ACC-28E_____________________________16 Bit Analog
Contents
1. Turbo 3U PMAC Accessory 28E JUMPERS Refer to the layout diagram of ACC 28E for the location of the jumpers on the board E1 E2 E3 E4 Unipolar Bipolar Convert These jumpers allow the user to select the method of A D conversion for each channel Position 1 2 allows unipolar conversions which return an unsigned value of 0 to 65535 for input voltages ranging from 0 to 10 volts approx Position 2 3 allows bipolar conversions which return an unsigned value of 0 to 65535 for input voltages ranging from 10V to 10 volts 20V pk pk E5 E6 E7 External Power Supply and Analog Ground These jumpers are used to allow the user to chose between the external DC power supply and its ground or 3U rack backplane DC power for the A D converter E8 E9 E10 Used by factory to download Xilinx program The jumpers will be installed in the right position when it is shipped user should not change or move them E11 Spare not used E12 This jumper is used to choose either a UMAC Turbo UMAC MACRO station or a legacy Macro Station E13 This jumper is used to determine which clock to synchronize with for the A D conversion Jumpers 5 Turbo 3U PMAC Accessory 28E Jumpers Table E Point Pin Description Default Layout E1 E2 E 1 Jumper pin 1 to 2 for UNIPOLAR convert 2 to3 3 E4 E Jumper pin 2 to 3 for BIPOLAR convert E7 Channel 1 E5 Channel 2 E6 Channel 3 E8 Channel 4 E5 1 2132. When selcted for BIPOLAR conversion a 0Vdc input should read a number around 32 768 on the A D input When selected for UNIPOLAR conversion the input should be adjusted to 00 Power Requirements 12V Product 5V 12V 75mA ACC 28E 200mA 75mA Hardware Address Limitations Some of the older UMAC IO accessories might create a hardware address limitation relative to the newer series of UMAC high speed IO cards The ACC 28E would be considered a newer high speed IO card The new IO cards have four addresses per chip select CS10 CS12 CS14 and CS16 This enables these cards to have up to 16 different addresses The ACC 9E ACC 10E ACC 11E and ACC 12E all have one address per chip select but also have the low byte middle byte and high byte type of addressing scheme and allows for a maximum of twelve of these IO cards UMAC Card Types UMAC Number of Category Maximum Card CARD Addresses of cards Type ACC 9E ACC 10E 4 General IO 12 A ACC 11E ACC 12E ACC 65E ACC 66E 16 General IO 16 B ACC 67E ACC 68E ACC 14E ACC 28E ACC 36E 16 ADC and DAC 16 B ACC 59E ACC 53E ACC 57E 16 Feedback 16 B ACC 58E Devices Input Offset Nulling Chip Select Addresses Turbo 3U PMAC Accessory 28E Chip UMAC MACRO UMAC Turbo MACRO Select Turbo Type A Card Type B Card Type B Card Type A Card 10 078C00 FFEO or 8800 078C00
3. cccscccsccesceeseeescessceseesecanecacecsceseessessesceeseeseceaecaecaecaeeeaeeeaeeeseeeneeenseaees Il PMAC2 Turbo Ultralite I O Node Addresses s cscscesccesecesceseesetsseesseeseeescesseuseeusecsecuseceaecaaecaeeeaeeeseeeeseseeeneesess 12 MACRO Data Transfer via the I O NOES s ccssccscssscssesseeseeseeseeseesecacesscuseecessesseesecaseseesaeeesaeeaeesesaaeaesaneenseasenengs 13 MACRO Station SCLUD inenen a e test aS ARE S E E a a i Eaa aea tes e A Ee AE aS 14 Ultralite SCLUP nee a E E E E E E E O e E E EE 14 Using MACRO Station Encoder Conversion Table for Data Transfer seeseseeeeeeeeeeeesesrstsrrerererrersrertrrereersesreree 15 Power On Feedback Address for PMAC2 Ultralite ccccceccessscssscssesscsseesceseeseeseeasesecseeeecsaeeeesaeeaeeesaeeaeeaeeaeesaeenes 15 Absolute Position for Ultralite cccccceccesseessesseeeeceseesseesecesecesecaecuaecaaecaaeeaaeeaseceeeseeseeeeseeeaeseeesaecaaecaaecaaeeaeeeneees 16 Absolute Position for Turbo Ultralite cccccesccscesccsseesceseesceseeseeseeseessesecacesecsseecessecseesecaaesessaseceaeeaeesesnaseeeaeeneeaees 16 Using MI198 and MI199 to Verify the ACC 28E ADCS eececceseessssecseeeeceseeecaeceeesecaeeseeseeeecsaenaseeceaesetseeseeeaees 18 CONNECTOR PINOUT Svsssscsssssescssesisesiessesscsccasscssenctsscssosscssnecsscecscsassobsacassssasiecesssesisbcaesscdssaccoassedaeasasdesssessuasascessss 19 P32 AsD Converter Ipten EE dad shevsansabccbids abacs TEOR EEEE AEE 19 J3 A D Converte
4. Turbo 3U PMAC Accessory 28E MACRO Data Transfer via the I O Nodes The MACRO Station allows the user to transfer data back to the Ultralite from any MACRO station memory location This function is useful to read the 16 bit A D converters transferring data from either Gate1B or Gate 2B which are not transferred automatically or any other location for verification or troubleshooting purposes COAO COA1 COA2 COA3 PMAC MACRO COA4 COA5 COAG COA7 IC Gate at MACRO Station C0A8 C0A9 COAA COAB Ultralite or Turb Gate 2B C0B0 C0B1 C0B2 C0B3 eee A DG COB4 C0B5 COB6 C0B7 C0B8 C0B9 COBA COBB Any MACRO Station Memory Location The data transfer process uses MI20 and MI21 MI68 to enable this function Since the I O nodes are used MI975 MI19 and the Ultralite I O node activation I variables must also be set to appropriate values MI20 controls which of 48 possible data transfer operations are performed at the data transfer period set by MI19 MI20 is a 48 bit value each bit controls whether the data transfer specified by one of the variables MI21 through MI68 is performed Hex 0 0 0 0 0 0 0 0 0 0 0 F MI20 1 transfer MI21 MI20 3 transfer MI21 and MI22 MI20 SF transfer MI21 MI22 MI23 and MI24 MI21 through MI68 are 48 bit addresses describing the transfer of data from the desired memory location to the MA
