ACC-59E_____________________________8
Contents
1. T5082 S00009 ADC1 is bi polar 15083 0000a ADC2 is bi polar T5084 S0000b ADC3 is bi polar 15085 0000c ADC4 is bi polar T5086 S0000d ADC5 is bi polar 15087 0000e ADC6 is bi polar I15088 0000f ADC7 is bi polar 59E M Variables M gt Y 003400 12 12 s channel 0 A to D as bipolar M2 gt Y 003402 12 12 s channel 1 A to Das bipolar M3 gt Y 003404 12 12 s channel 2 A to D as bipolar M4 gt Y 003406 12 12 s Channel 3 A to D as bipolar M5 gt Y 003408 12 12 s channel 4 A to D as bipolar M6 gt Y 00340A 12 12 s Channel 5 A to D as bipolar M7 gt Y 00340C 12 12 s Channel 6 A to D as bipolar M8 gt Y 00340E 12 12 s channel 7 A to D as bipolar DAC Setup Using M Variable Pointers Value 0 Volts 20 Value 2047 Volts 0 Value 4096 Volts 20 ml1 gt Y 78c08 0 12 Bipolar DAC output 1 m12 gt Y 78c09 0 12 Bipolar DAC output 2 m13 gt Y 578c0a 0 12 Bipolar DAC output 3 ml4 gt Y 78c0b 0 12 Bipolar DAC output 4 m15 gt Y 78c08 12 12 Bipolar DAC output 5 ml16 gt Y 78c09 12 12 Bipolar DAC output 6 m17 gt Y 78c0a 12 12 Bipolar DAC output 7 m18 gt Y S78c0b 12 12 Bipolar DAC output 8 16 Using Acc 59E with UMAC Turbo PMAC Accessory 59E USING ACC 59E WITH UMAC MACRO Configuring an Acc 59E card ina UMAC MACRO system is similar to configuring the card for a UMAC turbo system2. Pin Symbol Function Description Notes 1 ADC5 Input Analog Input 5 2 ADCS Input Analog Input 5 3 ADC6 Input Analog Input 6 4 ADC6 Input Analog Input 6 5 ADC7 Input Analog Input 7 6 ADC7 Input Analog Input 7 7 ADC8 Input Analog Input 8 8 ADC8 Input Analog Input 8 9 NC NC 10 NC NC 11 NC NC 12 NC NC Connector TB3 Top Power Supply Outputs Pin Symbol Function Description Notes 1 AGND Input Output Common Reference for ADC1 16 2 15V Output 15V from UMAC Power Supply Fused 1 2 A 3 15V Output 15V from UMAC Power Supply Fused 1 2 A Terminal Block Option Bottom Connector TB1 Bottom DAC1 through DAC4 Pin Symbol Function Description Notes 1 DACI Output DAC Output 1 2 DACI Output DAC Output 1 3 DAC2 Output DAC Output 2 4 DAC2 Output DAC Output 2 5 DAC3 Output DAC Output 3 6 DAC3 Output DAC Output 3 7 DAC4 Output DAC Output 4 8 DAC4 Output DAC Output 4 9 NC NC 10 NC NC 11 NC NC 12 NC NC 32 Acc 59 Pinouts Accessory 59E Connector TB2 Bottom ADC13 through ADC16 Pin Symbol Function Description Notes 1 DAC5 Output DAC Output 5 2 DACGS Output DAC Output 5 3 DAC6 Output DAC Output 6 4 DAC6 Output DAC Output 6 5 DAC7 Output DAC Outpu
3. 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 using both type A and type B UMAC cards in their rack be aware of the possible addressing conflicts If using the Type A card on a particular Chip Select CS10 CS12 CS14 or CS16 then do not use a Type B card with the same Chip Select address unless the Type B card is a general 10 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 6 Connections Accessory 59E Type A and Type B Example 1 ACC 11E and ACC 59E If using an ACC 11E and ACC 59E both cards cannot use the same Chip Select because the data from both cards will be overwritten by the other card Type A and Type B Example 2 ACC 11E and ACC 65E For this example the two cards are allowed to share the same chip select because the ACC 65E is a general purpose I O Type B card The only restriction in doing this 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 Connections 7 Accessory 59E Connections Accesso
4. DAC1 node 6 24 bit register DAC1 node 6 DAC2 node 6 16 bit register DAC2 DAC3 node 6 16 bit register DAC3 DAC4 node 6 16 bit register DAC4 DAC5 node 7 24 bit register DACS DAC6 node 7 16 bit register DAC6 DAC7 node 7 16 bit register DAC7 DAC8 node 7 16 bit register DAC8 ACC 59E Configuration Example for UMAC Turbo Base Address 8800 Using ADC Automatic Read Method Macro Communication Setup with a Turbo Ultralite 16840 S4030 sets up master master ASCII communications 16841 Sfcfff enable nodes 0 7 T70 S0033 takes place of 11000 on non turbo Ultralite I71 0033 takes place of 11002 on non turbo Ultralite 178 32 master slave comm timeout takes place of 11003 179 32 master master communications timeout 180 100 in place of 11001 on non turbo Ultralite 181 2 jin place of i1004 on non turbo Ultralite 182 2 takes place of 11005 on non turbo Ultralite Automatic I O Transfer Method ms0 mil9 4 enable node transfer ms0 mi975 Sccc enable I O channels ms0Q mi987 1 enable automatic copy of ADC registers ms0O mi988 Sff sets either bipolar or unipolar ms0 mi989 8800 sets the copying from specified incoming ADC address ms0 mil73 20C0A1000200 sets up the nodes 2 3 transfer to the Ultralite ms0 mil75 S 20C0A00002
5. When this function is active the MACRO Station copies values from the Y Address specified in digits 9 12 into X Address specified in digits 3 6 three at a time up to a total of six The move to the specified node address assumes it to be the first X memory 16 bit node register MI73 Example Transfer the first six A D converter channels channels 1 6 using MI73 1173 20C0A1000200 A D A D MACRO Node Ultralite Turbo Ultralite Channel Location Address M Variable M Variable ADCI Y 200 0 12 X C0A1 8 12 M1001 gt X C0A1 8 12 M1001 gt X 078421 8 12 ADC2 Y 201 0 12 X C042 8 12 M1002 gt X C042 8 12 M1002 gt X 078422 8 12 ADC3 Y 202 0 12 X C0A3 8 12 M1003 gt X C0A3 8 12 M1003 gt X 078423 8 12 ADC4 Y 203 0 12 X C0A5 8 12 M1004 gt X C0A5 8 12 M1004 gt X 078425 8 12 ADC5 Y 204 0 12 X COA6 8 12 M1005 gt X C0A46 8 12 M1005 gt X 078426 8 12 ADC6 Y 205 0 12 X C0A7 8 12 M1006 gt X C0A7 8 12 M1006 gt X 078427 8 12 Now the M variables defined can be used to process the data in the PMAC Ultralite Using Acc 59E with UMAC MACRO 21 Accessory 59E 1175 1175 specifies the registers used in A D transfer between one to two MACRO nodes It transfers the upper and lower A Ds to a 24 bit node with a maximum of two 24 bit nodes The individual digits are specified as follows Digit Valid Values Description 1 2 Specifies the nu
6. MACRO CPU I O Node 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 C0A5 X COA6 X C0A7 6 X C0A8 X C0A9 X C0AA X COAB 7 X COAC X COAD X COAE X COAF 10 X COBO X COB1 X COB2 X COB3 11 X C0B4 X C0B5 X C0B6 X C0B7 PMAC2 Ultralite I O Node Addresses Node Node 24 bit Node 16 bit upper 16 bits Transfer Transfer Addresses Addresses 2 X COAO X COA1 X COA2 X COA3 3 X COA4 X COA5 X COA6 X COA7 6 X COA8 X COA9 X COAA X COAB 7 X COAC X COAD X COAE X COAF 10 X COBO X COB1 X COB2 X COB3 11 X C0B4 X C0B5 X C0B6 X C0B7 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 T 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 078459 X 078437 CI 2 18 X 079420 X 079421 X 079422 X 079423 CI 3 19 X 079424 X 079425 X 079426 X 079427 IC1 6 22 X 079428 X 079429
