^1 USER MANUAL ^2 Accessory 24V
Contents
1. P2 JMACHS 96 Pin Header Pin Symbol Function Description Notes A01 45V Output 5V Power For Encoders A02 GND Common PMAC Common A03 CHC12 Input Encoder C Ch Positive Axis 12 04 CHC12 Input Encoder C Ch Negative Axis 12 Do not gnd if not used A05 CHB12 Input Encoder B Ch Positive Axis 12 A06 CHB12 Input Encoder B Ch Negative Axis 12 Do not gnd if not used A07 12 Input Encoder A Ch Positive Axis 12 A08 CHA12 Input Encoder A Ch Negative Axis 12 Do not gnd if not used A09 10 Input Encoder C Ch Positive Axis 10 10 CHC10 Input Encoder C Ch Negative Axis 10 Do not gnd if not used 10 Input Encoder B Ch Positive Axis 10 A12 10 Input Encoder B Ch Negative Axis 10 Do not gnd if not used A13 10 Input Encoder A Ch Positive Axis 10 14 10 Input Encoder A Ch Negative Axis 10 Do not gnd if not used 15 DAC12 Output Ana Out Positive 12 10V to agnd 16 DAC12 Output Ana Out Negative 12 10V to agnd 17 Output Amp Ena Dir 12 Jumperable Polarity 12 DIR12 18 FAULTI2 Input Amp Fault 12 High True A19 LIM12 Input Positive Limit 12 Failsafe High True A20 LIMI2 Input Negative Limit 12 Failsafe A21 HMFL12 Input Home Flag 12 Programmable Polarity A22 DACIO Output Ana Out Positive 10 10V to 23 DAC10 Output Ana Out Negative 10 10V to agnd A24 AENAIO DIRIO Outpu2. 3 GONNECHON IO UB OON am 5 Connection ACC 26 Rm 5 Connection to ACC 8D 5 DSPGATE oa ea ene 7 Using ACC 24 Data L 7 Flag Registers within ACC 24V 8 00 amp CONNECTOR PINOUT ER HR 11 IBI 4 Pin Terminal Block 11 J3 and S6 Pin 11 IG 1O Pin 12 JEQU 10 Pin dns 12 78 453 I0 Pin i ettet v Eten cesset leu s e ida ade OE tier 13 J5 J9 784 16 Pin Header Labeled Jl on OPT 1 board esses eee 13 P2JMACHS3 96 Pin Header xu RENE UR eia tance eee Gua Vin epu eee reina pP DRYER RR 14 P2A JMACHA 96 Pin Header on Option 1 eese eene enne 16 JUMPER E POINT DESCRIPTIONS eo oes oat so senes inae rosa soovis 19 Table of Contents i Accessory 24 PMAC VME Axis Expansion Card Table of Content
3. 991 ut 99 DSPGATE Considerations Accessory 24V PMAC VME Axis Expansion Card Connecting to 24 and a e one ACC 14V 3 2 CPU slg amp 8 LE ia 2 4 pin flat cable 5 x supplied w ACC 24V 3 50 pin flat cable supplied w 24 gt BUFFER To 2nd 14 J10 connector 1st ACC 14V 10 DSPGATE Considerations Accessory 24V PMAC VME Axis Expansion Card CONNECTOR PINOUTS TB1 4 Terminal Block Top View Pin Symbol Function Description 1 GRD Input Digital Ground 2 5 Input 5V Supply 3 12V Input 12V Supply 4 12V Input 12V Supply TBI may be used as an alternative power supply connection if ACC 24V is not used with a VME rack Note for 12V and 12V input through jumpers E85 E87 and E88 must be installed This does however defeat the opto isolation feature of the board J3 J4 36 Pin Header Bthbiteittiitthi tists amp Top View Pin Symbol Function Description 1 12V Output Positive Analog Supply 2 12V Output Negative Analog Supply 3 GND Common Ground 4 5V Output Digital Supply 5 23 NC 24 25 NC 26 NC 27 NC 28 29 N
4. P2 JMACH3 This connector contains the signals for motor encoder channels 9 to 12 Typically this connector is linked to ACC 8D the Terminal Block board via a 64 pin flat cable supplied with ACC 8D Option V TB1 This is a 4 pin terminal block which provides an alternative digital power supply 5V input to ACC 24V Itis typically used for applications which require this Accessory s operation outside a VME rack In addition TB1 can also bring in 12 and 12V power supply inputs For this purpose jumpers E85 E87 and E88 must be installed Note that this configuration voids the opto isolation feature of the board 4 Connectors Accessory 24V PMAC VME Axis Expansion ACC 24V CONNECTIONS In order to use ACC 24V in conjunction with PMAC VME and other related Accessories several connections are required In this section the most critical connections are explained Also see the connection diagrams within this Manual Power Connection ACC 24V is designed to fit into slot but it only uses the bus for structural support and power supply When inserted into the bus ACC 24V always uses the 5V bus power supply for its digital circuitry It can also pass this supply to encoders through its JMACH connector s Outside a VME rack the terminal block tb1 may be used for ACC 24V s digital circuitry power supply We recommend that the power for the board s analog circuitry come from a separate supply