5. into hex number i e 3404 D4C This will be the card identification for ACC 28E Vender identification number 1 for Delta Tau Revision number for this card is 1 Option 1 Additional two axes makes ACC 28E into 4 axis system 24 Card Identification
6. 079C00 8800 9800 07AC00 07BC00 A800 B800 12 078D00 FFE8 or 8840 078D00 079D00 8840 9840 07AD00 07BD00 A840 B840 14 078E00 FFFO or 8880 078E00 079E00 8880 9880 07 AE00 07EC00 A880 B880 16 078F00 88C0 078F00 079F00 88C0 98C0 07 AF00 07BF00 A8CO0 B8CO Addressing Conflicts When just using only the type A UMAC cards or using only the type B UMAC cards in an application the user does not have to worry about potential addressing conflicts other than making sure the individual cards are set to the addresses as specified in the manual If the user has both type A and type B UMAC cards in their rack they should be aware of the possible addressing conflicts If the customer is using the Type A card on a particular Chip Select CS10 CS12 CS14 or CS16 then they cannot use a Type B card with the same Chip Select address unless the Type B card is a general IO type If the Type B card is a general IO type then the Type B card will be the low byte card at the Chip Select address and the Type A card s will be setup at as the middle byte and high byte addresses Type A and Type B Example 1 ACC 11E and ACC 28E If the user has an ACC 11E and ACC 28E the user cannot allow both cards to use the same Chip Select because the data from both cards will be overwritten by the other card The solution to this problem is to make sure you do not address both cards to the same chip select Type A and Type B E
7. 23 C4 X 12 0 11 D0 X 12 12 23 D4 X 16 0 15 DC X 16 8 23 16 bit MACRO I O Node Registers E8 X 24 0 23 24 bit MACRO I O Node Registers Example Transfer the upper 16 bits of Y 8800 to the upper sixteen bits of X COA1 of the MACRO Station MSO MI21 6C88000DCCOA1 Example Transfer ADC1 ADC2 ADC3 and ADC4 to Ultralite using MACRO Data Transfer Assume MACRO Station 0 The S2 switch setting is set to the CS10 8800 selection Since the ADC data is 16 bit data the most efficient method of transfer is through the MACRO 16 bit data registers from nodes 2 and 3 MACRO Station Setup MACRO Commands Notes MSO MI19 4 Transfer data once every 4 phase clocks servo default MSO MI975 C Activate first I O nodes 2 and 3 at Station MSO MI20 SF Transfer MI21 MI22 MI123 and MI24 MSO MI21 S6C8800DCCOA1 Copies upper 16 bits data from Station address Y 8800 to X COA1 node2 MSO MI22 S6C8801DCCOA2 Copies upper 16 bits data from Station address Y 8801 to X COA2 node2 MSO MI23 6C8802DCC0A3 Copies upper 16 bits data from Station address Y 8802 to X C0A3 node2 MSO MI24 6C8803DCCOA5 Copies upper 16 bits data from Station address Y 8803 to X COA5 node3 MSSAVEO Save these changes to the MACRO Station MSS 0 Reset the MACRO Station for changes to take affect Ultralite Setup Ultralite 8 Axis Turbo Ultralite 8 Axis Description 1996 SO0FB3
8. 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 5 Vdc to be connected to the ADCx input ideal for metering potentiometers The shields are internally connected to the ground plane inside the ACC 28E Shields are normally connected at one end of the wire only this eliminates possible system ground loops Also the VREF and 5Vdc RETURN lines are connected to the internal ground plane Connector Pinouts Turbo 3U PMAC Accessory 28E J3 A D Converter Input Axes 1 amp 2 option 2B only Pin Symbol Function Description Notes 1 ADC1 Input A D Conv Channel 1 2 ADC1 Input A D Conv Channel 1 3 AGND GND Shield o 4 ADC2 Input A D Conv Channel 2 5 ADC2 Input A D Conv Channel 2 6 AGND GND Shield o 7 VREF Output 4 096Vdc precision reference 8 AGND GND o 9 5Vdc Output 5V reference output 10 5Vdc Output 5V reference output 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 The shields are internally connected to the ground plane inside the ACC 28E Shields normally 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 This is