7. OV to 20V unipolar input n ANAT 8 10V to 10V bipolar input For example to read ANAI 2 from ACC 59E as a 2 5V differential bipolar input into the first slot in the ring n would be set to A 10 so 15081 would be set to 00000A 10 Using Acc 59E with UMAC Turbo PMAC Accessory 59E Analog Input Automatic Read Data Acquisition Example Set up the UMAC Turbo to read channels 0 1 2 and 3 as unipolar converted signals and read channels 4 5 6 and 7 as bipolar signals Assume the switch settings are set for a base address of 078C00 78800 400 15060 8 copy 8 ADCs T5061 S000400 ADCO and ADC8 are referenced to 078800 000400 078C00 15062 000400 ADC1 and ADC9 are referenced to 078800 S 000400 078C00 15063 000400 ADC2 and ADC10 are referenced to 078800 078C00 15064 S000400 ADC3 and ADC11 are referenced to 078800 S000400 078C00 T5065 S000400 ADC4 and ADC12 are referenced to 078800 000400 078C00 15066 000400 ADC5 and ADC13 are referenced to 078800 000400 078C00 15067 S000400 ADC6 and ADC14 are referenced to 078800 S000400 078C00 15068 000400 ADC7 and ADC15 are referenced to 078800 S000400 078C00 000400 15081 000000 ADCO unipolar ADC8 is bi polar 15082 000001 ADC1 unipolar ADC9 is bi polar 15083 000002 ADC2 unipolar ADC10 is bi polar 15084 000003 ADC3 unipolar ADC11 is bi polar T5085 S00
8. chan chan chan chan chan chan D ju WNATATATNDADD WNWWWN DN DH Ey ya Ay o E DAC6 node 7 DAC7 node 7 DAC8 node 7 Beye So sos transfer tran tran tran tran tran tran sfer sfer sfer sfer sfer sfer transfer tran tran tran tran tran tran tran tran sfer sfer sfer sfer sfer sfer sfer sfer 16 bit register 16 bit register 16 bit register ADC1 ADC2 ADC3 ADC4 ADC5 ADC6 ADC7 ADC8 DAC1 DAC2 DAC3 DAC4 DACS DAC6 DAC7 DAC8 Using Acc 59E with UMAC MACRO 27 Accessory 59E 28 Using Acc 59E with UMAC MACRO Accessory 59E ACC 59 PINOUTS TB1 4 Pin Terminal Block Pin Symbol Function Description 1 GND Common Digital Ground 2 5V Input External Supply 3 15V Input External Supply 4 15V Input External Supply DB15 Breakout Option J1 Top of Card ADC1 through ADC4 DB15 Connector Pin Symbol Function Description 1 ADCI Input Analog Input 1 2 ADC2 Input Analog Input 2 3 ADC3 Input Analog Input 3 4 ADC4 Input Analog Input 4 5 Open N A 6 Open N A 7 AGND Common Ground 8 15V Output Neg Supply 9 ADC1 Input Analog Input 1 10 ADC2 Input Analog Input 2 11 ADC3 Input Analog Input 3 12 ADC4 Input Analog Input 4 13 Open N A
9. iene erraeaneraracanacranaa 25 ACC 59E Configuration Example for UMAC Turbo uu ce eeseseeeceseeeceseeeeesecaeesecseeeecsaeeeeeaecaeeaseneeeees 26 Macro Communication Setup with a Turbo Ultralite rr erreeereaeanaraanerneranarnanaana 26 Automatic I O Transfer Method u s ccccsccscesccesssssssecisesessecsceseccesscseescesecasesecaceecsaeeaeeaeeseesecateaesaesanenaeente 26 M Variables for the Ultralite cecceccssccssescsseescessesseseesceseccesecaeesesaeeceesecacesecueeenssaeeseesecaeesesaeeeeesaseneaees 27 ACC 59 PINOUTS EE A E E AA T T O TIETE TET 29 TB 1 4 Pin Terminal Block 0 ccccccecccscecesssececessceecsecceceeaeeecseaeeeeceaeaecessaececseaaececsaeecesaaeeecneaaeeseneeeeeneaee 29 DB 15 Breakout OPON v5 2 ssices a cssncgscesesiessnsasuusd ssecsteustastcavieauvevsdsssces da E saaansstcgi sensessdanoesuets 29 JI Top of Card ADCI through ADC4 DBIS Connector eee 29 J2 Top of Card ADCS through ADC8 DB15 Connector ossessi 30 J1 Bottom of Card DAC 1 through DAC 4 DB15 Connector 30 J2 Bottom of Card DAC 5 through DAC 8 DBIS Connector eee 31 Terminal Block Option TOP sssr enean elses snsteveneteasaunce vee n hor ee EE EE doa dn aah EA ER Pa Na R S Sinos 31 Connector TBI Top ADC through ADCA erre erarerereeaeea area neaaaeeaareraneaanaaaa 31 Connector TB2 Top ADCS through ADCB er eereeereeereaeaaneaaaearanaranenanaaaa 32 Connector TB3 Top Power Supply Outputs
10. cccccccesccescceseceseceseceseceseccesaeceeceeeaeeeaeeeseeeeeeeeeeeeeeaees 32 Terminal Block Option Bottom cecceecesecesecececseecseeeseeeeeeseeeseeesceesecaecsaeceaecaaecaaecaeeeaeeeaeeeeeseseeereees 32 Connector TBI Bottom DAC through DACA ee eeeeeeeeaeeaaareaarerananenaaaa 32 Connector TB2 Bottom ADC13 through ADCIO ir rreeraeaeanaraana ra neneerararanana 33 Connector TB3 Top Power Supply Outputs cccccccssceescescceseceseceseceseccesaeceecneeeaeeeaeeeaeeeseeeeeeeeenaees 33 ii Table of Contents Accessory 59E INTRODUCTION UMAC s Accessory 59E ACC 59E is both an analog data acquisition board as well as an analog output board Accessory 59E is capable of processing 8 analog inputs as well as 8 general purpose analog outputs The Accessory 59E s design features make it an ideal analog interface board The analog input data can be used for monitoring and collecting signals from a variety of sensors and transducers The analog outputs can be used wherever a general purpose voltage output is needed from 20 to 20 volts Through simple M variable assignments both the input and output values are easily accessible to use in motion programs PLCs and data collection The Analog to Digital Converter ADC unit used in ACC 59E is the MAX180 monolithic device manufactured by Maxim Integrated Products These devices have 12 bit resolution with 1 2 LSB linearity specification
11. 10 DAC2 Output DAC Output 2 11 DAC3 Output DAC Output 3 12 DAC4 Output DAC Output 4 13 Open N A 14 Open N A 15 5V Output Digital Supply This common point is connected to the digital ground of the UMAC board 30 Acc 59 Pinouts Accessory 59E J2 Bottom of Card DAC 5 through DAC 8 DB15 Connector Pin Symbol Function Description 1 DAC5 Output DAC Output 5 2 DAC6 Output DAC Output 6 3 DAC7 Output DAC Output 7 4 DAC8 Output DAC Output 8 5 Open N A 6 Open N A 7 AGND Common Ground 8 Open N A 9 DAC5 Output DAC Output 5 10 DAC6 Output DAC Output 6 1 DAC7 Output DAC Output 7 12 DAC8 Output DAC Output 8 13 Open N A 14 Open N A 15 5V Output Digital Supply This common point is connected to the digital ground of the UMAC board Terminal Block Option Top Connector TB1 Top ADC1 through ADC4 Pin Symbol Function Description Notes 1 ADCI Input Analog Input 1 2 ADCI Input Analog Input 1 3 ADC2 Input Analog Input 2 4 ADC2 Input Analog Input 2 5 ADC3 Input Analog Input 3 6 ADC3 Input Analog Input 3 7 ADC4 Input Analog Input 4 8 ADC4 Input Analog Input 4 9 NC NC 10 NC NC 11 NC NC 12 NC NC Acc 59 Pinouts 31 Accessory 59E Connector TB2 Top ADC5 through ADC8
12. X 07942A X 07942B CI 7 23 X 07942C X 07942D X 07942E X 07942F IC1 10 26 X 079430 X 079431 X 079432 X 079433 Cl 11 27 X 079434 X 079435 X 079459 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 07A459 X 07A437 1C3 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 1C3 11 59 X 07B434 X 07B435 X 07B459 X 07B437 Using Acc 59E with UMAC MACRO 19 Accessory 59E To read the inputs from the MACRO Station of the first 24 bit I O node address of node 2 X COAO point an M variable to the Ultralite or Turbo Ultralite I O node registers to monitor the inputs M980 gt X C0A0 0 24 Ultralite node2 address M1980 gt X 078420 0 24 Turbo Ultralite MACRO ICO node 2 address Then these M variable definitions M980 or M1980 can be used to monitor the inputs for either the Ultralite or Turbo Ultralite respectively 20 Using Acc 59E with UMAC MACRO Accessory 59E MACRO ACCESSORY I O DATA TRANSFER There is two me