5. 3 to obtain differential encoder input 1 2 Jumper Installed E19 mode Non diff E20 Jump pin 1 to 2 to obtain non differential encoder input mode this will bias encoder negative inputs to 1 2Vcc22 5V E185 E187 E188 Host supplied analog power source enable E185 Jump pin 1 to pin 2 to allow A 14V to come from P1 No jumper installed 2 ties amplifier and PMAC PC power supply together defeats opto isolation Note that if E185 is changed E188 and E187 must also be changed also see E190 20 Jumper E Point Descriptions Accessory 24 PMAC VME Axis Expansion E Physical Description Default Point Layout E187 Jump pin 1 to pin 2 to allow analog gnd to come from P1 No jumper installed ties amplifier and PMAC PC gnd together Defeats opto isolation Note that if E187 is changed E185 and E188 must also be changed also see E190 E188 Jump pin 1 to pin 2 to allow A 14V to come from P1 No jumper installed ties amplifier and ACC 24V power supply together defeats opto coupling Note that if E188 is changed E187 and E185 must also be changed Also see E190 E189 Amplifier supplied switch pull up enable E189 Jump pin 1 to 2 to allow A 15V V on P2A pin 59 to tie to A 15V on P2 J MACH3 pin C30 This jumper must be installed to allow A 15V to power the Opto switch sensor inputs including limits from the same opto power supp
6. Typically miscellaneous I O is used to interface with ACC 28 the analog to digital converter board J5 and J9 JS4 16 Pin Header Labeled J1 on Top View OPT 1 board Pin Symbol Function Description Notes 1 DCLK Output D to A Ato DClock DAC and ADC Clock for Ch 13 14 15 16 2 BDATA4 Output D to A Data DAC Data for Ch 13 14 15 16 3 ASEL6 Output Axis Select Bit 0 Select for Ch 13 14 15 16 4 ASEL7 Output Axis Select Bit 2 Select for Ch 13 14 15 15 5 CONVERT 67 Output A to D Convert ADC Convert Signal Ch 13 14 15 16 6 ADCIN4 Input A to D Data ADC Data for Ch 13 14 15 16 7 OUT 13 Output Amp Enable Dir Amp Enable Direction for Ch 13 8 OUT 14 Output Amp Enable Dir Amp Enable Direction for Ch 14 9 OUTI15 Output Amp Enable Dir Amp Enable Direction for Ch 15 10 OUT16 Output Amp Enable Dir Amp Enable Direction for Ch 16 11 HF 413 Input Amp Fault Amp Fault Input for Ch 13 12 HF 414 Input Amp Fault Amp Fault Input for Ch 14 13 HF 415 Input Amp Fault Amp Fault Input for Ch 15 14 HG 416 Input Amp Fault Amp Fault Input for Ch 16 15 5V Output 5V Supply Power Supply Out 16 GND Common PMAC Common Typically miscellaneous I O is used to interface with ACC 28 the analog to digital converter board Connector Pinouts 13 Accessory 24V PMAC Axis Expansion Card
7. analog outputs ACC 24V OPT 1 provides another which extends its capabilities to 8 channels This Option comes as piggyback board for the main ACC 24V card It communicates to ACC 24V via the connector p3 located on the main card Introduction 1 Accessory 24V PMAC Axis Expansion Card Introduction Accessory 24V PMAC VME Axis Expansion Card CONNECTORS Refer to the schematic layout diagram of ACC 24V for connector locations on the board Also refer to the pin definition listings at the end of this Manual P1 This connector provides structural support as well as the digital power supply 5V for ACC 24V It can also bring in the 12 and the 12V supplies from