 DIR2 Output PFM Direction 1 B10 PUL2 Output PFM Pulse d B11 PUL2 Output PFM Pulse d B12 USER2 Input User Capture Flag B13 HWA1 Input Supp Encoder A Ch 2 B14 HWA I Input Supp Encoder A Ch 2 B15 HWB1 Input Supp Encoder B Ch 2 B16 HWBI Input Supp Encoder B Ch 2 B17 HWA2 Input Supp Encoder A Ch 2 B18 HWA2 Input Supp Encoder A Ch 2 B19 HWB2 Input Supp Encoder B Ch 2 B20 HWB2 Input Supp Encoder B Ch 2 B21 EQUI Output Position Compare Flag Programmable polarity B22 EQU2 Output Position Compare Flag Programmable polarity B23 EQU3 Output Position Compare Flag Programmable polarity B24 EQU4 Output Position Compare Flag Programmable polarity B25 DCLK Output A D Converter Clock For Acc 28B 3 B26 CNVRT Output A D Converter Strobe For Acc 28B 3 B27 ADCI1 Input ADC Serial Data For Acc 28B 3 B28 ADC2 Input ADC Serial Data For Acc 28B 3 B29 ADC3 Output ADC Serial Data For Acc 28B 3 B30 ADC4 Input ADC Serial Data For Acc 28B 3 B31 GND Common Digital Common B32 5V Output 5V Power The B row of P1 on the 4 axis piggyback board brings out extra signals for alternate connection of some signals 1 The pulse and direction outputs here provide outputs that are normally brought out on the 2 axis piggyback board These signals are generate
18. entary encoder lines A B and C are pulled up to 5V instead of pulled to 2 5V The resistor packs to be reversed are RP28 RP29 RP30 and RP31 RP30 Channel 1 RP31 Channel 2 RP28 Channel 3 RP29 Channel 4 The resistor packs are located near the JMACH connectors on the ACC 2E and the ACC 1E as shown in the diagram below SLEG 1poppococleconrconponpcooroppnpg DO ooo000 D00000 10 ACC 2E Four Axis Piggyback Board Jumpers Accessory 2E UMAC Turbo Encoder Loss Detection ACC 2E Discrete On board Logic with UMAC Turbo CPU Channel Resistor Status Bit Status Bit Bit Error State Pack Address Name 1 RP30 Y 078403 8 CTRLO 0 2 RP31 Y 078403 9 CTRL1 0 3 RP28 Y 078403 10 CTRL2 0 4 RP29 Y 078403 11 CTRL3 0 Note These addresses are shared by both ACC 2E boards that can be in a system and the first two are shared with any ACC 1E in the system To detect the errors with the UMAC Turbo system the user must read the status bit registers described in the table above MACRO Station Encoder Loss Detection To detect the encoder loss with the MACRO Station the user must set M n MI7 1 and monitor the encoder error detection bit at the MACRO Station To monitor the status of the encoder error detection bit the user must monitor MSn MI4 MSn MI4 monitors several important MACRO Station status bits as described in the MACRO Software referen
19. function control Programmable function control Programmable function control Programmable function control Programmable function control Programmable function control Programmable function control Programmable function control Programmable function control Programmable function control Programmable function control Programmable function control For external circuit or from external supply For external circuit or from external supply For external circuit or from external supply For external circuit or from external supply Also Pulse input Also Pulse input Also direction input Also direction input Index channel Index channel ACC 2E Four Axis Piggyback Board Connector Descriptions 15 ACC 2E Axis Expansion Board J4 JMACH1 DIG PMAC2 Style Axis Interface Connector Description Cont Pin Symbol Function Description Notes 61 CHU2 Input Channel 2 U Flag Hall Effect Fault Code or 62 CHV2 Input Channel 2 V Flag Hall EFFECT Fault Code or 63 CHW2 Input Channel 2 W Flag Hall EFFECT Fault Code or 64 Fault Code or sub count 65 USER2 Input General Purpose User Flag Hardware capture flag or 66 Hardware capture flag 67 Hardware capture flag 68 Hardware capture flag 69 ACCFLT2 Input Accessory Fault Flag For loss of Acc supply 70 Low is PMAC watchdog fault 71 SCLK12 Input Output Encoder Sample Clock Direction controlled by 72 SCLK12 Input Output Encoder Sample Clock