13. 14 Open N A 15 15V Output Pos Supply This common point is connected to the digital ground of the UMAC board The supply voltages are for output from the board to supply the sensors connected to ACC 59E The drawn current should not exceed 0 5 A Acc 59 Pinouts 29 Accessory 59E J2 Top of Card ADC5 through ADC8 DB15 Connector Pin Symbol Function Description 1 ADC5 Input Analog Input 1 2 ADC6 Input Analog Input 2 3 ADC7 Input Analog Input 3 4 ADC8 Input Analog Input 4 5 Open N A 6 Open N A 7 AGND Common Ground 8 15V Output Neg Supply 9 ADC5 Input Analog Input 1 10 ADC6 Input Analog Input 2 11 ADC7 Input Analog Input 3 12 ADC8 Input Analog Input 4 13 Open N A 14 Open N A 15 15V Output Pos Supply This common point is connected to the digital ground of the UMAC board The supply voltages are for output from the board to supply the sensors connected to ACC 59E The drawn current should not exceed 0 5 A J1 Bottom of Card DAC 1 through DAC 4 DB15 Connector Pin Symbol Function Description 1 DACI Output DAC Output 1 2 DAC2 Output DAC Output 2 3 DAC3 Output DAC Output 3 4 DAC4 Output DAC Output 4 5 Open N A 6 Open N A 7 AGND Common Ground 8 Open N A 9 DAC1 Output DAC Output 1
14. 3 3 3 3 3 3 open plc10 clear cmd ms0 121 780200E8C0a0 ADC1 cmd ms0 122 780201E8C0a4 ADC2 m72 100 8388608 110 for PMAC2 Ultralite while m 2 gt 0 endwhile 715111 100 8388608 i10 for Turbo while i5111 gt 0 endwhile p601 m9608 000fff p602 m96145000fff cmd ms0 121 780202E8C0a0 ADC3 cmd ms0 122 780203E8C0a4 ADC4 m72 100 8388608 110 while m72 gt 0 endwhile 715111 100 8388608 110 for Turbo while 15111 gt 0 endwhile p603 m9608S000fff p604 m9618S000fff cmd ms0 i21 780204E8C0a0 cmd ms0 i22 780205E8C0a4 m72 100 8388608 110 while m72 gt 0 endwhile 715111 100 8388608 110 for Turbo while i5111 gt 0 endwhile p605 m9608S000fff p606 m9618S000fff DC5 DC6 gt D gt 24 Using Acc 59E with UMAC MACRO Accessory 59E cmd ms0 i21 780206E8C0a0 ADC7 cmd ms0 122 780207E8C0a4 ADC8 m72 100 8388608 110 while m72 gt 0 endwhile 715111 100 8388608 110 for Turbo while 15111 gt 0 endwhile p607 m9608S000fff p608 m9618S000fff close ACC 59E Servo Feedback Use Example for MACRO Using 4 axis servo at MACRO Station the fourth axis closes servo loop on A D converted value from the ACC 59E The information is sent from ADC1 at MACRO Station Y 0200 0 12 to the encoder conversion table entry number four MSO MI123 at the station Conversion table
15. entry fifth MSO MI124 will be the mask and the result The information is sent to the Ultralite conversion table based on MSO MI104 MI104 should contain the address of the fifth entry of the conversion table 14 MSO MI987 1 ENABLES A D INPUTS MSO MI988 0 unipolar inputs MSO MI989 S8800 board address on backplane MS0 MI123 200200 Feeding ANAIOO information into the end of MS0 MI124 S000FFF macro station conversion table with parallel MSO MI104 14 Y word data no filtering conversion method the conversion table result will be in X 14 of the macro station This information will be sent to the Ultralite s encoder conversion table fourth encoder entry as a parallel word By default the position and velocity loop address should be correct Analog Output Configuration with UMAC MACRO The method used to set up general use of the analog outputs over the MACRO ring is similar to that for UMAC Turbo but a communication method must be set up first The most straightforward way of doing this is by using MACRO data transfer through the I O nodes as demonstrated for the ADC inputs above Use the self configured data transfer because there is not an automatic transfer with the correct configuration parameters included Therefore configure the transfers similar to that shown previously for the ADC transfers To implement the self configured data transfers across I O nodes fir
16. 000C ADC4 unipolar ADC12 is bi polar 15086 00000D ADC5 unipolar ADC13 is bi polar 15087 00000E ADC6 unipolar ADC14 is bi polar 15088 S 00000F ADC7 unipolar ADC15 is bi polar M5061 gt Y 003400 12 12 u channel 0 A to D as unipolar M5062 gt Y 003402 12 12 u channel 1 A to D as unipolar M5063 gt Y 003404 12 12 u channel 2 A to D as unipolar M5064 gt Y 003406 12 12 u channel 3 A to D as unipolar M5065 gt Y S 003408 12 12 s channel 4 A to D as bipolar M5066 gt Y 00340A 12 12 s channel 5 A to D as bipolar M5067 gt Y 00340C 12 12 s channel 6 A to D as bipolar M5068 gt Y 00340E 12 12 s channel 7 A to D as bipolar Note To start the automatic data transfer process save and restart the 3U Turbo PMAC and then read the m variables associated with the ADC channel Using Acc 59E with UMAC Turbo PMAC 1 Accessory 59E ACC 59E Servo Feedback Use Example for UMAC Turbo To process the A D information in the encoder conversion table do the following For this example ADCO will be processed from location Y 3400 0 12 in the ECT as a parallel unsigned entry It is assumed that the ninth entry of the encoder conversion table ECT is available I8008 S203400 18009 S00C00C ECT location 350A read location Y 3400 ECT location 3509 read 12 bits shifted 12 bits from Y 3400 The axis to be used is specified by x Ix03 350A
17. 06 sets up the nodes 10 11 transfer to the Ultralite ms0 mi20 Sffff ms0 mi21 SC4C0A8548808 DAC1 node 6 24 bit register ms0 mi22 S548808C4C0A8 DAC1 node 6 ms0O mi23 SCCC0A9548809 DAC2 node 6 16 bit register msOQ mi24 548809CCCOA9 DAC2 ms0 mi25 SCCC0AA5S4880A DAC3 node 6 16 bit register ms0O mi26 54880ACCCOAA DAC3 ms0 mi27 SCCCOAB54880B DAC4 node 6 16 bit register ms0 mi28 S 54880BCCCOAB DAC4 ms0 mi29 SC4C0AC608808 DAC5 node 7 24 bit register ms0 mi30 5608808C4C0OAC DAC5 26 Using Acc 59E with UMAC MACRO Accessory 59E s0 mi32 60880 S 2 S amp S SS E 3 3 3 3 3 3 s0 mi36 60880 1 gt x 78421 8 5 gt x 78426 8 Ss 3S 3 Ss 3 Ss SS 3 3 3 3 3 3 5 3 11 gt x 78428 0 12 gt x 78429 8 13 gt x 7842a 8 14 gt x 7842b 8 15 gt x 7842c 0 16 gt x 7842d 8 17 gt x 7842e 8 18 gt x S7842f 8 Ss mam BS BS SS SS SS 3 3 3 3 3 3 3 3 2 gt x 78422 8 1 3 gt x 78423 8 1 4 gt x 78425 8 1 6 gt x 78427 8 1 7 gt x 78420 0 1 8 gt x 78424 0 1 s0 mi31 SCCCOAD608809 9CCCOAD s0 mi33 SCCCOAE60880A s0 mi34 60880ACCCOAE s0 mi35 SCCCOAF60880B BCCCOAF M Variables for the Ultralite 12 NAnNNNHnAWnNNN 2 2 2 12 2 2 12 pk rl pk ra yal pd rt MN NNNNDND LY rt DAC6 DAC7 ne no Ne Ne Ne Ne DAC8 channel channel chan chan chan chan chan ch a ae ar Tee a ES D I w chan chan
18. Accessory 59E DELTA TAU NP 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 O 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 elect
19. C chip Connections 5 Accessory 59E Hardware Address Limitations Some of the older UMAC I O accessories might create a hardware address limitation relative to the newer series of UMAC high speed IO cards The ACC 59E would be considered a newer high speed I O card The new I O 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 I O cards UMAC Card Types UMAC Card Number of Category Maximum 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 Chip Select Addresses Chip UMAC Turbo MACRO UMAC Turbo MACRO Select Type A Card Type A Card Type B Card Type B Card 10 078C00 FFEO or 8800 078C00 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 07AE00 07ECOO A880 B880 16 078F00 88C0 078F00 079F00 88C0 98C0 07AF00 07BF00 A8C0 B8C0