the bus provided jumpers E85 E87 and E88 are installed the installation of these jumpers voids the opto isolation feature of ACC 24V J1 This connector provides the link between ACC 24V and PMAC VME via the J2 JEXP connector on the CPU board A 50 pin flat cable is provided for this task see also the connection diagram J1 must be connected to the PMAC CPU board s J2 JEXP J2 This connector provides the signals provided on the J1 connector in a buffered form If one ACC 14V the I O expansion board is used in conjunction with a PMAC VME and an 24 then this connector should be used for the connection to the ACC 14V s J10 connector For more than one ACC 14V a daisychain connector is needed See the relevant
8. connection diagram J3 This is an iSBX connector which provides only 5V GND 12V and 12V power supplies for an iSBX module such as ACC 28 analog to digital converter board J4 This is another iSBX connector with identical pin description as J3 J5 This connector contains miscellaneous I O signals related to the second DSPGATE on ACC 24V OPT 1 It is typically used for direct connection to ACC 28 the analog to digital converter board J6 This connector brings in the required DSPGATE clock signals from PMAC s J6 JXIO connector A 4 pin flat cable is provided for this purpose For proper operation of ACC 24V J6 must be connected to PMAC s J6 JXIO J7 This connector brings out the eight Compare Equal signals generated from the DSPGATES ACC 24V and its OPT 1 Jumpers E93 and E94 determine the signals polarities J8 This connector contains miscellaneous I O signals related to the first DSPGATE on ACC 24V It is typically used for direct connection to ACC 28 the analog to digital converter board J9 This connector s pins are hardwired pin to pin to the connector J5 P2A This connector contains the signals for motor encoder channels 13 to 16 Typically this connector is linked to ACC 8D the Terminal Block board via a 64 pin flat cable supplied with ACC 8D Option V This connector is on ACC 24V Opt 1 the piggyback board Connectors 3 Accessory 24 PMAC VME Axis Expansion Card
9. through the JMACH connector s This is especially helpful if large motors are being controlled However it is possible to bring in the 12 and 12V from the bus or through the terminal block for the purpose of powering the analog circuitry on 24 In this case jumpers E85 E87 and E88 should be installed this configuration defeats the opto isolation feature of the board Basic PMAC VME Connection A 4 long supplied 50 pin flat cable should be used to connect PMAC s JEXP J2 on the CPU board to ACC 24V s J1 In addition a supplied 4 pin flat cable should be used between PMAC s JXIO 76 on PMAC s main board and ACC 24V s J6 Connection to ACC 14V If one ACC 14V the I O expansion board is used in conjunction with a PMAC VME and an 24 then the connector J2 should be used for the connection to the ACC 14V s J10 connector For more than one ACC 14V a daisy chain connector is needed See the connection diagram Connection ACC 28 Up to two ACC 28s may be connected via J8 and J9 to one 24 The first ACC 28 s J1 connects to J8 the second ACC 28 s J1 connects to J9 note that the second connection is only possible when Opt 1 is installed If ACC 28s have the mating iSBX connectors they may be directly plugged into ACC 24V s connectors J3 and J4 for structural support Connection to 8 ACC 8P Each JMACH connector J7 and J8 may be connected to one Terminal Block board ACC 8D The Termi