9. Jumper pin to 2 to connect to the external power 2 to3 supply common to the user supplied AGND Jumper pin 2 to 3 to use 3U backplane AGND E6 l 1 Jumper pin to 2 to use external 15V 2 to 3 L Jumper pin 2 to 3 to use 3U rack backplane 15V E7 l 1 Jumper pin to 2 to use external 15V 2 to3 oo Jumper pin 2 to 3 to use 3U rack backplane 15V E8 E9 E 1 Jumper pin to 2 to connect Xilinx loader cable 2to3 10 L Jumper pin 2 to 3 to use EEPROM E12 Jump 1 2 for Turbo 3U CPU and MACRO CPU 1 2 Jump 2 3 for legacy MACRO CPU before 6 00 E13 Jumper pin 1 to 2 to use servo clock to start the l to2 A D conversion Jumper pin 2 to 3 to use phase clock to start the A D conversion for legacy MACRO Stations part number 602804 100 thru 602804 104 6 Jumpers Turbo 3U PMAC Accessory 28E INPUT OFFSET NULLING Input nulling is performed at Delta Tau with the A D inputs shorted together using BIPOLAR conversion If the user s 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 temperature has stabilized on the ACC 28E by powering it for about 20 minutes then apply 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
10. MACRO Station I O Node Transfer Addresses Node s Node 24 bit Node 16 bit upper 16 bits Transfer Transfer Addresses Addresses 2 X COA0 X COA1 X COA2 X COA3 3 X COA4 X COA5 X COA6 X C0A7 6 X COA8 X COA9 X COAA X COAB 7 X COBO X COB1 X COB2 X COB3 10 X COB4 X COB5 X COB6 X COB7 11 X COB8 X COB9 X COBA X COBB PMAC2 Ultralite I O Node Addresses Node Node 24 bit Node 16 bit upper 16 bits Transfer Transfer Addresses Addresses 2 X COA0 X COA1 X COA2 X COA3 3 X COA4 X C0A5 X COA6 X COA7 6 X COA8 X COA9 X COAA X COAB 7 X COBO X COB1 X COB2 X COB3 10 X COB4 X COB5 X COB6 X COB7 11 X COB8 X COB9 X COBA X COBB Acc 28E Setup for MACRO Ultralite System il Turbo 3U PMAC Accessory 28E PMAC2 Turbo Ultralite I O Node Addresses MACRO User Node 24 bit Node 16 bit upper 16 bits IC Node Node Transfer Transfer Addresses Addresses ICO 2 2 X 078420 X 078421 X 078422 X 078423 ICO 3 3 X 078424 X 078425 X 078426 X 078427 ICO 6 6 X 078428 X 078429 X 07842A X 07842B ICO 7 7 X 07842C X 07842D X 07842E X 07842F ICO 10 10 X 078430 X 078431 X 078432 X 078433 ICO 11 11 X 078434 X 078435 X 078436 X 078437 C1 2 18 X 079420 X 079421 X 079422 X 079
11. MACRO node number used for Motor x 0 1 4 5 8 9 C 12 or D 13 Absolute Position for Turbo Ultralite Ixx95 720000 740000 F20000 F40000 Addresses are MACRO Node Numbers MACRO Node Ixx10 for Ixx10 for Ixx10 for Ixx10 for Number MACROIC0 MACROIC1 MACROIC2 MACRO IC 3 0 000100 000010 000020 000030 1 000001 000011 000021 00003 1 4 000004 000014 000024 000034 5 000005 000015 000025 000035 8 000008 000018 000028 000038 9 000009 000019 000029 000039 12 00000C 00001C 00002C 00003C 13 00000D 00001D 00002D 00003D Compact MACRO Station Feedback Type Ixx95 Ixx95 Unsigned Signed ACC 8D Opt 7 Resolver Digital Converter 730000 F30000 ACC 8D Opt 9 Yaskawa Absolute Encoder Converter 720000 F20000 ACC 8D Opt 10 Sanyo Absolute Encoder Converter 740000 F40000 ACC 28B Analog Digital Converter 740000 F40000 MACRO Station Option 1C ACC 6E A D Converter 740000 F40000 MACRO Station Parallel Input 740000 F40000 MACRO Station MLDT Input 740000 F40000 When PMAC or PMAC72 has Ix10 set to get absolute position over MACRO it executes a station auxiliary read command MS node 1920 to request the absolute position from the Compact MACRO Station The station then references its own I11x value to determine the type format and address of the data to be read The data is returned to
12. PMAC or PMAC2 with up to 42 bits of data sign extended to 46 bits Bit 48 is a Ready Busy handshake bit and Bit 47 is a pass fail status bit If Bit 47 is set the upper 24 bits of the 48 bits returned are a fail word and are stored in X 0798 of the PMAC PMAC2 16 Acc 28E Setup for MACRO Ultralite System Turbo 3U PMAC Accessory 28E Example Configure ADC1 ADC2 ADC3 and ADC4 for unsigned feedback Since this information is absolute also setup the appropriate variables at both the MACRO Station and Ultralite For this example the SW1 settings are set for CS10 8800 A Set Encoder Conversion Table at the MACRO Station MI120 MI151 MSO MI120 S188800 MSO M1I121 188801 MSO MI122 S188802 MSO MI123 S188803 MSO MI101 10 MSO MI102 11 MSO MI103 12 MSO MI104 13 C Set Absolute MSO M111 318800 MSO M112 318801 MSO M113 318802 MSO M114 318803 B Set Node Transfer Variables MI101 MI108 G Set Ix10 as specified by the appropriate Ultralite H If Turbo PMAC Ultralite Set Ix95 for power on type process as ADC 10 station address process as ADC 11 station address process as ADC 12 station address process as ADC 13 station address processed for ECT for ADC 1 default processed for ECT for ADC 2 default processed for ECT for ADC
13. Y 7BD00 03 CLOSE CLOSE OPEN OPEN CLOSE OPEN Y 78E00 03 CLOSE CLOSE CLOSE CLOSE OPEN CLOSE CS14 Y 79E00 03 CLOSE CLOSE CLOSE OPEN OPEN CLOSE Y 7AE00 03 CLOSE CLOSE OPEN CLOSE OPEN CLOSE Y 7BE00 03 CLOSE CLOSE OPEN OPEN OPEN CLOSE Y 78F00 03 CLOSE CLOSE CLOSE CLOSE OPEN OPEN CS16 Y 79F00 03 CLOSE CLOSE CLOSE OPEN OPEN OPEN Y 7AFO0 03 CLOSE CLOSE OPEN CLOSE OPEN OPEN Y 7BF00 03 CLOSE CLOSE OPEN OPEN OPEN OPEN MACRO Station Switch Settings Chip 3U Turbo PMAC Dip Switch SW1 Position Select Address 6 5 4 3 2 1 Y 8800 CLOSE CLOSE CLOSE CLOSE CLOSE CLOSE CS10 Y 9800 CLOSE CLOSE CLOSE OPEN CLOSE CLOSE Y A800 CLOSE CLOSE OPEN CLOSE CLOSE CLOSE Y B800 FFE0 CLOSE CLOSE OPEN OPEN CLOSE CLOSE Y 8840 CLOSE CLOSE CLOSE CLOSE CLOSE OPEN CS12 Y 9840 CLOSE CLOSE CLOSE OPEN CLOSE OPEN Y A840 CLOSE CLOSE OPEN CLOSE CLOSE OPEN Y B840 FFE8 CLOSE CLOSE OPEN OPEN CLOSE OPEN Y 8880 CLOSE CLOSE CLOSE CLOSE OPEN CLOSE CS14 Y 9880 CLOSE CLOSE CLOSE OPEN OPEN CLOSE Y A880 CLOSE CLOSE OPEN CLOSE OPEN CLOSE Y B880 FFFO CLOSE CLOSE OPEN OPEN OPEN CLOSE Y 88C0 CLOSE CLOSE CLOSE CLOSE OPEN OPEN CS16 Y 98C0 CLOSE CLOSE CLOSE OPEN OPEN OPEN Y A8CO CLOSE CLOSE OPEN CLOSE OPEN OPEN Y B8CO CLOSE CLOSE OPEN OPEN OPEN OPEN The default setting is ALL CLOSED position Hardware Description