20. has three outputs per channel as shown below I7mn6 A Output B Output C Output Setting I7mn6 0 PWM PWM PWM I7mn6 1 DAC DAC PWM I7mn6 2 PWM PWM PFM I7mn6 3 DAC DAC PFM Direct PWM Mode for UMAC Turbo To setup Direct PWM outputs the user will set I7mn6 equal to zero Direct PWM outputs would typically be used with the Delta Tau ACC 8F The PMAC2 gate array on the ACC 2E would put the A B and C outputs into PWM mode Typical settings for direct PWM outputs are shown below Channel Setting Channel Setting 1 17016 0 5 17116 0 2 17026 0 6 17126 0 3 17036 0 7 17136 0 4 17046 0 8 17146 0 DAC Output Mode for UMAC Turbo To setup Direct PWM outputs the user will set I 7mn6 equal to one or three DAC outputs would typically be used with the ACC 2E Option 1A or the Delta Tau ACC 8A or ACC 8E The PMAC2 gate array on the ACC 2E would put the A and B outputs into DAC mode Typical settings for direct DAC outputs are shown below Channel Setting Channel Setting 1 17016 3 5 17116 3 2 17026 3 6 17126 3 3 17036 3 7 17136 3 4 17046 3 8 17146 3 When used with the ACC 2E Option1A the user must modify the DAC strobe word for proper operation The DAC Strobe word must set to 7FFFO for 16 bit DACs on the ACC 2E option 1A The default setting for the DAC Strobe word is for 18 bit operation ACC 2E Option 1
21. igned to plug into the Delta Tau UBUS Systems Features The ACC 2E board can be used with any UMAC or MACRO Station CPU interfacing through the stack JEXP connector The ACC 2E supports a wide variety of servo and stepper interfaces Analog 10V velocity commands Analog 10V torque commands Sinusoidal analog 10V phase current commands Direct PWM phase current commands Pulse and direction commands Power Requirements 5V 12V 12V other 24V etc 750mA 400mA 400mA N A with option 1A Overview 1 Accessory 2E Overview Accessory 2E CONNECTOR SUMMARY ACC 2E Four Axis Piggyback Board J1 SEXP_A 40 pin header for connection to piggyback board s J2 JEXP_B 40 pin header for connection to piggyback board s J3 JEXP_C 28 pin header for connection to piggyback board s J4 SMACH1_DIG 100 pin high density connector for 2 axis servo connection Channels 1 amp 2 to PMAC2 style ACC 8x breakout boards or equivalent J5 IMACH2_DIG 100 pin high density connector for 2 axis servo connection Channels 3 amp 4 to PMAC2 style ACC 8x breakout boards or equivalent P1 SMACH_ANA 96 pin DIN connector for servo connection to PMAC 1 style ACC 8D P breakout boards or equivalent Only present if Option A ordered TB1 JWDO 4 point terminal block for output of watchdog timer hard contact relay Connector Summary 3 ACC 2E Axis Expansio
22. ircuit or from 100 SV Output Input 5V Power For external circuit or from external supply The JMACH2 connector provides the interface pins for channels 3 and 4 It is usually connected to a breakout board such as one of the ACC 8x family of boards or an application specific interface board Connector 100 pin male box header with center key 0 050 pitch AMP part 1 04068 7 Delta Tau part 014 00100 FPB ACC 2E Four Axis Piggyback Board Connector Descriptions 21 ACC 2E Axis Expansion Board P1 JMACH ANA PMAC 1 Style Axis Interface Connector Description P1 JMACH ANA 96 Pin Header Si Pin Symbol Function Description Notes AO 5V Output 5V Power For encoders A02 GND Common Digital Common A03 CHC4 Input Encoder C Channel Positive A04 CHC4 Input Encoder C Channel Negative Do not ground if not used A05 CHB4 Input Encoder B Channel Positive A06 CHB4 Input Encoder B Channel Negative Do not ground if not used A07 CHA4 Input Encoder A Channel Positive A08 CHA4 Input Encoder A Channel Negative Do not ground if not used A09 CHC2 Input Encoder C Channel Positive A10 CHC2 Input Encoder C Channel Negative Do not ground if not used All CHB2 Input Encoder B Channel Positive A12 CHB2 Input Encoder B Channel Negative Do not ground if not used A13 CHA2 Input
23. l block ACC 2E Four Axis Piggyback Board Connector Descriptions 25
24. n Board Connector Summary Accessory 2E ACC 2E FOUR AXIS PIGGYBACK BOARD JUMPERS E1 Channel Select Jump pins 1 and 2 to select board as Channels 1 4 Jump pins 2 and 3 to select board as Channels 5 8 Note If two four axis piggyback boards are used on a Compact MACRO Station they must have different settings of this jumper E2 Handwheel Input Source Select Remove jumper to permit handwheel encoder inputs on P1 B row of this board Jump pins 1 and 2 to permit use of encoder inputs from 2 axis board E3 Serial ADC Data Source Select Remove jumper to permit use of ADC serial inputs from 2 axis board Jump pins 1 and 2 to permit use of ADC serial inputs on P1 B row E4 Channel 1 Flag Source Select Jump pins 1 and 2 to use input flags from J4 PMAC2 style connector Jump pins 2 and 3 to use input flags from P1 PMAC 1 style connector E5 Channel 2 Flag Source Select Jump pins 1 and 2 to use input flags from J4 PMAC2 style connector Jump pins 2 and 3 to use input flags from P1 PMAC 1 style connector E6 Channel 3 Flag Source Select Jump pins 1 and 2 to use input flags from J4 PMAC2 style connector Jump pins 2 and 3 to use input flags from P1 PMAC 1 style connector E7 Channel 4 Flag Source Select Jump pins 1 and 2 to use input flags from J4 PMAC2 style connector Jump pins 2 and 3 to use input flags from P1 PMAC 1 style connector E17A AENAI Polarity Select Option A only Remove jumper for high