20. EET EE E E A E E E A E E aay 17 MATOS EE EE E T E T RR 18 Transferring Data Across the MACRO Ring ou ce eeceseessesecseeseesecseeseceeeeeesaecaeeaecaeeseeneesecsaeeesaesaeeaeeneesees 18 MACRO CPU I O Node ACdreSS S 1 1 csssesccevsceseeseesseesseeseeseessesceesecaecuaeceaecanecaaecaeeeaeeeseeeneeeneeeneeaees 19 PMAC2 Ultralite I O Node ACAr SS S ccccccccceceesceescesecuseeusecaceeneeeseeseeseeeseeseceseeeseceseeeaecaeseeeeeeaeens 19 PMAC2 Turbo Ultralite I O Node Addresses 1 sssceccceveceseeeseesseeneeeseesseeneeseeeseceseceaeceaecaseeaeenaeenaeens 19 MACRO ACCESSORY I O DATA TRANSFER ccccscssscsscsscsscsssescsssnesscsncesseesncssessssseessssnessessesees 21 Automatic anster rea lect oate sec os casegecadesu case ensetenis E EE ait eestcaerseaateeaaeies 21 Table of Contents i Accessory 59E MIZI aes ashe esa at ec hth a Ne iad ieee a Mia a Aied oleate Sah a cliaead ate itias 21 DLT EE E Pele ate tad Ade a Ra RE RO RR ew tate taka EAE pa af 22 Self Configured Data Transfer via the I O Nodes rece ererarerarerarerenaerarerarea a 22 MADD Orie tetas Tene eles RA RNA COR real Seto RU RS ER TR ORE RR ARTES RM E E aaa E E E 22 MRI through MIOS cisien E E E E E item ass ara dba Fei idea SE 23 ACC 59E Self Configured Data Transfer Example for MACRO ossos 23 ACC 59E Servo Feedback Use Example for MACRO er eraanereearerenanaa 25 Analog Output Configuration with UMAC MACRO
21. For more details of the ADC chips please refer to the data sheet published by the manufacturer Document 19 3950 Rev 0 6 91 Complete 8 Channel 12 Bit Data Acquisition Systems Maxim Integrated Products 120 San Gabriel Drive Sunnyvale CA 94086 Phone 408 737 7600 The Digital to Analog Converter DAC unit used in ACC 59E is the DAC7625 manufactured by Burr Brown Corporation These devices are 12 bit quad voltage output digital to analog converters with guaranteed 12 bit monotonic performance from 40 C to 85 C For more details about the DAC chips refer to the data sheet published by the manufacturer DAC7624 and DAC7625 12 Bit Quad Voltage Output Digital To Analog Convertor Burr Brown Corporation 6730 S Tucson Blvd Tucson AZ 85706 Phone 520 746 1111 The A D converter chips used on this accessory multiplex the data and therefore PMAC must address each channel to read them Delta Tau has created automatic data transfers for both the 3U Turbo PMAC and the MACRO Station This automatic method reads addresses for each channel and places the converted data automatically in memory locations accessible by the user For UMAC firmware 1 936 and above 16 channels of analog inputs may be read to specified UMAC memory locations automatically These registers can be monitored using M Variables or read into UMAC s encoder conversion table for servo feedback control MACRO Station firmware 1 115 and above has implemented
22. Ix04 5350A position f E velocity f eedback address eedback address set set ACC 59E Power On Position for Turbo PMAC2 As of 9 27 2000 Delta Tau firmware does not support upper 12 bit word power on position reads However the position register can be forced to read the appropriate power on value using the position offset register M164 gt D S00CC motor 1 offset position register 1 32 1x08 M264 gt D S014C motor 2 offset position register 1 32 1x08 M594 gt D S 01CC motor 3 offset position register 1 32 1x08 M464 gt D S024C motor 4 offset position register 1 32 1x08 M564 gt D 02CC motor 5 offset position register 1 32 1x08 M664 gt D 034C motor 6 offset position register 1 32 1x08 M764 gt D S03CC motor 7 offset position register 1 32 1x08 M864 gt D 044C motor 8 offset position register 1 32 1x08 M5061 gt Y 003400 12 12 u channel 0 A to D as unipolar M5062 gt Y 003402 12 12 u channel 1 A to D as unipolar M5063 gt Y 003404 12 12 u channel 2 A to D as unipolar M5064 gt Y 003406 12 12 u channel 3 A to D as unipolar M5065 gt Y 003408 12 12 u channel 4 A to D as unipolar M5066 gt Y 00340A 12 12 u channel 5 A to D as unipolar M5067 gt Y 00340C 12 12 u channel 6 A to D as unipolar M5068 gt Y 00340E 12 12 u channel 7 A to D as unipolar A PLC could be written to read t
23. N ON OFF OFF OFF ON Y 78F00 ON ON ON ON OFF OFF CS16 Y 79F00 ON ON ON OFF OFF OFF Y 7AF00 ON ON OFF ON OFF OFF Y 7BF00 ON ON OFF OFF OFF OFF MACRO Station Switch Settings Chip MACRO Station DIP Switch SW1 Position Select Address 6 5 4 3 2 1 Y 8800 ON ON ON ON ON ON CS10 Y 9800 ON ON ON OFF ON ON Y A800 ON ON OFF ON ON ON Y B800 FFEO ON ON OFF OFF ON ON Y 8840 ON ON ON ON ON OFF CS12 Y 9840 ON ON ON OFF ON OFF Y A840 ON ON OFF ON ON OFF Y B840 FFE8 ON ON OFF OFF ON OFF Y 8880 ON ON ON ON OFF ON CS14 Y 9880 ON ON ON OFF OFF ON Y A880 ON ON OFF ON OFF ON Y B880 SFFFO ON ON OFF OFF OFF ON Y 88C0 ON ON ON ON OFF OFF CS16 Y 98C0 ON ON ON OFF OFF OFF Y A8CO ON ON OFF ON OFF OFF Y B8CO FFF8 ON ON OFF OFF OFF OFF To implement the alternate addresses FFEO FFE8 FFFO and FFF8 SW1 positions 6 and 5 must be set to OFF This disables the other addresses and has a limit of four possible locations It also limits the DAC output functionality on this card 4 Connections Accessory 59E Power Supply Connection If ACC 59E is installed on the 3U bus through P1 both the 5V supply and the 15V supplies are brought in through the bus If ACC 59E is not powered through the 3U bus then TB1 is used to bring in external power The power supply requirements are approximately 5V Supply 200mA 15V Supply 90mA 15V Supply 100mA Connection to Analog Signal Inputs The analog signals are
24. These 24 bit registers contain the information for the ADC channels of data The lower 12 bits contain ADC value for channels 1 8 If ACC 59E is used in conjunction with I O accessories ACC 3E ACC 9E ACC 10E ACC 11E ACC 12E or ACC 13E use the three 16 bit read write method 48 bit per node of I O transfer This will free up the 24 bit I O registers for the eight channels of A D The 24 bit I O Using Acc 59E with UMAC MACRO 23 Accessory 59E registers could then be mapped back 12 bits at a time and four of the six 24 bit registers could be used to read eight ADCs If more I O registers are available then the three 16 bit registers could be used also If more nodes are needed then the ADC 16 bit registers for the current loop feedback could be used to transfer the information back to the Ultralite when the axis node used is not in PWM mode Note Remember if there is only one master Ultralite in the system then node 14 could be used for I O transfer two 24 bit registers and six 16 bit registers Data Acquisition Example uses two nodes with multiple reads and the address DIP switch settings are set for 8800 m960 gt x c0a0 0 24 uses node 2 24 bit register m961 gt x c0a4 0 24 uses node 3 24 bit register m 2 gt x S0701 0 24 s for PMAC2 Ultralite Use Isxll and Isx12 for Turbo Ultralite s0 mi975 Sccc s0 mil9 4 s0 mi20 3 s0 mi987 1 s0 mi988 0 s0 mi989 S 8800 sam