14. 3 default processed for ECT for ADC 4 default Power on Read MI111 MI118 unsigned power on read from ECT 1 unsigned power on read from ECT 2 unsigned power on read from ECT 3 unsigned power on read from ECT 4 Axis Ultralite Turbo Ultralite Unsigned Node address 1 740000 000100 2 740001 000001 3 740004 000004 4 740005 000005 Axis Turbo Ultralite UnSigned 1 740000 2 740000 3 740000 4 740000 Acc 28E Setup for MACRO Ultralite System for ADC for ADC for ADC for ADC yw wy WH 1 2 4 17 Turbo 3U PMAC Accessory 28E Using MI198 and MI199 to Verify the ACC 28E ADCs The MACRO I Variables MI198 and MI199 can be used to look at any MACRO Station memory location This can be especially useful when trying to test the hardware at the MACRO Station MI198 contains the register we want to read and we can read the information in MI198 by querying MI199 MSn MI198 is a 24 bit register where the lower 16 bits have the address and the upper 8 bits contain the number of bits and tell us whether its is an X or Y memory address MSn MI199 will respond back with the value in MSO MI198 Example Read Using MI198 and M1199 The ACC 28E has S2 switch settings for CS10 9800 Selection MSO M1I198 S 6C9800 For ADC1 MSO MI199 Request Data 000000004B78 Response 19320 ADC bits MS0 MI198 6C9801 For ADC2 MSO MI199 Request Data 00000000B46A Response
15. 3F 16841 SOFB33F Enable nodes 0 1 2 3 4 5 8 9 12 amp 13 at Ultralite M980 gt X SCOA1 8 16 M980 gt X 578421 8 16 ADC 1 Ist 16 bit word node2 M981 gt X SCOA2 8 16 M981 gt X 578422 8 16 ADC 2 2nd 16 bit word node 2 M982 gt X SC0A3 8 16 M982 gt X 578423 8 16 ADC 3 3rd 16 bit word node 2 M983 gt X CO0A5 8 16 M983 gt X 78425 8 16 IO word 4 Ist 16 bit word node 3 14 Acc 28E Setup for MACRO Ultralite System Turbo 3U PMAC Accessory 28E Now the user can use the M Variables in the PLC or motion programs for data acquisition purposes If the servo nodes are being used by encoders for feedback at the MACRO Station the information from the T O nodes can also be used in the encoder conversion table at the Ultralite for closed loop servo data Using MACRO Station Encoder Conversion Table for Data Transfer If the user is using the information from the A D converter for closed loop servo data they could process the data at the encoder conversion table at the MACRO Station and have the information automatically sent to the Ultralite The data from the ADC s is processed as a ADC style input and can be processed as unsigned data Voltage ADC Converted Data Hardware Mode OV to 10V 0 to 65535 ADC bits Uni Polar 10V to 10V 0 to 65535 ADC bits Bi Polar Since the A D converted data is also absolute the data can also be sent at the Ultralite as absolute data f
16. 423 C1 3 19 X 079424 X 079425 X 079426 X 079427 C1 6 22 X 079428 X 079429 X 07942A X 07942B C1 7 23 X 07942C X 07942D X 07942E X 07942F C1 10 26 X 079430 X 079431 X 079432 X 079433 IC1 11 27 X 079434 X 079435 X 079436 X 079437 IC2 2 34 X 078420 X 07A421 X 07A422 X 07A423 IC2 3 35 X 07A424 X 07A425 X 07A426 X 07A427 IC2 6 38 X 07A428 X 07A429 X 07A42A X 07A42B IC2 7 39 X 07A42C X 07A42D X 07A42E X 07A42F IC2 10 42 X 07A430 X 07A431 X 07A432 X 07A433 IC2 11 43 X 07A434 X 07A435 X 07A436 X 07A437 IC3 2 50 X 07B420 X 07B421 X 07B422 X 07B423 IC3 3 51 X 07B424 X 07B425 X 07B426 X 07B427 IC3 6 54 X 07B428 X 07B429 X 07B42A X 07B42B IC3 7 55 X 07B42C X 07B42D X 07B42E X 07B42F IC3 10 58 X 07B430 X 07B431 X 07B432 X 07B433 IC3 11 59 X 07B434 X 07B435 X 07B436 X 07B437 If the user wanted to read the inputs from the MACRO Station of the first 24 bit I O node address of node 2 X C0A0 then he she could point an M variable to the Ultralite or TURBO Ultralite I O node registers to monitor the inputs M980 gt X COA0 0 24 M1980 gt X 078420 0 24 Ultralite node2 address Turbo Ultralite node 2 address These M variable definitions M980 or M1980 could then be used to monitor the inputs for either the Ultralite or TURBO Ultralite respectively 12 Acc 28E Setup for MACRO Ultralite System