25. ng will damage IC Jump pins 1 and 2 for ULN2803A sinking driver IC in U2 for AENA amp EQU Jump pins 2 and 3 for UDN2981A sourcing driver IC in U2 for AENA amp EQU E111 Channel 1 Output Signal Disable Control Jump pins 1 and 2 to tri state digital command output signals on amplifier disable Remove jumper to leave active zero value digital command output signals on amplifier disable E112 Channel 2 Output Signal Disable Control Jump pins 1 and 2 to tri state digital command output signals on amplifier disable Remove jumper to leave active zero value digital command output signals on amplifier disable E113 Channel 3 Output Signal Disable Control Jump pins 1 and 2 to tri state digital command output signals on amplifier disable Remove jumper to leave active zero value digital command output signals on amplifier disable E114 Channel 4 Output Signal Disable Control Jump pins 1 and 2 to tri state digital command output signals on amplifier disable Remove jumper to leave active zero value digital command output signals on amplifier disable 6 ACC 2E Four Axis Piggyback Board Jumpers Accessory 2E ACC 2E OUTPUT MODE The ACC 2E has three modes of outputs which are setup by either the TURBO UMAC or the MACRO CPU The output modes available for the ACC 2E are Direct PWM DAC or PFM UMAC Turbo Outputs To setup the output mode for the UMAC Turbo the user must set I7mn6 to the proper value The Gate Array on the ACC 2E
26. sing 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 2E Table of Contents OVERVIEW E 1 It 1 Power RGuire ments sis seggt sis Sasesnucevacveancstensibves eea aR a anane aieh rae aa a SEEE REFAIRE Ea ERE ak FECES EEE 1 CONNECTOR SUMMARY csscsssscsssscccsscsssssenscesssesscsncssescsssnssesensssessessosssssnsssssnessesncssesssssossessnsssessosees 3 ACC 2E Four Axis Pippy back Board sinccsscssccsssdeccsccsssuseesdsevsovsdceussousesustcucsevsdeideatacsoegsoga seessuessivbousscadseoeeds 3 ACC 2E FOUR AXIS PIGGYBACK BOARD JUMPERS cscssssssssssssscsssscesssssescssssessssnesesessosseees 5 ACC 2E OUTPUT MODE cvcssiscscasescsccestescstessseossessocsanecasecstnsssnsosecosecccansdsusessscvestesesevenessesesesantsossatent sonsotesese 7 UMAC Turbo e EE 7 Direct PWM Mode for UMAC Turbo wi eeesccscssccsseescesesseeseeseesecssesecscesceeaeeseesecaeeseesaeeeesaeeseeaecaaeeeaeeeeeaseaes 7 DAC Output Mode for UMAC Turbo 7 PFM Output Mode for UMAC Turbo 0 cescsscesssesssssecseccsenssonssoerececonsoverencesssessessensseseerenesensreeresesees amp MACRO Outputs
27. y 2E J5 JMACH2 DIG PMAC2 Style Axis Interface Connector Description Cont Pin Symbol Function Description Notes 35 PWMATOP3 Output Phase A Top CMD or DAC Programmable function 36 PWMATOP3 Output Phase A Top CMD or DAC Programmable function 37 PWMABOT3 Output Phase A Bottom CMD or DAC Programmable function 38 PWMABOT3 Output Phase A Bottom CMD or DAC Programmable function 39 PWMBTOP3 Output Phase B Top CMD or DAC Programmable function 40 PWMBTOP3 Output Phase B Top CMD or DAC Programmable function 41 PWMBBOT3 Output Phase B Bottom CMD or DAC Programmable function 42 PWMBBOT3 Output Phase B Bottom CMD or DAC Programmable function DIR3 Direction control DIR3 Direction control PULSE3 Pulse control PULSE3 Pulse control 47 GND 48 external supply external supply external supply 52 5V Output Input 5V Power For external circuit or from 53 54 55 Also Pulse input 56 Also Pulse input 57 Also direction input 58 Also direction input 59 Index channel 60 Index channel 61 CHU4 Input Channel 4 U Flag Hall Effect Fault Code or sub count ACC 2E Four Axis Piggyback Board Connector Descriptions 19 ACC 2E Axis Expansion Board J5 JMACH2 DIG PMAC2 Style Axis Interface Connector Description Cont Pin Symbol Function Description Notes 62 CHV4 Input Channel 4 v Flag Hall Effect Fault Code or sub count 63 CHW4 Input Channel 4 w Flag Hall Effect Fault Cod
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