^1 USER MANUAL ^2 Accessory 28B
Contents
1. Forsingle ended inputs ADCn should be connected to GND at pin 3 6 or 8 TB2 A D Converter Axes 3 and 4 This 10 pin terminal block contains the inputs for channel 3 and channel 4 Reference outputs of 5Vdc 4 096Vdc VREF and RET AGND are provided on this connector This is available with Options 1 and 2B only Pin Symbol Function Description Notes 1 ADC3 Input A D converter Channel 3 2 ADC3 Input A D converter Channel 3 4 3 AGND Gnd Shield 1 4 ADC4 Input A D converter Channel 4 5 ADC4 Input A D converter Channel 4 4 6 AGND Gnd Shield 1 7 VREF Output 4 096Vdc precision reference 2 8 AGND Gnd 1 9 5Vdc Output 5V reference output 3 10 5 Vdc Output 5V reference output 3 1 The shields are connected internally to the ground plane inside the Acc 28B Normally shields are connected at one end of the wire only this eliminates possible system ground loops In addition the pin 8 AGND line is connected to the internal ground plane 2 This is a buffered tap from the A D precision reference Typically external hardware that uses this signal reference will scale it for a full scale A D voltage input 3 5Vdc and 5Vdc are a less precise A D reference When used with an A D input in the unipolar mode it is possible to get approximately full scale inputs This requires the 5Vdc to be connected to the ADCx input ideal for metering potentiometers2. D Channel ADC8A 16 A D Channel Y C03E 8 16 U Y 7811E 8 16 U ADC8B Example A PLC program must read the value from the third A D channel ADC2A 1 Assign an M variable to point to ADC2A M205 gt Y C00D 8 16 U For non Turbo PMAC2 1903 2770 Set Clock to 1 23 MHz or M205 gt Y 7800D 8 16 U For Turbo PMAC2 17003 2770 Set Clock to 1 23 MHz 2 When referenced M205 will equal the value in ADC2A Save the M variables after they have been assigned Phase Clock Setting Limitation When using the Acc 28B the user must be aware of certain limitations The first limitation is the ADC clock rate For this product the maximum ADC clock rate is 1 2MHz This leads to the next limitation that is the maximum rate at which it can be sampled The data is sampled during the phase clock When the phase clock goes from low to high it is strobed and then the data must be latched by the time phase clock goes from high to low PMAC2 and Acc 28B Accessory 28B PWM Counter 0 Ring Phase Clock A A Strobe Latch The data from the ADC comes from a 24 bit register and each bit will be processed every ADC clock cycle Therefore it will take a minimum of 24 ADC clock cycles to return the proper ADC value to the PMAC So if we are limited to 1 2MHz ADC clock and it takes 24 cycles to read the data then the minimum of 20 psec is needed to read the data The 20 usec represents the time from the strobe to
3. I103 3501 For PMAC2 optionally for PMAC create an encoder table entry for each A D input that is to be used On PMAC2 this is a requirement since the circuitry used for A D conversion is not accessed synchronously with a PLC program 8 Acc 28B with Encoder Conversion Table Options on PMAC amp PMAC2 Accessory 28B LAYOUT DIAGRAM AND JUMPERS Layout Diagram 28B OPT 2A Connectors and Jumpers SS t mn sc an 0 125 DIA typ 0 125 0 000 PLACE SIP IN EITHER E3 ORE m EST ui E mm O 3 1 3 1 3 J2 govovego FILO OS Q 9 9 Sipmac2 ia anl oa sce Pee IO O OJe6 n ars a UUooOO0U 1 2 UNIPOLAR 1 2 UNIPOLAR 1 2 UNIPOLAR 1 2 UNIPOLAR oe 2 3 BIPOLAR 2 3 BIPOLAR 2 3 BIPOLAR 2 3 BIPOLAR Gade 1 3 Popo kJ R G j in Ol Ey VR2 VR3 VRA Fer O 9090000090000 O 1 T cor O VRI O o noooooooooooo ire rik Wt 2 700 Layout Diagram Acc 28B OPT 2B Connectors and Jumpers O E ae Rama Smee d e J2 PERETELE TEE pan pog PASE pons 00 oes 1 oo 1 2 UNIPOLAR 1 2 UNIPOLAR 1 2 UNIPOLAR 1 2 UNIPOLAR fool 2 3 BIPOLAR 2 3 BIPOLAR 2 3 BIPOLAR 2 3 BIPOLAR aoe X 3 Po asno k kI Log n S o 15v pe ee aO eR _ isi nee o VRL ASSY s Hoa Hon Jumpers Refer to the previous layout diagram for the location of the jumpers on the board A position listing for each jumper is provided in this secti