10. C 30 NC 31 NC 32 33 NC 34 NC 35 GND Common Ground 36 5V Output Digital Supply Typically J3 and J4 are iSBX connectors which are used for ACC 28 s analog to digital converter boards power supply Connector Pinouts 11 Accessory 24 PMAC VME Axis Expansion Card J6 10 Pin Connector seers wl 12 see BF Top View 5 Symbol Function Description NC NC NC NC NC NC NC NC SCLK Output System Clock DCLK Output Servo Encoder Clock D Servo Encoder Timing Clock to A A to D Clock DAC and ADC Clock for Channels 9 to 16 This connector brings in SCLK and DCLK signals from PMAC VME This connector must be connected to J6 of PMAC VME s J6 connector via the 4 pin flat cable supplied with ACC 24V J7 JEQU 10 Pin Connector Top View Pin Symbol Function Description 1 EQU 9 Output Enc 9 Comp Eq Low True 2 EQUI0 Output Enc 10 Comp Eq Low True 3 1 Output Enc 11 Comp Eq Low True 4 EQUI2 Output Enc 12 Comp Eq Low True 5 EQU13 Output Enc 13 Comp Eq Low True 6 EQU14 Output Enc 14 Comp Eq Low True 7 15 Output Enc 15 Comp Eq Low True 8 EQUI6 Output Enc 16 Comp Eq Low True 9 Supply Positive Supply Low True 10 GND Common Ground 5 to 24 This connector brings out the eight Compare Equal signals generated from the DSPGATES AC
11. C 24V and its OPT 1 Refer to Jumpers E93 and E94 for proper configuration of this output for sourcing or sinking type outputs Connector Pinouts Accessory 24V PMAC VME Axis Expansion Card J8 JS3 16 Pin Header Top View Pin Symbol Function Description Notes DCLK Output D to A A to D Clock DAC and ADC Clock for Ch 9 10 11 12 BDATA3 Output D to A Data DAC Data for Ch 9 10 11 12 ASELA Output Axis Select Bit 0 Select for Ch 9 10 11 12 ASELS Output Axis Select Bit 2 Select for Ch 9 10 11 12 CONVERT 45 Output A to D Convert ADC Convert Signal Ch 9 10 11 12 ADCIN3 Input A to D Data ADC Data for Ch 9 10 11 12 OUT 9 Output Amp Enable Dir Amp Enable Direction for Ch 9 OUT 10 Output Amp Enable Dir Amp Enable Direction for Ch 10 2 3 4 5 6 7 8 9 1 Output Amp Enable Dir Amp Enable Direction for Ch 11 OUTI2 Output Amp Enable Dir Amp Enable Direction for Ch 12 HF9 Input Amp Fault AMP Fault Input for Ch 9 HF 410 Input Amp Fault AMP Fault Input for Ch 10 HF 411 Input Amp Fault AMP Fault Input for Ch 11 HG 412 Input Amp Fault AMP Fault Input for Ch 12 5V Output 5V Supply Power Supply Out GND Common PMAC Common
12. USER MANUAL Accessory 24V 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 or c
13. 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 24 PMAC VME Axis Expansion Card Table of Contents lt 55 M 1 2 MC 1 55 3 M MEE 3 Kc E 3 Y nce IM MM MM 3 JA Ee DLE EE A M NU I Mr tI LU M dd tS 3 p 3 P n 3 pn ties 3 3 p Pm TK 3 JO metuere mL M MM MIELE MNA LEE 3 P2AXIMAGCEMS eer aote EE eite exin 3 M E 4 TB se 4 ACE 24V CONNECTIONS Pe 5 Power COMME CU OM n sort ete pice Dea es aet 5 Basic PMAC VME
14. ctor is used to connect ACC 24V to fourth 4 channels Channels 13 14 15 and 16 of servo amp and motors Note Pins marked LIMn should be connected to switches at the positive end of travel pins marked LIMn should be connected to switches at the negative end of travel N UA Q d N oo N 1950 RSS oc Connector Pinouts Accessory 24V PMAC Axis Expansion Card 18 Connector Pinouts Accessory 24V PMAC VME Axis Expansion Card JUMPER E POINT DESCRIPTIONS 2 5V E Physical Description Default Point Layout 17 1 AENA 1 4 respectively No jumper installed E17B JUMP 1 2 for High True E17C Remove jumper for low true AENA 1 4 respectively E17D E24 E27 Encoder single ended differential control E24 Jump pin 2 to 3 to obtain differential encoder input 1 2 Jumper installed E25 mode Non Diff E26 Jump pin to 2 to obtain non differential encoder input E27 mode This will bias encoder negative inputs to 1 2 Vcc E85 Host supplied analog power source enable E85 2 Jump pin 1 to pin 2 to allow 14 to come from Ties amplifier and ACC 24V power supply together Defeats opto coupling Note that if E85 is changed E88 and E87 must also be changed also see E90 No jumper installed E87 E88 Host supplied analog power source enable E87 2 Jump pin 1 to pin 2 to allow analog gnd to c