17. 46186 ADC bits 18 Acc 28E Setup for MACRO Ultralite System Turbo 3U PMAC Accessory 28E CONNECTOR PINOUTS P3 A D Converter Input option 2A only Pin Symbol Function Description Notes 1 ADC1 Input A D Conv Channel 1 2 ADC 1 Input A D Conv Channel 1 3 ADC2 Input A D Conv Channel 2 4 ADC2 Input A D Conv Channel 2 5 ADC3 Input A D Conv Channel 3 o 6 ADC3 Input A D Conv Channel 3 o 7 ADC4 Input A D Conv Channel 4 o 8 ADC4 Input A D Conv Channel 4 o 9 N C 10 N C 11 VREF Output 4 096Vdc precision reference 12 5Vdc Output 5V reference output 13 5Vdc Output 5V reference output 14 SHIELD GND Shield e 15 SHIELD GND Shield e 16 SHIELD GND Shield e 17 SHIELD GND Shield e 18 SHIELD GND Shield e 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 5Vde Return This 25 pin DSUB contains the inputs and reference outputs for the ACC28E The reference taps are 5Vdc 4 096Vdc VREF and RET These signals exist on OPT 1 4 channel boards only This is a buffered tap from the A D precision reference External hardware that uses this signal reference typically will scale it for a full scale A D voltage input 5Vdc AND 5Vdc are a less precise
18. 7 7AD00 7 ADFF 7AF34 7AF37 7BD00 7BDFF 7BF34 7BF37 78E00 78EFF 78F38 78F3B CS14 79E00 79EFF 79F38 79F3B 7AE00 7AEFF 7AF38 7AF3B 7BE00 7BEFF 7BF38 7BF3B 78F00 78FO7 78F3C 78F3F CS16 79F00 79FO7 79F3C 79F3F 7AF00 7AFO7 7AF3C 7AF3F 7BF00 7BF07 7BF3C 7BF3F Card Identification S O88 23 Card ID Format Turbo 3U PMAC Accessory 28E A card identification can be read from the following address Base Addr D4 D3 D2 D1 DO Bank Sel 0 Phase_Dir Vendor ID Vendor ID Vendor ID Vendor ID ID 03 ID 02 ID 01 ID 00 Bank Sel 0 Vendor ID Vendor ID Vendor ID Vendor ID ID 13 ID 12 ID 11 ID 10 Card option Card Option Card Option Card Option Card Option CO 04 CO 03 CO 02 CO 01 CO 00 Card option Card Option Card Option Card Option Card Option CO 09 CO 08 CO 07 CO 06 CO 05 Base Addr Phase_Dir Revision Revision Revision Revision Bank Sel 1 CR 03 CR 02 CR 01 CR 00 Bank Sel Card ID Card ID Card ID Card ID 1 CT 03 CT 02 CT 01 CT 00 Card ID Card ID Card ID Card ID Card ID CT 08 CT 07 CT 06 CT 05 CT 04 Card ID Card ID Card ID Card ID Card ID CT 13 CT 12 CT 11 CT 10 CT 09 The card identification number of all Delta Tau cards is derived from the last 4 digits of the PCB assembly number For example the ACC 28E card assembly number is 603404 Convert the last 4 digits
19. CRO Station I O node location This transfer can be done on a bit by bit basis but typically this data transfer process is done as a 24 bit transfer MI20 tells the MACRO Station how many of these data transfers will take place for a given period Hex Digit 1 2 3 4 5 6 7 8 9 10 11 12 Contents From From Register To Register To Register Register Address Format Code Address Format Code The first 24 bits 6 hex digits specify the address of the register on the Compact MACRO Station from which the data is to be copied the second 24 bits 6 hex digits specify the address on the Compact MACRO Station to which the data is to be copied In each set of six hex digits the last four hex digits specify the actual address The first 2 digits 8 bits specify what portion of the address is to be used Acc 28E Setup for MACRO Ultralite System 13 Turbo 3U PMAC Accessory 28E The following table shows the 2 digit hex format and the portions of the address that each one selects Code X or Y Bit Width Bit Range Notes 40 Y 8 0 7 48 Y 8 8 15 50 Y 8 16 23 54 Y 12 0 11 Lower 12 bit ADC Registers 60 Y 12 12 23 Upper 12 bit ADC Registers 64 Y 16 0 15 6C Y 16 8 23 16 bit MACRO Servo Node Registers 78 Y 24 0 23 24 bit MACRO Servo Node Registers B0 X 8 0 7 B8 X 8 8 15 CO X 8 16
20. SW1 3 6 are closed Mxxx gt Y 78D03 8 16 U 4th A D channel Mxxx gt Y 78E00 8 16 U 1st A D channel Mxxx gt Y 78E01 8 16 U 2nd A D channel If CS14 is selected Mxxx gt Y 78E02 8 16 U 3rd A D channel amp SW1 3 6 are closed Mxxx gt Y 78E03 8 16 U 4th A D channel Mxxx gt Y 78F00 8 16 U lst A D channel Mxxx gt Y 78F01 8 16 U 2nd A D channel If CS16 is selected Mxxx gt Y 78F02 8 16 U 3rd A D channel amp SW1 3 6 are closed Mxxx gt Y 78F03 8 16 U 4th A D channel Using M Variables to Access A D Data On PMAC M Variables are ideal for passing the A D values into programs An example of a program that displays the value of A D input 1 on an LCD display ACC12 follows OPEN PLC1 CLEAR DISPLAY 0 A D VALUE IS S DISPLAY HEADER WHILE 0 lt 1 CREATE LOOP DISPLAY 14 5 0 M105 DISPLAY A D DATA ENDWHILE CLOSE ACC 28E Setup for UMAC Turbo 9 Turbo 3U PMAC Accessory 28E ACC 28E with Encoder Conversion Table for UMAC TURBO The encoder conversion table can be modified with either PMAC s Executive Program Encoder Conversion Table dialog box or the on line commands in the Executive terminal mode The Encoder conversion table is used when motor position is desired from A D inputs Refer to the PMAC Software User s manual Chapter 3 for Encoder conversion table uses and applications Unsigned Analog Conversion