4. for connection to signals that are available on the JMACH connector e Acc 28B requires 15Vdc e The Acc 28B comes with mating connectors and a 16 conductor 24 long ribbon cable When used with PMAC2 the Acc 28B uses the same serial data inputs as is used by digital current loop devices Therefore the Acc 28B is not to be used on the same channel pairs as Acc 8K1 Acc 8K2 Acc 8F or other devices which utilize the strobed serial input data lines Options The Acc 28B is available with the following options e Option 1 Additional two axes makes Acc 28B into 4 axis system e Option 2A 25 pin DSUB connector at P1 e Option 2B 10 pin terminal blocks at TB1 and TB2 Note Select either option 2A or option 2B above Introduction 1 Accessory 28B Input Offset Nulling Input nulling is performed with the A D inputs shorted together using Bipolar conversion If the equipment has output offsets it is possible to adjust the VR1 VR2 VR3 and VR4 to zero the inputs The input voltage adjustment swing is limited to approximately 60mV To adjust nulling be sure that the temperature has stabilized on the Acc 28B by powering it for about 20 minutes then applying zeroed inputs Adjust VR1 for channel 1 VR2 for channel 2 VR3 for channel 3 and VR4 for channel 4 for the desired readings on the A D When selected for Bipolar conversion a 0Vdc input should read a number around 32 768 on the A D input When selecte
5. the latch of the phase clock To have a phase clock on time of about 20 usec set the phase clock to about 24 KHz 24KHz is the maximum phase clock frequency that can be set in the PMAC2 when using Acc 28B The 20 psec is calculated by taking 1 2Mhz 24 cycles 6 PMAC2 and Acc 28B Accessory 28B ACC 28B WITH ENCODER CONVERSION TABLE OPTIONS ON PMAC AND PMAC2 The encoder conversion table can be modified using either PMAC s Executive Program Encoder Conversion Table dialog box or the on line commands in Executive terminal mode The Encoder Conversion Table is used when motor position is desired from A D inputs Refer to the PMAC Software User manual for Encoder Conversion Table uses and applications Unsigned Analog Conversion The A D converters on the Acc 28B return unsigned data to a PMAC or PMAC2 If bit 19 of the analog conversion setup word is set to 1 18xxxx for normal analog then PMAC PMAC 2 treats the A D number in the high 16 bits of the source word left justified of 24 bits as an unsigned number in the range of 0 to 65535 Unsigned analog conversion requires PMAC or PMAC2 Firmware release Version 1 16 or newer to accommodate unsigned A D input values A typical setup word for this type of feedback is 18C005 for non Turbo or 1F8005 for Turbo which provides for a non filtered unsigned left justified conversion of the data word fed by A D 1 of the Acc 28B connected to PMAC Converted Data The c
6. 4 Forsingle ended inputs ADCn should be connected to GND at pin 3 6 or 8 Connector Pinouts 13 Accessory 28B TB3 Power Supply Input Pin Symbol Function Description Notes 1 Power supply return 2 NE 3 1 4 2 1 15Vdc requires a 200mA supply current However if the supply or reference taps at P1 TB1 or TB2 are used and the current requirement may be greater 2 5Vdc requires 70mA supply current However if the supply taps at P1 TB1 or TB2 are used and the current requirement may be greater 14 Connector Pinouts
7. A D values into programs The following is an example of a program that displays the value of A D input 1 on an LCD display Acc 12 OPEN PLC1 CLEAR DISPLAY 0 A D VALUE IS eN DISPLAY HEADER WHILE 0 lt 1 CREATE LOOP DISPLAY 14 5 0 M105 DISPLAY A D DATA ENDWHILE CLOSE PMAC and Acc 28B 3 Accessory 28B PMAC and Acc 28B Accessory 28B PMAC2 AND ACC 28B The A D clock must be adjusted to operate at 1 25MHz On PMAC2 models this is accomplished by adjusting the value of 1903 and or 1907 On Turbo PMAC2 models adjust the A D clock with the I7m03 variable where m stands for the Servo IC number If no other values of clock are to be adjusted on the PMAC2 set 1903 1907 17m03 to a value of 2770 Refer to the PMAC2 Software Addendum manual for details on setting the 1903 and or 1907 variables and refer to the Turbo PMAC PMAC2 Software Reference Manual for the details of the I7m03 setting The PMAC2 A D registers are listed below PMAC2 Turbo PMAC2 Hardware Memory Name Address Address Lst A D Channel ADCIA 2nd A D Channel ADCIB 3rd A D Channel ADC2A 4th A D Channel ADC2B NECEM NENNEN 5th A D Channel ADC3A 6th A D Channel ADC3B 7th A D Channel ADC4A 8th A D Channel ADC4B eee ESE 9th A D Channel ADCSA 10 A D Channel ADCSB 11 A D Channel ADC6A 12 A D Channel ADC B IO y 13 A D Channel ADC7A 14 A D Channel ADC7B 15 A