15. gisters within the user programs Alternatively it is possible to use PMAC s on line Memory Read and Memory Write commands R RH and W to access these registers In this section the pertinent I variables which should be set in order to use the DSPGATEs within ACC 24V will be mentioned This will be followed by a brief note on the use of M variables for reading and writing to various DSPGATE registers Refer to the PMAC Main Manual for more details of I variables and M variables definitions and assignments I Variable Assignment The key I variables which may require assignment or re assignment are Ix02 Ix03 Ix04 Ix05 Ix25 and Ix83 Ix02 tells PMAC where what address to put the output command for motor x If a DAC register within ACC 24V s DSPGATEs is to be used for command output then this parameter should be modified Example To use the first DAC on the third DSPGATE first DSPGATE on ACC 24V for motor 5 1502 C023 For PMAC commutated motors Ix02 must point to the lower address of a pair of adjacent DACs that are being used to command the phases of the motor DACs 9 and 10 or 11 and 12 or 13 and 14 or 15 and 16 on ACC 24V and its Opt 1 Ix03 through Ix05 tell PMAC where to look for position feedback master handwheel information via the Encoder Conversion Table This table should be extended using PMAC s memory write WY command or through a special window in the PMAC executive program to include the appropriate regi
16. iously defined M variables Example To read ADC register 16 on the second DSPGATE within ACC 24V the definition M216 gt Y C03F 8 16 S ADCI6 8 bit offset 16 bits wide assigns M variable 216 to ADC16 Subsequently M216 may be used within a user program For example X M216 3 Move x axis proportional the value of ADC16 However care should be taken to distinguish between the input and the output registers within each DSPGATE see the Memory Map Section in the PMAC s Main Manual In addition it should be noted that most of these registers are updated written into by PMAC when latching external devices during servo loop closure interrupts e g ADC registers Servo Position encoder registers etc Others such as the DAC registers are updated automatically by PMAC s firmware during the servo loop or phasing interrupts 8 DSPGATE Considerations Accessory 24V PMAC VME Axis Expansion Card 9 25 234 95mm 88 er 00000000000000000000000000000000000000 g 00000000000000000000000000000000000000 2165 9e3 Sed ggg 66d 9 ACCESSORY 24V EN MM J7 3 P E27 E26 E25 E24 9 00000000 va OOES7
17. ly that powers the amplifier output stage Also see E190 to 2 jumper installed E190 Host supplied switch pull up enable E190 11213 Jump pin 1 to 2 to allow 15 on P2A JMACH3 pin C30 also see E189 to power Opto switch sensor inputs including limits Jump pin 2 to 3 to allow 12V from bus connector to power Opto switch sensor inputs including limits Optical isolation is then lost See also E185 E187 E188 and figure on PMAC opto isolation 1 to 2 jumper installed E196 E197 E199 Analog source isolate from main board Jump 1 2 to connect A 15V on option 1 piggyback board to main ACC 24V board Remove 1 2 to keep A 15V isolated between main board and piggyback board No jumper installed E197 Jump 1 2 to connect A 15V on Option 1 piggyback board to main ACC 24V board Remove 1 2 to keep A 15V isolated between main board and piggyback board No jumper installed E199 E196 1 2 2 Jump 1 to 2 to connect on Option 1 piggyback board to main ACC 24V board Remove 1 2 to keep agnd isolated between main board and piggyback board No jumper installed Jumper E Point Descriptions 21
