^1 USER MANUAL ^2 Accessory 21A
Contents
1. PMAC2 Turbo PMAC2 Description MO gt Y C080 0 MO gt Y 78400 0 1 000 Data Line J3 Pin 1 M1 gt Y C080 1 M1 gt Y 78400 1 1 O01 Data Line J3 Pin 2 M2 gt Y C080 2 M2 gt Y 78400 2 1 002 Data Line J3 Pin 3 M3 gt Y C080 3 M3 gt Y 78400 3 1 003 Data Line J3 Pin 4 M4 gt Y C080 4 M4 gt Y 78400 4 1 004 Data Line J3 Pin 5 M5 gt Y C080 5 M5 gt Y 78400 5 1 005 Data Line J3 Pin 6 M6 gt Y C080 6 M6 gt Y 78400 6 1 006 Data Line J3 Pin 7 M7 gt Y C080 7 M7 gt Y 78400 7 1 007 Data Line J3 Pin 8 M8 gt Y C080 8 M8 gt Y 78400 8 1 008 Data Line J3 Pin 9 M9 gt Y C080 9 M9 gt Y 78400 9 1 009 Data Line J3 Pin 10 M10 gt Y C080 10 M10 gt Y 78400 10 1 010 Data Line J3 Pin 11 M11 gt Y SC080 11 M11 gt Y 78400 11 I O11 Data Line J3 Pin 12 M12 gt Y C080 12 M12 gt Y 78400 12 1 012 Data Line J3 Pin 13 M13 gt Y C080 13 M13 gt Y 78400 13 1 013 Data Line J3 Pin 14 M14 gt Y SC080 14 M14 gt Y 578400 14 1 014 Data Line J3 Pin 15 M15 gt Y C080 15 M15 gt 78400 15 1 015 Data Line J3 Pin 16 M16 gt Y C080 16 M16 gt Y 78400 16 1 016 Data Line J3 Pin 17 M17 gt Y SC080 17 M17 gt Y 578400 17 I O17 Data Line J3 Pin 18 M18 gt Y C080 18 M18 gt Y 78400 18 1 018 Data Line J3 Pin 19 M19 gt Y C080 19 M19 gt Y 78400 19 1 019 Data Line J3 Pin 20 M20 gt Y C080 20 M20 gt Y 78400 20 1 020 Data Line J3 Pin 21 M21 gt Y C080 21 M21 gt Y 78402. USER MANUAL Accessory 21A DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or c
3. U U U U Notes ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O ser Defined I O J2 50 Pin Breakout to I O Module Card 19 Accessory 21A 20 J2 50 Pin Breakout to I O Module Card
4. 026 1 027 1 028 1 029 I 030 Data Line I 031 Data Line Direction control Direction control Direction control Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line Line OANA b w n H Direction control Buffer direction Buffer direction Buffer direction Buffer direction Inversion control Gi Gi G Ei i ea Ci Gi C WWWWWWW WW WWW WWW WW WWW WWW WwW WwW Ww J3 Pin Pin Pin Pin Pin 1 Pin 1 Pin 1 Pin 1 Pin 1 Pin 1 Pin 1 Pin 1 Pin 1 Pin 19 Pin 20 Pin 21 Pin 22 Pin 23 Pin 24 Pin 25 Pin 26 Pin 27 Pin 28 Pin 29 Pin 30 Pin 31 O Hl ATA PWNEF O Pin 32 for I 000 for I 008 for I 016 for 1 024 control for control for control control fOr TOY L for bits 0 Inversion control to to to to 1 000 1 008 1 016 1 024 I 007 1 015 1 023 1 031 to to to to to 23 L for bits 24 to 31 1 007 17015 1 023 I O31 If the above definitions were made we could set these variables to their proper values in an initialization PLC usually will use the following technique for an initialization PLC OPEN PLC 6 CLEAR DIR_CONTROL_1 255 set as out
5. automatically sets up all of the I O points on the port for general purpose use Note The direction control of the buffer ICs must be set properly for the alternate uses of the I O points just as for the general purpose I O uses Alternate Uses 9 Accessory 21A 10 Alternate Uses Accessory 21A EXAMPLE SETUP For this example we will setup the first 2 bytes of the JIO port as outputs and the last two bytes will be setup as inputs We also would like the logic for all inputs and outputs to be non inverting O 0V 1 5V define define define define define define define define define define define define define define define define define define define define define defin defin defin defin defin defin defin defin defin defin defin defin define define define define define define define define define MO gt Y ooODO0 O00 0000 0 O GQ j WDOUOWUOUWOWOG C080 0 M1 gt Y M2 gt Y M3 gt Y M4 gt Y gt C080 1 gt C080 2 C080 3 gt C080 4 IO_OUT_0O MO IO_OUT_1 M1 IO_OUT_2 M2 IO_OUT_3 M3 IO_OUT_4 M4 IO_OUT_5 M5 IO_OUT_6 M6 IO_OUT_7 M7 IO_OUT_8 M8 IO_OUT_9 M9 IO_OUT_10 M10 IO_OUT_11 M11 IO_OUT_12 M12 IO_OUT_13 M13 IO_OUT_14 M14 IO_OUT_15 M15 IO_IN_O M16 IO_IN_1 M17 IO_IN_2 M18 IO_