8. ADC2 Input A D converter channel 2 4 ADC2 Input A D converter channel 2 5 5 ADC3 Input A D converter channel 3 1 6 ADC3 Input A D converter channel 3 1 5 7 ADC4 Input A D converter channel 4 1 8 ADC4 Input A D converter channel 4 1 5 9 n c 10 n c 11 VREF Output 4 096Vdc precision reference 2 12 5Vdc Output 5V reference output 3 13 5Vdc Output 5V reference output 3 14 SHIELD Gnd Shield 4 15 SHIELD Gnd Shield 4 16 SHIELD Gnd Shield 4 17 SHIELD Gnd Shield 4 18 SHIELD Gnd Shield 4 19 SHIELD Gnd Shield 4 20 SHIELD Gnd Shield 4 21 SHIELD Gnd Shield 4 22 n c Not connected 23 n c Not connected 24 RET Gnd VREF return 4 25 RET Gnd 5Vdc return 4 1 These signals exist on Option 1 4 channel boards only 2 This is a buffered tap from the A D precision reference Typically external hardware that uses this signal reference will scale it for a full scale A D voltage input 3 5Vdc and 5Vdc are a less precise A D reference When used with an A D input in the unipolar mode it is possible to get approximately full scale inputs This requires the 5Vdc to be connected to the ADCx input ideal for metering potentiometers 4 The shields are connected internally to the ground plane inside the Acc 28B Normally shields are connected at one end of the wire only this eliminates possible system ground loops In addition the VREF and 5Vdc return lines are connected to the internal ground plane 5 For single ended inputs ADCn sho
9. USER MANUAL Accessory 28B DELTA TAU 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 causing e
10. d for Unipolar conversion the input should be adjusted to 00 Things to Know PMAC performs a sequential conversion of one A D converter channel at a time PMAC2 performs a simultaneous conversion of all A D channels at the same time Jumpers E3 amp F4 select whether the board is addressed by a PMAC or PMAC respectively Be sure to adjust the ADCLK frequency for 1 25MHz The A D converters on the ACC28B have a maximum conversion rate of approximately 1 7MHz 2 Introduction Accessory 28B PMAC AND ACC 28B The A D CLK jumpers must be adjusted for a conversion value of 1 22MHz On the PMAC PC place jumper E98 into position 2 3 Using Acc 28B in Programs The Acc 28B operates by converting data and transmitting it serially to the PMAC There are eight registers which receive the serial data These registers may be accessed directly by selection of M Variables There are subtle addressing differences between PMAC and PMAC2 PMAC references are shown here PMAC A D Registers PMAC 1 Turbo PMACI ADC Connection M105 gt Y C006 8 16 U M205 gt Y C007 8 16 U Connect Acc 28Bs M305 gt Y C00E 8 16 U J2 to PMAC s JS1 M405 gt Y COOF 8 16 U M505 gt Y C016 8 16 U M605 gt Y C017 8 16 U M605 gt Y 78107 8 16U 6 Connect Acc 28Bs M705 gt Y C01E 8 16 U IAS T J2 to PMAC s JS2 M805 gt Y C01F 8 16 U M805 SY SUIOR 8 16 U On PMAC M Variables are ideal for passing the
11. igital converters that provide voltage measurements that are accurate to 2 bits Jumpers will allow each A D converter to be selected for Bipolar or Unipolar convert modes When selected for bipolar mode differential inputs allow the user to apply input voltages to 5V 10V p p and single ended inputs allow application of input voltages to 10V When selected for unipolar mode differential inputs allow the application of input voltages from OV to 5V and single ended inputs allow the application of input voltages from OV to 10V In unipolar mode negative input voltages will not damage the A D converters Voltage references are provided for ratiometric style input control The VREF output is provided for equipment which uses a scaled input for accurate tracking The 5Vdc and 5Vdc supply