21. The A D converters on the ACC 28E return unsigned data to Turbo PMAC If bit 19 of the analog conversion setup word is set to 1 18xxxx for normal analog then PMAC 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 A typical setup word for this type of feedback is 1F8C00 which provides for a non filtered unsigned left justified conversion of the data word fed by A D 1 of the ACC 28E connected to Turbo PMAC For details please refer to the Turbo PMAC manual 10 ACC 28E Setup for UMAC Turbo Turbo 3U PMAC Accessory 28E ACC 28E SETUP FOR MACRO ULTRALITE SYSTEM The data from the ACC 28E can be sent back to the Ultralite using three different methods Data Transfer through the MACRO I O Nodes Encoder conversion data through the Servo Data Nodes and lastly using the MACRO I variables MI198 and MI199 The last method can be used to quickly test the hardware MACRO Station I O Transfer Typically the MACRO station will have up to eight axis nodes 0 1 4 5 8 9 12 13 and up to six I O transfer nodes 2 3 6 7 10 11 The PMAC2 Ultralite and the MACRO Station enable the user to transfer 72 bits per I O node For a multi Master system 432 bits 6x72 of data may be transferred for each Master Ultralite in the ring If only one Master is used in the ring node 14 could be used for I O transfer giving us 504 bits 7x72 of I O transfer data
22. USER MANUAL Accessory 28E DELTA TAU Yr 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 Turbo 3U PMAC Accessory 28E TABLE OF CONTENTS INTRODUCTION cscsssssccesccscdcacstsceieusscsccssandersnscececcncdsooteasenssececbacesasssnsedsasseocscnbocsaciucosdesccbadsneaussscecsobsseneoasosdeacecsenasaesous 1 ACC 28E HARDWARE DESCRIPTION ssscsssssssscssscsssssssscscssssssenessesesenssscsneesesssssssssssnessssnessesssssosesessossessosees 3 Tea yout Dia aeta a EEEE is vc taeesep bees bebsdeacdtabead os eucbenaseedep iveta ud baivbiessbecebapanbe cies pe lencsoub obs cinSevissibesbadeestancd eaasbantewes 3 Address Select Dip Switch S2 scescsse
23. a buffered tap from the A D precision reference External hardware that uses this signal reference typically will scale it for a full scale A D voltage input 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 5 Vdc to be connected to the ADCx input ideal for metering potentiometers J4 A D Converter Axes 3 amp 4 options 1 amp 2B only Pin Symbol Function Description Notes 1 ADC3 Input A D Conv Channel 3 2 ADC3 Input A D Conv Channel 3 3 AGND Gnd SHIELD o 4 ADC4 Input A D Conv Channel 4 5 ADC4 Input A D Conv Channel 4 6 AGND Gnd SHIELD o 7 VREF Output 4 096Vdc precision reference 27 8 AGND Gnd o 9 5Vdc Output 5V reference output 10 5Vdc Output 5V reference output This 10 pin terminal block contains the inputs for channel 3 and channel 4 Reference outputs of 5V dc 4 096Vdc VREF and RET AGND are provided on this connector The shields are internally connected to the ground plane inside the ACC 28E Shields normally 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 This is a buffered tap from the A D precision reference External hardware that uses this signal reference typically will scale
24. ansei a E E E E E E E E E 8 Addressing Conicon eie E R aE e Stans a E beaten otdes teste tou eSledds aE e RS 8 Type A and Type B Example 1 ACC 11E and ACC 28E ccccescescssscssesscssessseseeseeseeaeesecaceeesseeeeesecaeesecaaeeeseaseneeeees 8 Type A and Type B Example 2 ACC 11E and ACC O5E ceccescescssscssesscnseesesseesceseeseesecnseseeeseseeeaeeaeeseceaeeeenaseaeeeees 8 ACC 28E SETUP FOR UMAC TURBO essssssesosseseseccecosoeseseseecesorosceseeecoeeeseeesoerosoesesecoeossoroeseseeceeeroroeseeeeoeseeessesoeeese 9 PMAC A D Registers amp Address ecceccescsssssscssesscsseeseeseeseesecseesecsseecesseseseesaeaceaecseesecaeesecuaeecesaesseaecaaesessaeeeesaseneeas 9 Using M Variables to Access A D Data eecccescccesccesnseensecesseeesecseneeessecneecaaeceeceecsaecseaeecsaecseaeecsaeceeaeecsaeeeeaeecsaeeeaaes 9 ACC 28E with Encoder Conversion Table for UMAC TURBO sssssessssrsessreresrsrsrsrerreresrstsrsrrerersrsrererrereersrsrsree 10 Unsigned Analog Conversion cccccssccescccessecesseeensecseneeesseceunceescecseceeesaeceeeeescecseceeenaecseneeesaecseneeeaaeceeeeeenaeceeneeenaesees 10 ACC 28E SETUP FOR MACRO ULTRALITE SYSTEM ssesessesesesecceseroeseseseeoesoroesesesoroeseseceeoesoroeseeesoesesoeseseseeee 11 MACRO Station 1 O Transfer i sts ccsustst RSS dees ee EE EAE a E 11 MACRO Station I O Node Transfer AAAreSSCS ccssccecseseeseseessesecuseuscseesessesseeaecasesecucesesaeecessesaeeateaeseneaseneegs Il PMAC2 Ultralite I O Node AAAreSS S
25. e position at power up or upon request n The Ultralite must have Ix10 setup and the Turbo Ultralite needs both Ixx10 and Ixx95 setup to enable this power on position function For power on position reads as specified in this document MACRO firmware version 1 114 or newer is needed the Turbo Ultralite firmware must be 1 936 or newer and lastly the standard Ultralite users must have firmware version 1 16H or newer Ix10 permits an automatic read of an absolute position sensor at power on reset If Ix10 is set to 0 the power on reset position for the motor will be considered to be 0 regardless of the type of sensor used There are specific settings of PMAC s PMAC2 s Ix10 for each type of MACRO interface The Compact MACRO Station has a corresponding variable I11x for each node that must be set Acc 28E Setup for MACRO Ultralite System 15 Turbo 3U PMAC Accessory 28E Absolute Position for Ultralite Compact MACRO Station Feedback Type Ix10 Ix10 Firmware version 1 16H and above Unsigned Signed ACC 8D Opt 7 Resolver Digital Converter 73000n F3000n ACC 8D Opt 9 Yaskawa Absolute Encoder Converter 72000n F2000n ACC 8D Opt 10 Sanyo Absolute Encoder Converter 74000n F4000n ACC 28B Analog Digital Converter 74000n F4000n MACRO Station Option 1C ACC 6E A D Converter 74000n F4000n MACRO Station Parallel Input 74000n F4000n MACRO Station MLDT Input 74000n F4000n n is the