18. nal Blocks should be ordered with Option V so that the 64 pin socket and flat cable are provided for the connection to ACC 2V 24 V Connections 5 Accessory 24V PMAC Axis Expansion Card 24 V Connections Accessory 24V PMAC VME Axis Expansion Card DSPGATE CONSIDERATIONS The maximum number of DSPGATEs used with each PMAC is four The DSPGATES are used for PMAC s specific motor amplifier encoder interface functions Each DSPGATE handles these functions for four channels Thus the basic FOUR axes PMAC talks to one on board DSPGATE A PMAC with Option 1 talks to two on board DSPGATEs which provides these functions for eight channels A PMAC with Option 1 and an ACC 24V will talk to three DSPGATES A PMAC with Option 1 connected to an ACC 24V with its Opt 1 talks to four DSPGATEs As a result whenever an ACC 24V is used other Accessories with on board DSPGATEs should not be used Otherwise PMAC s channels 9 to 16 will not function properly Currently for PMAC VME the only Accessory with this conflict is the Accessory 29 the MDLT transducer interface board Using ACC 24 Data PMAC s Main Manual provides the details of the memory map for ACC 24V s DSPGATEs this will not be repeated here These DSPGATE registers may be directly or indirectly read written to or inspected via some specific I variables M variables and the on line read write commands M variables may be used to directly access these re
19. ome from Ties amplifier and ACC 24V gnd together Defeats opto isolation Note that if E87 is changed E85 and E88 must also be changed also see E90 No jumper installed E88 2 Jump pin 1 to pin 2 to allow A 14V to come from ties amplifier and ACC 24V power supply together Defeats opto isolation Note that if E88 is changed E87 and E85 must also be changed also see E90 No jumper installed E89 a E89 Amplifier supplied switch pull up enable Jump pin 1 to pin 2 to supply optically isolated flags from A 15V input A 15V on P2 pin C30 E90 must have jump pins 1 to 2 Jump pins 2 to 3 to supply optically isolated flags from A V input on the piggyback board P2A pin C30 E90 must have jump pins 1 to 2 to 2 jumper installed E 90 Host Supplied switch pull up enable E90 Jump pin 1 to pin 2 to allow 15 on P2A pin C30 also installed see E89 to power Opto switch sensor inputs including limits Jump pin 2 to 3 to allow 12V from bus connector to power Opto switch sensor inputs including limits Optical isolation is then lost See also E85 E87 E88 and PMAC Opto Isolation Diagram 1 to 2 jumper installed Jumper E Point Descriptions 19 Accessory 24V PMAC VME Axis Expansion Card E Physical Description Default Point Lay
20. otes 01 5V Output 5V Power For encoders A02 GND Common PMAC Common 03 CHC16 Input Encoder C Ch Positive Axis 16 04 16 Input Encoder C Ch Negative Axis 16 Do not gnd if not used A05 16 Input Encoder B Ch Positive Axis 16 A06 16 Input Encoder B Ch Negative Axis 16 Do not gnd if not used A07 16 Input Encoder A Ch Positive Axis 16 A08 16 Input Encoder A Ch Negative Axis 16 Do not gnd if not used A09 CHC14 Input Encoder C Ch Positive Axis 14 10 14 Input Encoder C Ch Negative Axis 14 Do not gnd if not used 14 Input Encoder B Ch Positive Axis 14 A12 CHB14 Input Encoder Ch Negative Axis 14 Do not gnd if not used 13 14 Input Encoder A Ch Positive Axis 14 14 14 Input Encoder A Ch Negative Axis 14 Do not gnd if not used 15 DACI6 Output Ana Out Positive 16 10 to AGND A16 DACI6 Output Ana Out Negative 16 10 to AGND 17 Output Amp Ena Dir 16 Jumperable Polarity 16 DIR16 18 FAULTI6 Input Amp Fault 16 High True A19 LIM16 Input Positive Limit 16 Failsafe High True A20 LIM16 Input Negative Limit 16 Failsafe A21 HMFL16 Input Home Flag 16 Programmable Polarity A22 DACIA Output Ana Out Positive 14 10 to AGND A23 DAC14 Output Ana Out Negative 14 10V to AGND A24 AENAIA DIRI4 Output Amp Enable Dir 14 Jumperable Polarity A25 FAULT14 Input Amp Fault 14 High True A26 LIM14 Inpu