taps are less precise and are provided to allow bias potentiometers to be biased without the need for an external power supply Other features include e Input nulling trimmers are provided to allow for precise adjustment of input signals e Opto couplers are used to isolate the Acc 28B s circuitry from the PMAC PMAC2 e When used with PMAC or Acc 24P each Acc 28B occupies four channels using the PMAC s JS1 or JS2 interface connector e When used with PMAC2 each Acc 28B occupies two channels and is connected to an Acc 8T at J2 e When used with PMAC2 all four A D conversions are simultaneous e When used with PMAC2 an Acc 8T accessory card is required
12. lectrical 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 28B Table of Contents INTRODUCTION pene nano dinatiniocinecaiasina A A EE 1 ODpUODnS aee reir eo prn dette ti sidad 1 Input Offset Nulling eei ee bene taaan sa 2 Things to KNOW imac ia ta 2 PMAC AND ACC 28B occoocconconoonconinccnnonncnnonnonaconcnnonononccnnonnconoccn nono cononnnocncnnocncn conc coca nonn cn noo non rcnnoc non corro cnocnconorn conce non 3 Using Acc 28B in Propr ms es thee rer etit ee tee ERE EE err Pe ER RO nEs s ER ER ERE eM RE R sons a Ree Eee HER enia 3 PMAC A D Registers EHE 3 PMA C2 AND AC OL 5 Phase Clock Setting Limitation said 5 ACC 28B WITH ENCODER CONVERSION TABLE OPTIONS ON PMAC AND PMAC A eere 7 Unsigned Analog CONVETSION coria edad 7 Converted Data diia iaa 7 Encoder Table ENT a A A A A A a de 7 Encoder Table USaBe ee rto dra ii iia 7 Norn Turbo Example ii A da q a ia 7 TUDO EXAMPLE a tgsaeeasatadewssenstaeseeeeusks 8 LAYOUT DIAGRAM AND JUMPERS ocoonconconoononnocncnocinonncononncnnonnconononononononncononcnnonnconooonocnon non ense tasse tasa
13. on E1 PMAC Ground This jumper is used to connect PMAC s ground to the power supply ground E2 Not used E3 E4 PMAC PMAC2 Select This SIP jumper selects whether the Acc 28B is connected to PMAC or PMAC2 When connected to PMAC data conversion occurs one channel at a time When connected to PMAC2 data is simultaneously converted for all four channels E5 E6 E7 E8 Unipolar Bipolar Convert These jumpers allow the selection of the method of A D conversion for each channel Position 1 2 allows unipolar conversions which returns an unsigned value of 0 to 65535 for input voltages ranging from 0 to 10V approximately Position 2 3 allows bipolar conversions which return an unsigned value of 0 to 65535 for input voltages ranging from 10V to 10V 20V pk pk Layout Diagram and Jumpers Accessory 28B Jumper Table E Point Pin Description Default Layout El 1 2 Jumper pin 1 to 2 to connect the PMAC PMAC2 1 to 2 on 100 boards power supply common to the supplied AGND Open on others E2 1 2 3 Spare unused jumper B3 E4 SIP socket Place the 10Q SIP resistors in either socket E3 position E3 PMACI E4 PMAC2 E5 E6 1 2 3 Jumper pin 1 to 2 for Unipolar convert 2to3 E7 E8 Jumper pin 2 to 3 for Bipolar convert E7 Channel 1 E5 Channel 2 E6 Channel 3 E8 Channel 4 10 Layout Diagram and Jumpers Accessory 28B CONNECTOR PINOUTS J1 P
14. onverted data from the parallel word is put in the X data word of the encoder table entry This address is used by programs and PMAC pointers for the A D value For instance if the first setup entry address Y 0720 in the conversion table were 18C005 the result would be left shifted at address X 720 For Turbo PMAC if the first encoder conversion table entry address Y 003501 in the conversion table were 1F8005 the result would be left shifted at address X 3501 Encoder Table Entry X Words Y words Latched data Source and process Unsigned 16 bit word Bits 0 15 Address of source data Bits 16 23 18 Encoder Table Usage Using the above table entry example an encoder address may be set to point to the X memory side of the table This allows the sampling of data inside a servo phase interrupt routine Non Turbo Example The encoder table entry is placed at memory address Y 0720 as in previous converted data statement 18C006 WY 720 18C006 The encoder address Ix03 Ix04 is set to look at the converted result in the Encoder Table I103 720 Acc 28B with Encoder Conversion Table Options on PMAC amp PMAC2 Accessory 28B Turbo Example For the Turbo PMAC set up the encoder conversion table with direct writes to the I variables ECT is located at I8000 to I8191 I8000 1F8005 The encoder address Ix03 Ix04 is set to look at the converted result in the encoder table