25. a similar procedure for interfacing to a single analog input card ACC 59E or ACC 36E When additional cards are used data transfer methods must be implemented These are explained in later sections of the manual Introduction 1 Accessory 59E Introduction Accessory 59E CONNECTIONS Connectors Refer to the layout diagram of ACC 59E for the location of the connectors on the board P1 This connector is used for interface to UMAC s processor bus via the backplane of 3U rack The signals which are brought in through this connector are buffered on board Top J1 J2 Through these connectors the analog signals are brought into ACC 59E In addition the 12 to 15 volt power supplies are brought out These power supplies may be used in situations where a separate supply unit is not available for the analog transducers Note The two fuses limit the current drawn to 0 5 A on each supply line Bottom J1 J2 Through these connectors the analog output signals are supplied from the ACC 59E In addition the 5 volt power supply is brought out J5 This connector is used for factory calibration Do not use this connector JP1 This connector is used for factory calibration Do not use this connector JP2 This connector is used for factory calibration Do not use this connector TB1 This is a 4 pin terminal block which provides the connection for power supply inputs to ACC 59E when it is used in a stand
26. alog Signal Inputs erre erre era rena neaa nene aeee aeee aerarreanna 5 Power Supply Requirements soeren onsen eie a aaie eede a EEEE E E E EEEE A SEEE EESE 5 Power Requirements cseoieneneeisnin niei aai ar eie opaite dod sagaeiss dios 5 ACC ODE BUS fcczess cus ceennceins eeadecasanadisseaustsuvades ehegaateceen Rodar E E boa sine ga ota EEEa ieaneess A AEE 5 A djustment POLS associam saen aeaea En nE o EE st couccdsusscacguncava EEEN EE TTE ETERA E Sai 5 Hardware Address LimitatONSs ssacses ccspoarstadssnsicsegeasradis aaeeea eana aeaee O EE E EEE A E E ERE 6 UMAC Card Types sccssessesssescsseccesevesenscoasenenecncsaesesenesscessenesscessenesscesesecessesesenesseessenaseneosessenasenevetes 6 Chip Select AAAreSS S ssesessssenseseenseverscessceveceacencesecasesesscesnenessceusesesecesaeeasenecoeseeeneseneseeensesesenensenees 6 Addressing COMPUCIS inorse e ea E a See a Ee AAA A EE R e o E paia na nn a Bione anda 6 Type A and Type B Example 1 ACC 11E and ACC 59E u scceccsccssssssseessetecnseeecnseeeceaeeasesesaeeecneeeeeeaeenes 7 Type A and Type B Example 2 ACC 11E and ACC O5E i scceccsccssesssesecssesecuseeeenseeseeaeeaeesecaceneceaeeeseaeenes 7 USING ACC 59E WITH UMAC TURBO PMAC sssesesesseseseeecoerosoesesecoecosoeseseseeceserorceseeecoesosoesesecoeessoesesee 9 Enabling UMAC Turbo ADC Transfer Automatic ADC Read Method ccceccecceeseecseeteeeeeeeseeseeeees 9 Analog Input Automatic Read Data Acquis
27. alone configuration Note Do not use this connector when the card is sitting on the 3U rack E Point Jumpers Jumper Config Description Settings Default El 1 2 Turbo PMAC MACRO 1 2 for 3U Turbo PMAC and Set by factory Select MACRO Stations Revisions 104 and Higher 2 3 for legacy MACRO Stations revisions 103 and earlier J3 1 2 Bipolar Unipolar 1 2 for Bi Polar DAC outputs 1 2 Panis 2 3 for Uni Polar DAC outputs Connections 3 Accessory 59E Address Select DIP Switch SW1 The switch one SW1 settings will allow the user to select the base address of the ACC 59F The base address is used for a reference of where to access the ADCs and the DACs in memory The following two tables show the DIP switch settings for both the UMAC Turbo and the MACRO Station UMAC Turbo Switch Settings Chip UMAC Turbo DIP Switch SW1 Position Select Address 6 5 4 3 2 1 Y 78C00 ON ON ON ON ON ON CS10 Y 79C00 ON ON ON OFF ON ON Y 7AC00 ON ON OFF ON ON ON Y 7BC00 ON ON OFF OFF ON ON Y 78D00 ON ON ON ON ON OFF CS12 Y 79D00 ON ON ON OFF ON OFF Y 7AD00 ON ON OFF ON ON OFF Y 7BD00 ON ON OFF OFF ON OFF Y 78E00 ON ON ON ON OFF ON CS14 Y 79E00 ON ON ON OFF OFF ON Y 7AE00 ON ON OFF ON OFF ON Y 7BE00 O
28. ble ADC transfer MSO M1I988 SFO ADC channels 0 1 2 and 3 as unipolar and channels 4 5 6 and 7 as bipolar MS0 MI989 58840 address dip switch set to 8840 The data from the ADC returns to the MACRO Station memory address as a 24 bit word The lower 12 bits will contain ADCO through ADC7 and the upper 12 bits of this word is not used by ACC 59E The data is copied automatically as follows Channel Location ADCO Y 0200 0 12 ADCI Y 0201 0 12 ADC2 Y 0202 0 12 ADC3 Y 0203 0 12 ADC4 Y 0204 0 12 ADC5 Y 0205 0 12 ADC6 Y 0206 0 12 ADC7 Y 0207 0 12 Transferring Data Across the MACRO Ring Once the data is translated from the multiplexed form into MACRO Station memory locations the only thing left to do is transfer the data to the Ultralite so it is available through either the I O node addresses or through the MACRO encoder conversion table and across the servo node addresses The latter is used when the analog inputs are used for servo feedback For the ACC 59E there are two methods to transfer the data back to the PMAC Ultralite over the I O nodes An automatic method could be used with MACRO variables MI173 MI174 and MI I175 or the data could be transferred using the standard I O transfer method The standard data transfer flow for both cases is shown below PMAC Ultralite Acc 59E or another MACRO I O Card 18 Using Acc 59E with UMAC MACRO Accessory 59E
29. brought in from J1 and J2 on the top of the card For a single ended connection using ADCx and GND the voltage range should be from 0 to 20 volts for unipolar signals and 10V to 10V for bipolar signals For a differential connection using ADCx and ADCx the voltage range should between 10 and 10V for unipolar signals and 5V to 5V for bipolar signals The 15V power supply is also brought out through this connector Note The two fuses limit the current drawn to 0 5 A on each supply line For single ended inputs ground the complementary signals Power Supply Requirements ACC 59E draws 100mA from each of its three supply voltages 12 V 12V and 5 V Power Requirements 5V 12V 12V Other 24V etc 100 mA 100 mA 100 mA N A Note Since the analog inputs are not optically isolated on this board the 12V supply to this board should not be from the same supply that is used for the UMAC s optically isolated analog outputs DACs ACC 59E Fuse Manufacturer Specification DT Part Number Little Fuse 125V 0 54 273 500 Adjustment Pots There are 16 analog offset adjustment pots These 12 turn pots are located at the top edge of the printed circuit board From left to right R8 is for ADC 1 R16 is for ADC 2 etc and R36 is for DACI1 R37 is for DAC2 etc R34 and R35 pots are for internal use only they are used to adjust the reference voltages on the AD
30. he A D converted data Using this method to read allows the use of the data for both data acquisition and closing servo loops To enable the feature 15060 15061 15076 and 15081 15096 must be set as specified by the Turbo PMAC Software Reference Up to 32 ADCs or 16 ADC pairs can be read in this fashion when using an ACC 36 However due to the design of the ACC 59E only 16 ADCs may be read in this fashion and they are not grouped in pairs The multiplexed data from the ADC returns to the PMAC memory address as a 24 bit word The lower 12 bits contain ADCO through ADC7 on the 59E The upper 12 bits of this word are not used by the ACC 59E After the data is returned it is copied into the upper 12 bits of the addresses shown below The data is copied automatically as follows Using Acc 59E with UMAC Turbo PMAC 9 Accessory 59E I Variable Low ADC Result ACC 59E 15061 Y 003400 ADC 1 Ist 15062 Y 003402 ADC2 Ist 15063 Y 003404 ADC3 Ist 15064 Y 003406 ADC4 lst 15065 Y 003408 ADC5 lst 15066 Y 00340A ADC6 Ist 15067 Y 00340C ADC7 1st 15068 Y 00340E ADC8 lst 15069 Y 003410 ADC1 2nd 15070 Y 003412 ADC2 2nd 15071 Y 003414 ADC3 2nd 15072 Y 003416 ADC4 2nd 15073 Y 003418 ADC5 2nd 15074 Y 00341A ADC6 2nd 15075 Y 00341C ADC7 2nd 15076 Y 00341E ADC8 2nd For the ACC 59E 15060 controls the number of multiplexed A D con