6. 0 21 1 021 Data Line J3 Pin 22 M22 gt Y SC080 22 M22 gt Y 578400 22 1 022 Data Line J3 Pin 23 M23 gt Y C080 23 M23 gt Y 78400 23 1 023 Data Line J3 Pin 24 M24 gt Y SC081 0 M24 gt Y 578401 0 1 024 Data Line J3 Pin 25 M25 gt Y C081 1 M25 gt Y 78401 1 1 025 Data Line J3 Pin 26 M26 gt Y C081 2 M26 gt Y 78401 2 1 026 Data Line J3 Pin 27 M27 gt Y SC081 3 M27 gt Y 578401 3 1 027 Data Line J3 Pin 28 M28 gt Y C081 4 28 gt Y 78401 4 1 028 Data Line J3 Pin 29 M29 gt Y SC081 5 29 gt Y 78401 5 1 029 Data Line J3 Pin 30 M30 gt Y C081 6 M30 gt Y 78401 6 1 030 Data Line J3 Pin 31 M31 gt Y C081 7 M31 gt Y 78401 7 1 031 Data Line J3 Pin 32 Using the PMAC2 JOPTO Port Accessory 21A Using the PMAC2 JOPTO Port Accessory 21A DIRECTION CONTROL The PMAC2 JIO direction control is used to setup the I O bytes as either inputs or outputs The direction control bit for each of these I O bits is in the corresponding bit in the matching X register For example the direction control bit for I O03 is located at X C080 3 and X 78400 3 for Turbo PMAC2 the direction control bit for 1 030 is located at X C081 6 and X 78401 6 for Turbo PMAC2 Because the buffer ICs can only be switched by byte it is best to define 8 bit M variables for the direction control Suggested definitions are PMAC2 Turbo PMAC2 Description M32 gt X S
7. C080 0 8 M32 gt X 78400 0 8 Direction control for I O00 to 1 007 M34 gt X SC080 8 8 M34 gt X 78400 8 8 Direction control for I O08 to I O15 M36 gt X C080 16 8 M36 gt X 78400 16 8 Direction control for I O 16 to 1 023 M38 gt X SC081 0 8 M38 gt X 78401 0 8 Direction control for 1 024 to 1 031 These M variables should take values of 0 or 255 FF only 0 sets the byte to input 255 sets the byte to output In addition the bi directional buffer IC for each byte has a direction control line accessible as a software control bit These control lines and bits must match the ASIC direction bits The buffer direction control bits are at PMAC address Y E800 or Y 70800 with bits 0 to 3 controlling the four bytes of the JIO port A bit value of 0 specifies input 1 specifies output Suggested M variable definitions are PMAC2 Turbo PMAC2 Description M33 gt Y SE800 0 M33 gt Y 70800 0 Buffer direction control for 1 000 to I O07 M35 gt Y SE800 1 M35 gt Y 70800 1 Buffer direction control for 1 008 to I O15 M37 gt Y SE800 2 M37 gt Y 70800 2 Buffer direction control for 1 016 to 1 023 M39 gt Y SE800 3 M39 gt Y 70800 3 Buffer direction control for I O24 to I O31 In the default configuration automatically set at power up reset I O00 to I O31 are set up as inputs M882 through M889 0 This is done for maximum safety no lines can be forced into an undesirable high or low state Any of th