21. out E93 E95 Compare Equal output voltage configure E93 Jump pin 1 to pin 2 to apply V 45V to 24V to pin 11 1 to 2 jumper of U28 should be ULN2803A for sink output installed configuration Jump pin 2 to 3 to apply gnd to pin 11 of U28 S B UDN2981A for source output configuration E94 Jump pin 1 to 2 to apply gnd to pin 10 of U28 S B 1 to 2 jumper ULN2803A for sink output configuration installed Jump 2 to 3 to apply V 5V to 24V to pin 10 of U28 S B UDN2981A for source output configuration E95 For future use No jumper installed E96 E97 Analog source isolate from Option 1 E96 Jump 1 2 to connect A 15V on ACC 24V to 15 on Jumper installed Option 1 piggyback board Remove 1 2 to keep A 15V isolated between Option 1 board and main board E97 Jump 1 2 to connect A 15V on 24 board to Jumper installed 15V on Option 1 piggyback board Remove 1 2 to keep A 15V isolated between Option 1 E99 Jump 1 2 to connect on main ACC 24V to on Option 1 piggyback board Remove 1 2 to keep agnd isolated between Option 1 board and main board Jumper installed 17 E17H Amplifier Enable polarity control 1 AENA 13 16 respectively Jump 1 2 for high true No jumper installed 17 Remove jumper for low true AENA 13 16 E17G respectively E17H E18 E21 Encoder single ended differential control E18 Jump pin 2 to
22. s Accessory 24V PMAC VME Axis Expansion INTRODUCTION PMAC s Accessory 24 the Axis Expansion board provides four or eight additional channels of quadrature encoder inputs analog outputs data lines for analog inputs and motor related flags Limits Home Flags Amp Enables Amp Faults and position Compare Equal signals This Accessory is intended for those applications which require more than the basic eight channels of the above signals provided on the PMAC base board when used with its Option 1 In particular PMAC s dual feedback servo capability or its motor commutation feature for more than four position loops requires ACC 24 This is because in the above applications either two channels of encoder feedback signals or two analog output channels are required for each motor In applications which require some extra Master Handwheel encoder inputs ACC 24 may also be required ACC 24 comes in two forms ACC 24P for PMAC PC and ACC 24V for PMAC VME The STD BUS version of PMAC is not supported with this Accessory This Manual deals with ACC 24V WHICH is to be used in conjunction with PMAC VME For the PC bus version of this Accessory a separate Manual is provided ACC 24V Options ACC 24V fits in the next open bus slot and communicates to PMAC VME via a provided 50 pin flat cable The basic form of this Accessory contains one PMAC DSPGATE It therefore can support 4 extra channels of encoder inputs and
23. s on board the PMAC main board To re assign a particular Ix25 to an appropriate address within the DSPGATEs on board ACC 24V the following table should be used Flag Registers within ACC 24V DSPGATEs lim9 hmfl9 C020 lim10 hmfl10 C024 lim11 hmfl11 028 lim12 hmfl12 CO2C lim13 hmfl13 C030 lim14 hmfl14 C034 lim15 hmfl15 C038 lim16 hmfl16 C03C Ix83 is the parameter which tells PMAC which register to get its commutation phasing information from for motor x on an ongoing basis This parameter which applies only to PMAC commutated motors has default values pointing to the phase position encoder registers within the DSPGATEs The default addresses for motors to 4 are on the PMAC s DSPGATEs for motors 5 to 8 they are on ACC 24V s DSPGATEs see the PMAC Main Manual I variable Specification section If the default values are not appropriate for a particular application they may be easily modified using I variable assignment statements M Variable Assignment A detailed description of M variable assignment and use to access PMAC s memory and I O space is given in the PMAC s Main Manual under PMAC Computation Features The user may assign M variables to any of the registers within the DSPGATEs see the section on DSP GATE Features in the Main Manual These registers may be subsequently read or written to using these prev