31. he ADC into the position offset registers at power up OPEN PLC 25 CLEAR 15111 1000 8388608 i10 1000 msec delay to ensure data is read properly While 15111 gt 0 endwhile M164 m5061 32 1108 set power on position offset to m5061 for mtrl M264 m5062 32 1108 set power on position offset to m5062 for mtr2 M594 m5063 32 1108 set power on position offset to m5063 for mtr3 M464 m5064 32 1108 set power on position offset to m5064 for mtr4 M564 m5065 32 1108 set power on position offset to m5065 for mtr5 M664 m5066 32 1108 set power on position offset to m5066 for mtr6 M764 m5067 32 1108 set power on position offset to m5067 for mtr7 M864 m5068 32 1108 set power on position offset to m5068 for mtr8 Disable plc25 close 12 Using Acc 59E with UMAC Turbo PMAC Accessory 59E Manual ADC Read Method with UMAC Turbo When using the manual ADC read method address the ADC channel and then copy the contents of the ADC register into a UMAC memory location usually an M variable This can be accomplished with a PLC Ifa PLC program is written to monitor the data first define up to two M variables for each ACC 59E board Once the M variables have been defined UMAC s PLC programs may be used to initialize the analog to digital conversion process M Variable Definitions for Manual Read Method Define two M variables for an eight channel ACC 59E and three M variables fo
32. he Conversion Channel Select M variable determines both the input channel and the conversion type unipolar Vs bipolar This is shown in the following table Using Acc 59E with UMAC Turbo PMAC 13 Accessory 59E Selection of Analog Input Channels for Analog to Digital Conversion Base Selected Polarity Single ended Range Differential Address Analog Input volts Range Inputl Channels Volts 0 1 Unipolar 0 to 20 Oto 10 1 2 Unipolar 0 to 20 Oto 10 2 3 Unipolar 0 to 20 Oto 10 3 4 Unipolar 0 to 20 0 to 10 4 5 Unipolar 0 to 20 Oto 10 5 6 Unipolar 0 to 20 0 to 10 6 7 Unipolar 0 to 20 Oto 10 7 8 Unipolar 0 to 20 0 to 10 8 1 Bipolar 10 to 10 5 to 5 9 2 Bipolar 10 to 10 5 to 5 10 3 Bipolar 10 to 10 5 to 5 11 4 Bipolar 10 to 10 5t05 12 5 Bipolar 10 to 10 5t05 13 6 Bipolar 10 to 10 5t05 14 7 Bipolar 10 to 10 5t05 15 8 Bipolar 10 to 10 5t05 IThe base address is selected using SW1 The value in this column would be the value given to M100 in the above example 2 For single ended wiring use ADCx input and AGND return 3 For differential wiring use ADCx and ADCx inputs Reading Data through PLC Programs for Manual Read Method For this example convert channels 4 and 2 as unipolar inputs and read channel 1 as bipolar in the PLC 10 program M100 gt Y 78c00 24 M variable for Conversion Channel Select M101 gt Y 78c00 0 12
33. ition Example ll ACC 59E Servo Feedback Use Example for UMAC Turbo esessseeieseeeeesrrrerreresrsrsiereerersersrsrerrereress 12 ACC 59E Power On Position for Turbo PMAC2 0 ee ceeeceseeecseeceeecsseeeeesecaeesecneeeesaeeeesaecaeeeesneseenaeeees 12 Manual ADC Read Method with UMAC Turbo eee errando 13 M Variable Definitions for Manual Read Method ui scccccsccsccssesssesesssesetsseeecuseeeceseesceseeaeeseeeeseensseeeeaees 13 Analog Input Manual Read Data Acquisition Example cccsccssscsssecssesecsseescuseeseeseescesecuneeeesecuneeeenaes 13 Reading Data through PLC Programs for Manual Read Method en 14 UMAC Turbo Analog Output Configuration eccesecseeeecseeeeceeeeesaeceeesecaeeseeseeeesaeeeeaesaeeeseaeeaeed 15 ACC 59E Configuration Example for UMAC Turbo 000 ce eeeeseeeceseeeceseeecesecaeesecseeeecsaeeeesaeeaeeaeeneneees 15 Using ADC Automatic Read Method ccccccccssccesesscescssesecsseescuseeseesecacesecacescesaeesesaeeseesecacesecaeeaneaseneeegs 15 DAC Setup Using M Variable Pointers eee ererarerareraraaraaarar eae rena renan rena nenanana 16 USING ACC 59E WITH UMAC MACRO sesesseesseroeseseceeeesoroesesescesesoroesececoeoosorsesesesoesoroeoeseseeoseoroeseeeeese 17 Analog Input Configuration with UMAC MACRO rear eaeerereeaeeraearenerana 17 Enabling ADC Automatic Read peekoni sieni aee ea E E EE E EEEE RESE EE 17 MIIE T ae a e e e a E E a a a a A A EA 17 MIO SG REA
34. mber of nodes to be used 2 0 Reserved for future use 3 6 COAO Node 2 COA4 Node 3 MACRO Station X Address of MACRO I O node 24 COA8 Node 6 COAC Node 7 bit register COBO Node 10 COB4 Node 11 7 0 Reserved for future use 8 0 Reserved for future use 9 12 200 207 MACRO Station Y A D Address Bits 00 23 When this function is active the MACRO Station copies values from the Y Address specified in digits 9 12 into X Address specified in digits 3 6 one at a time up to a total of two The move to the specified node address assumes it to be the X memory of a 24 bit node register MI175 Example Transfer the A D converter channels 7 and 8 using MI75 1175 20C0A0000206 A D A D MACRO Node Ultralite Turbo Ultralite Channel Location Address M Variable M Variable ADC7 Y 206 0 12 X C0A0 0 12 M1007 gt X COA0 0 12 M1007 gt X 078420 0 12 ADC8 Y 207 0 12 X C0A4 0 12 M1008 gt X C044 0 12 M1008 gt X 078424 0 12 Self Configured Data Transfer via the I O Nodes The MACRO Station also transfers data back to the Ultralite from any MACRO station memory location This function is useful to read the 12 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 PMAC Ultralite Acc 59E or anothe
35. on the Compact MACRO Station from which the data is to be copied the second 24 bits six 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 two digits 8 bits specify what portion of the address is to be used The following table shows the 2 digit hex format codes and the portions of the address that each one selects Code 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 BO X 8 0 7 B8 X 8 8 15 C0 X 8 16 23 C4 X 12 0 11 DO 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 MI21 780200E8COA0 copies 24 bit data from Station address Y 0200 to X COAO ACC 59E Self Configured Data Transfer Example for MACRO This example uses the I O transfer method This method will transfer data from any MACRO station memory location to the I O transfer node This could be done on a bit by bit basis or as a 24 bit transfer For ACC 59E with automatic copy implemented the ADC locations are found at locations Y 0200 through Y 0207