8. IN_3 M19 IO_IN_4 M20 IO_IN_5 M21 IO_IN_6 M22 IO_IN_7 M23 IO_IN_8 M24 IO_IN_9 M25 IO_IN_10 M26 IO_IN_11 1 M27 LO EN 12 M28 IO_IN_13 M29 O_IN_14 M30 O_IN_15 M31 R_CONTROL M32 UF_CONTROL_ M33 IR_CONTROL_2 M34 UF_CONTROL_2 M35 IR_CONTROL_3 M36 UF_CONTROL_3 M37 IR_CONTROL_4 M38 UF_CONTROL_4 M39 INV_CTRL_0_23 M80 INV_CTRL_24_ 31 M81 I 000 Data Line I 001 Data Line I 002 Data Line I 003 Data Line I 004 Data Line Pin Pin Pin Pin Pin OB WNER Example Setup Accessory 21A M5 gt Y SC080 5 M6 gt Y SC080 6 M7 gt Y SC080 7 M8 gt Y SC080 8 M9 gt Y SC080 9 SC080 1 SC080 1 12 gt Y SC080 1 13 gt Y SC080 1 14 gt Y SC080 1 15 gt Y SC080 1 16 gt Y SC080 1 17 gt Y SC080 1 18 gt Y SC080 1 19 gt Y C080 19 M20 gt Y C080 20 M21 gt Y C080 21 M22 gt Y C080 22 M23 gt Y C080 23 M24 gt Y C081 0 M25 gt Y CO081 M26 gt Y S CO081 M27 gt Y S CO081 M28 gt Y S CO081 M29 gt Y SCO081 M30 gt Y SCO81 M31 gt Y C081 7 M32 gt X M34 gt X M36 gt X M38 gt X M33 gt Y SE800 0 M35 gt Y SE800 1 M37 gt Y SE800 2 M39 gt Y SE800 3 M80 gt X M81 gt xX SSS SSS SS ES OIATBWNHEO NOB WN EH C080 0 8 C080 8 8 C080 16 8 C081 0 8 C084 0 24 C085 0 8 a r r r r r r L r 1 005 I 006 I 007 1 008 1 009 1 010 T ol T oOl I 01 I 01 I 01 17 01 I 91 I 01 1 019 1 020 1 021 1 022 1 023 1 024 1 025 1
9. ausing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation Accessory 21A Table of Contents INTRODUCTION ccsccsscsssssssessssessessssessessssssessssessessssessessssessessssessessssessesonsesessssessssessessssessessusessessesessessessesessessesessens 1 USING THE PMAC2 JOPTO PORT cscsssssscsscssssssscssssesscssssessssessessssessessssessessssessessssessecsssesnessesesscssessssessessesessens 3 DIRECTION CONTROL c cccsssssssssssssessssessessssessessssssessesessessssessessssessessssessessssessessssesessssessessssessssessessessesessessesessers 5 INVERSION CONTROL cccsssssssssssssssssssesssssssesscssssssessesessessssessessssessessssossessnsessessssesnessesessessssessssessessessesessessesessens 7 ALTERNATE USES cccsssssssssssssssssesscssssesscsessessssessessssessessssessessesessessesessessesessesseseseessesessessesseseseessssessesssseseesseseserees 9 EXAMPLE SETUP cscsssssssssssesscssssesssssssesscssssessecsnsessesenscesensescenenssscenenssscesensscessenssseensnsesesscssensssesssesssssssnesseseseers 11 ACC 21A SETUP DIAGRAM cccssssssssssessesscsesses
10. ese lines that are to be used as outputs must be changed to outputs by user programs usually this is done in PLC 1 acting as a reset PLC scanning through once on power up reset then disabling itself Direction Control 5 Accessory 21A Direction Control Accessory 21A INVERSION CONTROL Each line on the JIO port is individually controllable as to whether it is an inverting I O point 0 5V 1 0V or a non inverting I O point O 0V 1 5V PMAC2 Turbo PMAC2 Description M80 gt X S C084 0 24 M80 gt X 78404 0 24 Inversion control for bits 0 to 23 M81 gt X S C085 0 8 M81 gt X 78405 0 8 Inversion control for bits 24 to 31 A value of 0 in the control bit sets the corresponding I O point as non inverting A value of 1 in the control bits sets the corresponding I O point as inverting At power up reset PMAC automatically sets all of the I O points on the JIO port as non inverting Inversion Control Accessory 21A Inversion Control Accessory 21A ALTERNATE USES Each general purpose I O point on the JIO port has an alternate use as a supplemental fixed use I O point on a supplemental machine interface channel 1 or 2 The points are individually controllable as to general purpose use or fixed use by control registers Y C084 and Y C085 Refer to these registers in the memory I O map to see the alternate uses of each point At power up reset PMAC2