26. iometric style input control The VREF output is provided for equipment that uses a scaled input for accurate tracking The 5Vdc and 5Vdc supply taps are less precise and are provided to allow the user to bias potentiometers without the need for an external power supply Input nulling trimmers are provided to allow for precise adjustment of input signals Opto couplers are used to isolate the ACC 28E s circuitry from the PMAC ACC 28E will be located in Delta Tau s 3U rack The backplane provides all the power needed 15Vdc 5Vdc for the ACC 28E However a terminal block associated with some jumpers on the card also allows the user to connect external 15Vdc if they chose to do so Introduction 1 Turbo 3U PMAC Accessory 28E Introduction Turbo 3U PMAC Accessory 28E ACC 28E HARDWARE DESCRIPTION The ACC 28E uses expansion port memory locations defined by the type of PMAC 3U Turbo or MACRO Station it is directly connected to These memory locations are typically used with other Delta Tau 3U I O accessories such as ACC 9E ACC 10E ACC 11E ACC 12E ACC 14E ACC 28E 48 optically isolated inputs 48 optically isolated outputs low power 24 inputs and 24 outputs low power all optically isolated 24 inputs and 24 outputs high power all optically isolated 48 bits TTL level I O 16 bit A D Converter Inputs up to four per card All of these accessories have settings which tell them where the information is to be p
27. it for a full scale A D voltage input 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 5 Vdc to be connected to the ADCx input ideal for metering potentiometers Connector Pinouts Turbo 3U PMAC Accessory 28E TB1 Power Supply Input Pin Symbol Function Description Notes 1 AGND Common Power supply return 2 n c Not connected 3 15Vdc Input 15 volt power input o 4 15Vdc Input 15 volt power input 15Vdc requires a 200mA supply current However if the supply or reference taps at P1 TB1 or TB2 are used the current requirement may be greater 15Vdc requires 70mA supply current However if the supply taps at P1 TB1 or TB2 are used the current requirement may be greater Connector Pinouts 22 Turbo 3U PMAC Accessory 28E Connector Pinouts Turbo 3U PMAC Accessory 28E CARD IDENTIFICATION Card ID Address A card identification can be read from the following address Chip Select Used Data Address Range Card ID Address Range 78C00 78CFF 78F30 78F33 CS10 79C00 79CFF 79F30 79F33 7AC00 7 ACFF 7AF30 7AF33 7BCO00 7BCFF 7BF30 7BF33 78D00 78DFF 78F34 78F37 CS12 79D00 79DFF 79F34 79F3
28. or correct position at power up This is accomplished with the proper setup of MSn MI11x at the MACRO Station and Ix10 at the Ultralite or Ix10 and Ix93 with the Turbo Ultralite Regardless of the type of Ultralite retrieving the power on position is the same The information must be retrieved from MACRO Station variable MSn MI920 for each node transfer as specified by Ix10 at the Ultralite The user does not have to setup MSn M1920 because the MACRO Station will place the power on position into that register at power up ACC 28 Style A D Entries 1x 5x The A D feedback entries read from the high 16 bits of the specified address and shift the data right three bits so that the least significant bit of the processed result in bit 5 Unlike the parallel feedback methods this method will not roll over and extend the result The 1x method processes the information directly essentially a copying with shift The 5x integrates the input value as it copies and shifts it That is it reads the input value shifts it right three bits adds the bias term in the second line and adds this value to the previous processed result Presently the only A D accessory of this format that can interface to the Compact MACRO Station is the ACC 28B or ACC 28E which provides an unsigned value so 18 and 58 should be used Power On Feedback Address for PMAC2 Ultralite Both the Ultralite and the Turbo Ultralite allow the user to obtain absolut