36. polar mode the voltage range is from 20 to 20V A value in the address of DAC 1 of 0 will correspond to 20V and a value of 4095 FFF will correspond to about 20V The following is a list of suggested of M Variables to access the appropriate DAC output registers for an ACC 59E with a base address of Y 78c00 M8101 gt Y 78c08 0 12 M8102 gt Y 78c09 0 12 M8103 gt Y 78c0a 0 12 M8104 gt Y S 78c0b 0 12 M8105 gt Y 78c08 12 12 M8106 gt Y 78c09 12 12 M8107 gt Y 78c0a 12 12 M8108 gt Y 78c0b 12 12 DAC 7 DAC 7 DAC DAC DAC 7 DAC 7 DAC 7 DAC 1 2 3 4 5 6 7 8 ACC 59E Configuration Example for UMAC Turbo Base Address 78c00 Using ADC Automatic Read Method 15060 8 copy 8 ADC pairs automatically 59E analog inputs slot pointers 15061 5000400 ADCO is referenced to 078800 00400 078C00 15062 5000400 ADC1 is referenced to 078800 00400 078C00 15063 5000400 ADC2 is referenced to 078800 00400 078C00 15064 5000400 ADC3 is referenced to 078800 00400 078C00 15065 000400 ADC4 is referenced to 078800 00400 078C00 15066 000400 ADC5 is referenced to 078800 00400 078C00 15067 S000400 ADC6 is referenced to 078800 00400 078C00 15068 5000400 ADC7 is referenced to 078800 00400 078C00 59E convert codes T5081 S00008 ADCO is bi polar Using Acc 59E with UMAC Turbo PMAC 15 Accessory 59E
37. r MACRO I O Card 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 be set to appropriate values See the MACRO Station Software Reference manual MI20 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 MI20 1 transfer MI2 MI20 3 transfer MI21 and MI22 MI20 SF transfer MI21 MI22 MI23 and MI24 22 Using Acc 59E with UMAC MACRO Accessory 59E Hex 0 0 MI21 through MI68 MIA through MI68 are 48 bit addresses describing the transfer of data from the desired memory location to the MACRO 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 MIO 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 Register Format Code From Register Address To Register Format Code To Register Address The first 24 bits six hex digits specify the address of the register
38. r an ACC 59E with its Option 1 A 24 bit wide unsigned integer M variable must be pointed to the base address of the board Next define two more M variables each 12 bits wide and pointed to the same base address For bipolar signals 10 to 10V single ended and 5V to 5V differential these M variables must be defined as signed integers For unipolar signals 0 to 20V single ended or O to 10V differential define them as unsigned For example if the base address is at Y 78C00 assuming CS10 is used then define the three M variables as follows For bipolar signals M1000 gt Y 78C00 24 M variable for Conversion Channel Select M1001 gt Y 78C00 0 12 s M variable for Read Data for channels 1 to 8 For unipolar signals M1000 gt Y 78c00 24 M variable for Conversion Channel Select M1001 gt Y 78c00 0 12 u M variable for Read Data for channels 1 to 8 Note The address Y 78C00 is the same for both M variables Analog Input Manual Read Data Acquisition Example Initialize the analog to digital conversion process by writing into the ADC registers pointed to by Conversion Channel Select M variable M1000 in the above example This process takes a few microseconds and because of the processing speed of Turbo a small delay may be necessary after initializing the ADC process Afterwards the converted data may be read through the Read Data M variables M101 amp M102 in the above example The data written into t
39. rical 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 59E Table of Contents INTRODUCTION PPE A E 1 CONNECTIONS rssccicecsctscscosseccescsteuesisestoasessssacstasessseecdesestesesetcoastesestsasisassusseusatsossecses sepsecacesseseadvaisessatsoesse 3 CODMECLOLS assistiam Sos aslo ss foslrsndahoo OE EEEE EE ER EEEE EE E TR 3 DPT T E E E E E S 3 Top JLS siso rigores e EENT EEEREN E E E E EER 3 Bottom JI JZ rinie EEEE ENTAO ENE DUNN Couteveaceay aneus MURAL Pd E A E EREN EEEE 3 a E E E E E A A E E E T E E E E 3 DPL EE E E E E N E E 3 A AEE E E EE E A A E E E S E E E 3 DBT A E E E E E S E E S 3 ES Point UNO PONS orerar en E EE E EE E a O pa dada aaa a i 3 Address Select DIP Switch SW lessen e aR E e EEEE aana aa i 4 UMAC Turbo Switch Settings ccccceccccsccesscesecesecnseesseeseesseesseeseeeseceseseeesecssecaecaecsaecaaecaaeeseeeaeeeaseaeeenaes 4 MACRO Station Switch Settings sccccccsccsssesseessesseeseesseeseeesecesecesecesecaecaaecaaecsaeeseeseaeeeeeeeeeeeseaeeegesaeeaas 4 Power Supply Connection cicne userin nisen uhis e ai aeaea E ERE E GEE EIEEE S E GE 5 Connection to An
40. ry 59E USING ACC 59E WITH UMAC TURBO PMAC Reading the analog data through ACC 59E is a simple procedure There are two possible ways to read the analog inputs PLCs can be written that monitor the ACC 59E board or UMAC s automatic ADC register read feature can be used The A D converter chips used on this accessory multiplex the data and therefore UMAC must address each channel for reading The automatic ADC read addresses each ADC and copies the value into a pre defined memory address This copy is done every phase 110 usec by default clock for two ADC channels Manually address the ADC chip and copy the values into memory locations using the manual ADC read method The automatic read feature in UMAC allows reading the analog signals as feedback devices or for normal data acquisition by having M variables pointing to memory locations containing the information received by the automatic read feature The block diagram below shows the analog data flow for servo feedback and user programs Encoder Servo ADC Values Sd Feedback E Table eco M Variables Usor Programs The following block diagram shows the information flow from ACC 59E to the user programs using the manual ADC read method ACC 59E M Variables Programs Enabling UMAC Turbo ADC Transfer Automatic ADC Read Method Just like the standard Turbo PMAC2 the UMAC Turbo allows the use of the automatic copy feature to simplify the reading of t
41. st set up the variables MI20 and MI21 68 Since the ACC 59E has eight general purpose DAC outputs set up MI20 and MI21 MI36 The reason for using 16 data transfers is to set up both transferring of data from the T O nodes to the MACRO address and then back from MACRO memory to the I O node If the transfer was not set up to return to I O node then what was written to the DAC could not be read The command would still get the proper location and voltage would be present on the DAC however it could not be read in any of the user programs Remember that we could have chosen any set of 16 variables within MI21 MI68 Example Configuring ACC 59E general DAC outputs over the MACRO ring using self configured data transfers with base address of Y 8800 E ms0 mil9 4 enable node transfer ms0 mi975 Sccc enable I O channels Using Acc 59E with UMAC MACRO 25 Accessory 59E ms0 mi20 Sffff 121 SC4 122 S54 123 SCCC0A9548809 124 S54 125 SCCCOAA54880A 126 S54 127 SCCCOAB54880B 128 S54 129 SC4 nsO m s0 m s0 m s0 m s0 m s0 m s0 m s0 m s0 m ICOA8548808 18808C4C0AB 1880 9CCCOAYI 18 80ACCCOAA 18 80BCCCOAB ICOAC608808 s0 m s0 m s0 m s0 m 130 S608808C4C0AC 131 SCCCOAD608809 i32 560880 9CCCOAD 133 SCCCOAE60880A s0O m s0O m s0 m e E tb SS SBS S amp S 3S 2S 2 2S 3S 2S 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 134 560880ACCCOAE 135 SCCC0AF60880B 136 60880BCCCOAF
42. t 7 6 DAC7 Output DAC Output 7 7 DAC8 Output DAC Output 8 8 DAC8 Output DAC Output 8 9 NC NC 10 NC NC 11 NC NC 12 NC NC Connector TB3 Top Power Supply Outputs Pin Symbol Function Description Notes 1 GND Input Output Common for 5V Output 2 5V Output Digital Output 3 NC Acc 59 Pinouts 33