11. ion Control 14 Software Direction Control 15 Software Direction Control 16 Software Direction Control 17 Software Direction Control 18 Software Direction Control 19 Software Direction Control 20 Software Direction Control 21 Software Direction Control 22 Software Direction Control 23 Software Direction Control 24 Software Direction Control 25 Software Direction Control 26 Software Direction Control 27 Software Direction Control 28 Software Direction Control 29 Software Direction Control 30 Software Direction Control 31 Software Direction Control 32 Software Direction Control 33 34 35 For latching data 36 For latching data 37 38 39 To power ext circuitry 40 To power ext circuitry The JI O connector provides 32 input output pins at TTL levels Direction can be controlled in byte wide groups J1 40 Pin Input from PMAC2 JOPTO 17 Accessory 21A 18 J1 40 Pin Input from PMAC2 JOPTO Accessory 21A J2 50 PIN BREAKOUT TO I O MODULE CARD Pin Symbol Function Description 1 TO 2 TO 3 TO 4 TO 5 TO 6 7 TO 8 TO 9 TO 10 TO n TO 12 TO 13 14 TO 15 16 17 TO 18 GND 19 TO 20 GND 21 22 23 24 25 26 27 28 29 IN OUT9 30 GND 31 IN OUT8 32 GND 33 IN OUT7 34 GND 35 IN QUT6 36 GND 37 IN OUTS 38 GND 39 IN OUT4 40 GND 41 IN OUT3 42 GND 43 IN OUT2 44 GND 45 IN OUTI 46 GND 47 IN OUTO 48 49 50 GND Common Opto Common U U U U U U
12. put BUF_CONTROL_1 1 set as output DIR_CONTROL_2 255 set as output BUF_CONTROL_2 I set as output DIR_CONTROL_3 0 set as input BUF_CONTROL_3 0 set as input DIR_CONTROL_4 0 set as input BUF_CONTROL_4 0 set as input INV_CTRL_0_23 0 set as non inverting INV_CTRL_24_ 31 0 set as non inverting 12 Example Setup Accessory 21A place other initialization variables here while 1 lt 2 PLC in here perhaps E_STOP routine endwhile CLOSE Using this technique we will have a one time read of the initialization variables used by the card and the logic for the PLCs Example Setup 13 Accessory 21A 14 Example Setup Accessory 21A ACC 21A SETUP DIAGRAM MODULE CARD ACC 21A Il 2 Jl j eoogooo 15 Acc 21A Setup Diagram Accessory 21A 16 Acc 21A Setup Diagram Accessory 21A J1 40 PIN INPUT FROM PMAC2 JOPTO Pin Symbol Function Description Notes l Software Direction Control 2 Software Direction Control 3 Software Direction Control 4 Software Direction Control 5 Software Direction Control 6 Software Direction Control 7 Software Direction Control 8 Software Direction Control 9 Software Direction Control 10 Software Direction Control 1 Software Direction Control 12 Software Direction Control 13 Software Direct
13. sesessassesecessessessesessessesessassssessassesesassesessasseseseassessesessassesessassesessens 15 J1 40 PIN INPUT FROM PMAC2 JOPTO ssssesesesseeesesseseseeceoesosoeseeesoerosoeseseseecesororoecesesoroeseeesoerosoesesesoeseecsoesosoesee 17 J2 50 PIN BREAKOUT TO I O MODULE CARD cccsssssssessssessessesessessesessessesessessssessesessessesessessesecsasseseeseseens 19 Table of Contents i Accessory 21A Table of Contents Accessory 21A INTRODUCTION The ACC 21A was created to give the user the capability to use PMAC2 s JOPTO port with OPTO 22 or Grayhill style I O module racks The ACC 21A can be used with the 8 16 24 or 32 module boards from these manufacturers The PMAC2 JOPTO port has 32 bits of inputs and outputs that can be software configured as inputs or outputs on a byte by byte basis The following table lists the possible input out schemes possible with the PMAC2 JOPTO port Inputs Outputs 32 0 24 8 16 16 8 24 0 32 Introduction 1 Accessory 21A Introduction Accessory 21A USING THE PMAC2 JOPTO PORT The 32 I O lines are memory mapped into PMAC s address space in registers Y C080 and Y C081 for PMAC2 and Y 78400 and Y 78401 for Turbo PMAC2 Typically these I O lines are accessed individually with M variables Following is a suggested set of M variable definitions to use these data lines
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