15. rogram Header This is used only at the factory J2 PMAC Interface This 16 pin box header attaches the Acc 28B to PMAC s JS1 or JS2 connector On PMAC2 J2 is connected to J2 on the Acc 8T Pin Symbol Function Description Notes 1 DCLK Input A D converter clock 2 n c Not connected 3 ASELO Input PMAC address select Not on PMAC2 4 ASELI Input PMAC address select Not on PMAC2 5 CONV Input Start convert 6 ADCINI Output PMAC serial data Not on PMAC2 7 n c Not connected 8 n c Not connected 9 n c Not connected 10 n c Not connected 11 ADCO Output PMAC2 serial data Channel 1 PMAC2 only 12 ADCI Output PMAC2 serial data Channel 2 PMAC2 only 13 ADC2 Output PMAC2 serial data Channel 3 PMAC2 only 14 ADC3 Output PMAC2 serial data Channel 4 PMAC2 only 15 45V PMAC PMAC2 45V 16 GND PMAC PMAC2 GND hese terminals are disconnected when jumper E3 is selected PMACI configuration Connector Pinouts 11 Accessory 28B P1 A D Converter Input This 25 pin DSUB contains the inputs and reference outputs for the ACC28B The reference taps are 5Vdc 4 096 Vdc VREF and RET This is available with Option 2A only Pin Symbol Function Description Notes 1 ADCI Input A D converter channel 1 2 ADCI Input A D converter channel 1 5 3
16. s esso seta rn o 9 Layout Diagram 28B OPT 2A Connectors and Jumpers eese nennen nennen enne 9 Layout Diagram Acc 28B OPT 2B Connectors and Jumpers oooonocccononoconononononnnonnnonnnoncconnc nono nn onnconncon eee 9 lino ccc e 9 El PMAGC Ground eor susan ban ies 9 Dp ice 9 ES E4 PMAC PMACA Select istis iater hme p aiee td defi 9 ES E6 E7 E8 Unipolar Bipolar Convert eese esee ne nennen nene net tenen rester stent 9 Jumper Tables actio tiep is i IMPR ERE Isidora ii ROTE NEN NES Ce E 10 CONNECTOR PINOUT rc aeos 11 We Program ACA gc 11 12 PMAC Inte 4664 seis tie RE ape Re a ee a les 11 P1 A D Converter Input oe edhe Ha die vei bees eis cs ok dee aca 12 TBI A D Converter Input Ax s and 2 e erbe p Meteor se Renee ale vto re dan opte nintendo eee ERO dass 13 TB2 AA D Converter Axes 3 and 4 E oe astu lm ane leben bv ape ae 13 IB3 z Power Supply Input eed ete Donde ld 14 Table of Contents i Accessory 28B Table of Contents Accessory 28B INTRODUCTION Delta Tau s Accessory 28B Acc 28B is a 2 or 4 channel analog to digital converter interface board Option 1 designed to provide a means for precision voltage measurement as an input to PMAC and PMAC2 This accessory uses four 16 bit analog to d
17. uld be connected to GND at pin24 or 25 12 Connector Pinouts Accessory 28B TB1 A D Converter Input Axes 1 and 2 This 10 pin terminal block contains the inputs for channel 1 and channel 2 Reference outputs of 5Vdc 4 096Vdc VREF and RET AGND are provided on this connector This is available with Option 2B only Pin Symbol Function Description Notes 1 ADCI Input A D converter Channel 1 2 ADCI Input A D converter Channel 1 4 3 AGND Gnd Shield 1 4 ADC2 Input A D converter Channel 2 5 ADC2 Input A D converter Channel 2 4 6 AGND Gnd Shield 1 7 VREF Output 4 096Vdc precision reference 2 8 AGND Gnd 1 9 5Vdc Output 5V reference output 3 10 5 Vdc Output 5V reference output 3 1 The shields are connected internally to the ground plane inside the Acc 28B Normally shields are connected at one end of the wire only this eliminates possible system ground loops Also the PIN 8 AGND line is connected to the internal ground plane 2 This is a buffered tap from the A D precision reference Typically external hardware that uses this signal reference will scale it for a full scale A D voltage input 3 5Vdc and 5Vdc are a less precise A D reference When used with an A D input in the unipolar mode it is possible to get approximately full scale inputs This requires the 5Vdc to be connected to the ADCx input ideal for metering potentiometers 4
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