43. t the MACRO Station MI987 MI988 and MI989 These three variables tell the MACRO Station to copy the multiplexed data to pre set memory locations in the MACRO Station MI987 When the MI987 variable is set to 1 it will enable the automatic ADC transfer If MI987 is set to zero the ADC transfer will not take place MI988 The MI988 variable controls whether the optional on board A D converters are set up for unipolar O to 20V or bipolar 10 to 10V inputs MI988 consists of eight bits each bit controls the setup of the A D converters A value of 0 in the bit sets up the A D converters for unipolar inputs a value of 1 in the bits sets up the A D converters for bipolar inputs The following table shows which bits of MI988 control which A D converters MI988 Bit Hex Bit Value ADC 0 1 ANAIO0 1 2 ANAIO1 2 4 ANAIO2 3 8 ANAIO3 4 10 ANAI04 5 20 ANAIOS 6 40 ANAI06 7 80 ANAIO7 Using Acc 59E with UMAC MACRO 17 Accessory 59E MI989 The MI989 variable specifies the memory location to start the ADC transfer from the address dip switch setting For example if the switch settings specified 8800 as the address setting set MI989 equal to 8800 to properly read the ADC inputs Example At MACRO Station 0 transfer ADC channels 0 1 2 3 8 9 10 and 11 as unipolar and channels 4 5 6 7 12 13 14 and 15 as bipolar from address setting 8840 MSO MI987 1 ena
44. thods that can be used to implement I O data transfer on MACRO automatic transfer and self configured transfers Automatic Transfer The automatic data transfer uses MACRO Station I variables to send the information from the ACC 59E to the MACRO Station I O node address Once the information is at the MACRO Station node address the information is used at the PMAC Ultralite There are three MACRO Station I variables to set up this automatic transfer MSn MI173 Up to six 12 bit transfers for A D inputs 1 6 MSn MIl74 Could use interchangeably with MSn MI173 MSn MI175 Up to four 12 bit transfers for A D inputs 7 8 must be consecutive Use these MI variables to send A D information to the node addresses automatically as described in the following paragraphs MI173 MI173 specifies the registers used in A D transfer between two MACRO nodes It transfers the lower A D s three at a time to three 16 bit nodes The upper four bits are set to zero The individual digits are specified as follows Digit Valid Values Description 1 1 2 Specifies the number of nodes to be used 2 0 Reserved for future use 3 6 COA1 Node 2 COA5 MACRO Station X Address of MACRO I O node first of Node 3 COA9 Node 6 three 16 bit registers COAD Node 7 COB1 Node 10 COB5 Node 11 7 0 Reserved for future use 0 Reserved for future use 9 12 200 205 MACRO Station Y A D Address Bits 00 11
45. u M variable for Read Data for channels 1 to 8 OPEN PLC 10 CLEAR M100 3 convert channel 4 as unipolar 15111 1 While i5111 gt 0 endwhile P104 M101 P100 now contains converted chan 4 data M100 1 convert channel 2 as unipolar 15111 1 While i5111 gt 0 endwhile P110 M102 P100 now contains converted chan 10 dat M100 8 convert channels 1 as bipolar 111 1 While i5111 gt 0 endwhile P101 M101 P101 now contains converted chan 1 data CLOSE 14 Using Acc 59E with UMAC Turbo PMAC Accessory 59E UMAC Turbo Analog Output Configuration To use the general purpose DAC outputs from the ACC 59E point an M Variable to the proper location in memory From that point then write a value into memory and output a proportional voltage to the J1 and J2 connectors on the bottom of the rack The output addresses for DACs 1 8 are shown below DAC Channel Address Location Starting Bit Bit Width 1 Base 8 0 12 2 Base 9 0 12 3 Base 10 0 12 4 Base 11 0 12 5 Base 8 12 12 6 Base 9 12 12 7 Base 10 12 12 8 Base 11 12 12 The Base address is configured through SW1 When the ACC 59E is configured for unipolar mode the voltage range is from 0 to 20V A value in the address of DAC 1 of O will correspond to OV and a value of 4095 will correspond to about 20V When the ACC 59E is configured for bi
46. verters that are processed and de multiplexed into individual registers If 15060 is set to O none of these A D converters is processed automatically If 15060 is set to a value greater than 0 it specifies the number of ADCs in the automatic processing ring Each phase clock cycle one pair is processed and the values copied into image registers in RAM 15061 through 15076 control the addresses of the multiplexed A D converters read in the A D ring table as enabled by 15060 These I variables contain offsets from the starting Turbo PMAC address 078800 where these ADCs can reside The base address of the ACC 59E is defined by the SW1 setting 15081 through 15096 contain the convert codes written to the multiplexed A D converters that are read in the A D ring table as enabled by 15060 The convert codes control which of the multiplexed ADCs at the address is to be read and the range of the analog input for that ADC The ADCs can be on board the Turbo PMAC with Option 12 and 12A or off board with an ACC 36P V E or ACC 59E 15081 15096 are 24 bit values represented by six hexadecimal digits Legitimate values are of the format 00m00n where m and n can take any hex value from 0 through F For the ACC 59E with a 3U Turbo PMAC2 the m value is not used leave it at zero For the ACC 59E with a UMAC Turbo the n value determines which of the inputs ANAIOO to ANAIO7 and how it is to be converted according to the following formulas n ANAI
47. with an added layer of communication for the MACRO ring transfers For the analog outputs there is really only one convenient method to transfer the data across the ring Once that is configured the DAC outputs are accessed through simple M Variable definitions just like the UMAC turbo There is more freedom when configuring the analog inputs The first thing that must be done is transferring the multiplexed data into MACRO Station memory locations Once that is accomplished there are basically three methods of transfer that can be chosen to transfer the data Usually this decision is made based on the use of the inputs whether or not the input data is used for servo feedback or low high priority inputs In order to get an understanding of how the transfers take place the analog input configuration will be explained first followed by the analog output setup Analog Input Configuration with UMAC MACRO Regardless of the method used to transfer to the ADC data across the MACRO ring the automatic copy method is required to convert the data from the multiplexed form into individual MACRO Station memory locations Unlike certain freedoms in a UMAC Turbo system this is the only convenient method to access the data for MACRO Note To implement the automatic copy method on the ACC 59E the MACRO Station must have firmware version 1 15 or greater Enabling ADC Automatic Read To enable the MACRO ADC automatic read set three MI variables a
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ACC 59E_____________________________8 ac 598 ac 598 flight status