29. r Input Axes I amp 2 cc cciscc cases sueteeecesaneveaes Sbevesuesseveceevecedssevednecientesnadevs ctvaueseedoasdsnnnsountvenuclodneved 20 Ja AD Converter AxeS 3 2 4 sesccscneccidagaciceiazscncneacstnesiaceubonscdconade cha suaceedevsdadensuloss aE REEE ERR 20 TBI Power Supply Mputa aceende e aai aa e ee E RE RE sued buts e E OSEP EERE 21 CARD IDENTIFICATION sscsscssscssssscsscssssssssensssccnoscsesssnscsssnessnsnescesessnessosssssosensssssssensssesncssassnessssnescossessosees 23 Card ID Addr SS ecoin ae rora Eneo EE EEEE EAER EAEE EEE ET A E TEA 23 Card ID Format oerein ino en E EE E E E a aie 24 Table of Contents i Turbo 3U PMAC Accessory 28E Table of Contents Turbo 3U PMAC Accessory 28E INTRODUCTION Delta Tau s Accessory 28E ACC 28E is a 2 or 4 Option 1 channel analog to digital converter interface board designed to provide a means for precision voltage measurement as an input to the UMAC Turbo or UMAC MACRO systems This accessory uses four or two 16 bit analog to digital converters to provide voltage measurements that are accurate to 2 bits Jumpers 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 10 volts 20V p p When selected for unipolar mode the user can apply input voltages from OV to 10V the negative input must be grounded Voltage references are provided for rat
30. rocessed at either the PMAC 3U Turbo or the MACRO Station The ACC 28E has a set of dip switches telling it where to write the information from the A D converters Proper setting of the dip switches ensures all of the JEXP boards used in the application do not interfere with each other Layout Diagram LJ 1 AGND RX 2 NIC x 3 A 15V 4 A 15V Hardware Description Turbo 3U PMAC Accessory 28E Address Select Dip Switch S2 The switch two S2 settings will allow the user to select the starting address location for the first encoder Encoders two through eight will follow in descending order from the address selected by the S2 switch The following two tables show the dip switch settings for both the TURBO PMAC 3U and the MACRO Station Turbo PMAC 3U Switch Settings Chip 3U Turbo Dip Switch SW1 Position Select PMAC 6 5 4 3 2 1 Address Y 78C00 03 CLOSE CLOSE CLOSE CLOSE CLOSE CLOSE CS10 Y 79C00 03 CLOSE CLOSE CLOSE OPEN CLOSE CLOSE Y 7AC00 03 CLOSE CLOSE OPEN CLOSE CLOSE CLOSE Y 7BCO00 03 CLOSE CLOSE OPEN OPEN CLOSE CLOSE Y 78D00 03 CLOSE CLOSE CLOSE CLOSE CLOSE OPEN CS12 Y 79D00 03 CLOSE CLOSE CLOSE OPEN CLOSE OPEN Y 7AD00 03 CLOSE CLOSE OPEN CLOSE CLOSE OPEN
31. soscsersssesesonencnsnsosenensessssnonenesensosesesonsnsesnensesstsonssenenessssenssesonenspsneonensteeeenes 4 Turbo PMAC 3U Switch Settings ccccccccccccceescessceescesecesecesecssecaseesecacecasecseseseesceseeesseeseeeaeceaeceaeceaeeeseeeseeeeeeenenenenaees 4 MACRO Station Switch Settings cecccccsccesscecsseceencecssecesceceeceeeseecsceecsaecseneeesaeceeeesscecseneeeaueceeeeeaeesseneeeaaeceeneeeaeeees 4 JUMPERS eiscsiscessscensssecscsesenecsssescssdssossetenssassntsscsen sarees ssesescoscessasasudscsscasessoasssdens stscessosoasasunscsssssessbasaseesesdscessoseassoasadseacee 5 El E2 E3 E4 Unipolar Bipolar Convert simispi pine ee o e e seias 5 ES E6 E7 External Power Supply and Analog Ground c cesccscssscsseeseesesseeseeseesecncesecuseeecaeeseesecaeeseeseeaeeeenaeaes 5 J Kee D D O EPT EE E E E E A NE EE 5 PED A PE E EEE E N E Ga iecateSonsncdeaassaisedt E A T 5 FED PEE E EE A E E E A A ATT 5 BT e E A E A E A A E T E E E E RT 5 Jumpers Table sissies neskeri rora nn Ee nE eE eas ROAA aE S EEEE E EEEE AET E EEEE rE eE REEERE EE E ERETTE anaE 6 INPUT OFFSET NULLING cccsccsccossssssescsccecssscncsscssccessscsesssssncssssncssessscsessessnsssssseseessessessessessessneseessessesssssoes 7 IPO WER ReguitementS enaa aae e EEE EEEE EEEE deecaugeaceanedience cestueyaucaentoctsece EREDE 7 Hardware Address Limitations 5 iesise aicen ene aan e aE E e EE iE 7 UMAC Cara TYPOS ern n a E A T E E E E a A eaa Ee 7 Chip Select Addresses c
32. xample 2 ACC 11E and ACC 65E For this example the user could allow the two cards to share the same chip select because the ACC 65E is a general purpose IO Type B card The only restriction in doing so is that the ACC 65E must be considered the low byte addressed card and the ACC 11E must be jumpered to either the middle or high bytes jumper E6A E6H 8 Input Offset Nulling Turbo 3U PMAC Accessory 28E ACC 28E SETUP FOR UMAC TURBO The data from the ACC 28E is copied automatically into Turbo PMAC Expansion Port I O resisters The location of the data transfer is specified by the jumper settings for the chip select CS10 for example The ACC 28E operates by converting data and transmitting it to a parallel 16bits higher 16 bit on PMAC bus D0 D15 words to the PMAC 4 chip selects can be chosen to receive the data These chip selects can be accessed directly by selection of M Variables There are subtle addressing differences between each channel PMAC references are shown as follows PMAC A D Registers amp Address Mxxx gt Y 78C00 8 16 U lst A D channel Mxxx gt Y 78C01 8 16 U 2nd A D channel If CS10 is selected Mxxx gt Y 78C02 8 16 U 3rd A D channel amp SW1 3 6 are closed Mxxx gt Y 78C03 8 16 U 4th A D channel Mxxx gt Y 78D00 8 16 U lst A D channel Mxxx gt Y 78D01 8 16 U 2nd A D channel If CS12 is selected Mxxx gt Y 78D02 8 16 U 3rd A D channel amp
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