24. sters within ACC 24V s DSPGATES Instead of the memory write command the special window in the PMAC s Executive software may also be used In addition Ix03 through Ix05 should be modified accordingly to addresses of theses new conversion table entries For example to extend the default version of PMAC s Encoder conversion table by one entry we may use WY 72A 00C020 00 see the section on Encoder Conversion Table in the PMAC s Main Manual Here C020 is the address of the first encoder counter on 24 ENC 9 This address is written in the last entry within the default conversion table at 724 In addition Ix03 is modified to be 03 724 DSPGATE Considerations 7 Accessory 24V PMAC Axis Expansion Card Note For Dual Feedback application Ix03 and Ix04 will have to be assigned to different addresses within the table The instruction for setting 05 Motor x Master handwheel position address is identical to those for Ix03 except that extended bits bits 16 to 23 of the data mean different things see the I variable Specification section within the PMAC s Main Manual Ix25 parameter tells PMAC what set of input it will look to for motor x s limit switches home flag and Amplifier Fault flag Typically these are the inputs associated with an encoder input specifically those of the position feedback encoder for the motor The default values of Ix25s point to addresses within the first two DSPGATE
25. t Amp Enable Dir 10 Jumperable Polarity A25 FAULTIO Input Amp Fault 10 High True A26 LIM10 Input Positive Limit 10 Failsafe High True 27 LIMIO Input Negative Limit 10 Failsafe High True A28 HMFL10 Input Home Flag 10 Programmable Polarity Analog Common A29 AGND Input Analog Common A30 A 15V Input Analog 15V Supply 1 GND Common PMAC Common A32 45V Output 5V Power For Encoders Note In stand alone applications these can be used as 5 power supply inputs to power PMAC digital circuitry 14 Connector Pinouts Accessory 24V PMAC VME Axis Expansion Card P2 96 Pin Header Continued CO2 GND Common PMACCommon High True High True C29 ORST Following Error Out 50 lIpu Analog 15V Supply C31 GND Common PMACCommon O The P2 connector is use to connect 24 to the third 4 channels Channels 9 10 11 and 12 of servo amps and motors Note Pins marked LIMn should be connected to switches at the positive end of travel pins marked LIMn should be connected to switches at the negative end of travel Connector Pinouts 15 Accessory 24 PMAC Axis Expansion Card P2A JMACH4 96 Pin Header on Option 1 Pin Symbol Function Description N
26. t Positive Limit 14 Failsafe High True A27 LIMIA Input Negative Limit 14 Failsafe High True A28 HMFL14 Input Home Flag 14 Programmable Polarity Ana Common A29 AGND Input Analog Common 0 15 Input Analog 15V Supply 1 GND Common PMAC Common A32 45V Output 5V Power For Encoders 16 Connector Pinouts Accessory 24V PMAC VME Axis Expansion Card P2A JMACHA 96 Pin Header on Option 1 Continued Symbol Function EN GND Common PMACCommn lt lt CHCIS CHCIS CHBIS CHBIS CHAIS 55 e oem EIS 15 13 13 CHB13 13 Encoder A Ch Positive CHA13 Encoder A Ch Negative DACI5 Q DACIS Ana Out Negative 15 10V to agnd AENA Output Amp Ena Dir 15 Jumperable Polarity 15 DIR15 FAULTI5 Amp Fault 15 High True LIM15 Positive Limit 15 Failsafe High True Q NININ ele WIN lt w LIMIS 5 Negative Limit 15 15 Home Flag 15 Programmable Polarity DACI3 Ana Out Positive 13 10V to agnd DAC13 Ana Out Negative 13 10V to agnd Q N 13 Output Amp Ena Dir 13 Jumperable Polarity DIR13 FAULTI3 2 LIMI3 Positive Limit 13 27 LIMIS HMELI3 ORST Oupt Following Err Out A I5SV_ Input i Analog 15V Supply GND Common PMACCommon C32 5V The P2A conne
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