^1 USER MANUAL ^2 Accessory 28A
Contents
1. Pin Symbol Function Description Notes 1 DCLK Input A D Clock 2 N C No Connection 3 ASELO Input Channel Select Bit 0 4 ASELI Input Channel Select Bit 1 5 CONVERT Input Start Convert Line 6 ADCIN Output A D Data Stream 7 N C No Connection 8 N C No Connection 9 N C No Connection 10 N C No Connection 11 N C No Connection 12 N C No Connection 13 N C No Connection 14 N C No Connection 15 5V Input Digital Supply Must use 16 GND Common Digital Ground Must use ACC 28 Jumpers E Point Physical Layout Description Default El 12 For Future Use No Jumper Do not install jumper E2 12 For Future Use No Jumper Do not install jumper E3 12 For Future Use No Jumper Do not install jumper E4 12 For Future Use No Jumper Do not install jumper Resolution Selection Jumpers Resolution E8 E7 E6 E5 8 bits ON OFF OFF OFF 9 bits ON OFF OFF ON 10 bits ON OFF ON OFF 11 bits ON OFF ON ON 12 bits ON ON OFF OFF 13 bits ON ON OFF ON 14 bits ON ON ON OFF 15 bits ON ON ON ON default factory setup is for 13 bit operation with both 20 and 30 MHz versions of PMAC For the 30 MHz PMAC if a resolution higher than 13 bits is desired then the jumper E98 on the PMAC board should be installed between pins 2 and 3 12 ACC 28 Pinouts2. 14 it is necessary to use motor setup variable x10 to get the absolute power on position from an analog sensor brought in through an ACC 28A All firmware versions of the Turbo PMAC are capable of reading absolute power on position Resolution Selection Accessory 28A Ix10 specifies the register to read for absolute power on position and how to read the data in that register If Ix10 is set to 0 PMAC will set the power on position for that motor to 0 even if an absolute position device is used for the motor Ix10 must use the raw data register for the sensor not the processed data register in the conversion data For the ACC 28A interface the values of Ix10 to use are shown on the following table For the Turbo PMAC Ix10 specifies the register you are going to use to obtain power on position and Ix95 tells the PMAC how to process the data Non Turbo PMACS used one register for both functions Absolute Position Table Channel Connector PMAC Turbo PMAC Turbo PMAC Ix10 Value Ix10 Value Ix95 Value ADCI PMAC JS1 B1C006 78006 B 10000 ADC2 PMAC JS1 B1C007 78007 B 10000 ADC3 PMAC JS1 BICOOE 7800E B10000 ADCA PMAC JS1 BICOOF 7800F B10000 ADC5 PMAC JS2 B1C016 78106 B 10000 ADC6 PMAC JS2 B1C017 78107 B 10000 ADC7 PMAC JS2 BICOIE 7810E B10000 ADCS8 PMAC JS2 BICOIF 7810F B10000 ADC9 ACC 24 JS1 B1C026 78206 B 10000 ADC10 ACC 24 JS1 B1C027 78
3. 30000000 0D 3 88 in 98 5 mm Board Layout Accessory 28A Connecting to PMAC The following diagram shows how to connect an analog sensor or potentiometer to ACC 28A to use as a Master Handwheel device In this diagram we are connected to ADC3 Although the variable voltage source is a single ended input we connected the complementary signal to analog ground as stated earlier In higher precision applications a separate supply may be desired for each circuit as shown below Please call the factory if you have any questions 10 Board Layout Accessory 28A ACC 28 PINOUTS ACC 28 TB1 12 Pin Terminal Block Pin Symbol Function Description Notes 1 ADC Input 1 Channel Main Input 1 2 ADCI Input 1 Channel Comp Input 2 3 ADC2 Input 2 Channel Main Input 1 4 ADC2 Input 2 Channel Comp Input 2 5 ADC3 Input 3 Channel Main Input 1 6 ADC3 Input 3 Channel Comp Input 2 7 ADC4 Input 4 Channel Main Input 1 8 ADC4 Input 4 Channel Comp Input 2 9 AGND Common Analog Ground Must use one 10 A 15V Input Analog Positive Supply Must use 11 A 15V Input Analog Negative Supply 3 12 AGND Common Analog Ground Must use one This terminal block is provided only if 2B is ordered 1 Range is 10V to 10V if single ended 5V to 5V if differential 2 If using single ended inputs it is advisable to these pins to AGND for increased no
4. analog inputs 1 to 4 map into PMAC ADC registers 1 to 4 5 to 8 9 to 12 or 13 to 16 depending on which JS connector is used Setup 3 Accessory 28A Analog Bias Adjustment Each analog input has an offset potentiometer that may be used to adjust the zero level of the input The potentiometers match analog input channels as follows ADC Input Pot Number 1 R22 2 R21 3 R11 4 R10 In addition R1 allows a board level zero offset adjustment for the ADC circuits These pots may be adjusted interactively by monitoring the input voltage and querying for the M variable value of the digital register see below General Program Use Since PMAC automatically brings the information into its registers using the information is just a question of accessing those registers and processing that information as you see fit The registers used for the converted analog information are Channel PMAC Turbo PMAC ADCI Y C006 Y 78006 ADC2 Y C007 Y 78007 ADC3 Y COOE Y 7800E ADCA Y COOF Y 7800F ADCS Y C016 Y 78106 ADC6 Y C017 Y 78107 ADC7 Y COIE Y 7810E ADC8 Y COIF Y 7810F ADC9 Y C026 Y 78206 ADCIO Y C027 Y 78207 ADCII Y CO2E Y 7820E ADCI2 Y CO2F Y 7820F ADCI3 Y C036 Y 78306 ADC14 Y C037 Y 78307 ADCI5 Y COSE Y 7830E ADCI6 Y CO3F Y 7830F These registers ar
5. causing 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 28A Table of Contents INTRODUCTION ecc H 1 PMAC Analog to Digital Converter Accessories neret ener trennen ne trne nne et retener ens 1 Ordering Your Accessory 28A acce tete d remet t HEP be eeu cit oat od ide decedere patus P lr uode 1 lud M Lc M 3 leur m 3 Connecting Your Accessory 28 oshira irie ea nete oa aaa Naar etre nennen EAE niaaa n etes ne tnnn reine enint 3 Analog Bias Adjustment eessseesesessseeseeee eee enne nenne entente ernst E oah Nne Ea R ette Eek PEENE A NEOA aE entes rennen nes 4 General Program USE s P 4 Feedback Handwheel i Use 2 rente eO ERR EE EPRE MER epe geni e a rsen e ere AMe EE rb be eget ba b aeke gu 5 RESOLUTION SELECTION csccssssscscssscsscssssssssensssscnsscessscssscssssessssnsssessssncssessssosssssnessssnsscesesssssssessessossosssssoes 7 Resolution Selection Jumpers 0 eceeeceseescesecssesee
6. 207 B 10000 ADCII ACC 24 JS1 B1C02E 7820E B 10000 ADC12 ACC 24 JS1 B1CO2F 7820F B10000 ADCI3 ACC 24 JS2 B1C036 78306 B 10000 ADC14 ACC 24 JS2 B1C037 78307 B 10000 ADCIS5 ACC 24 JS2 B1C03E 7830E B 10000 ADC16 ACC 24 JS2 B1C03F 7830F B 10000 The B1 in the first two hexadecimal digits of Ix10 for non Turbo PMAC or Ix95 for the Turbo specifies that this is a 16 bit register in the high 16 bits of the 24 bit word being read interpreted as a signed value For absolute position on power up I14 must also be enabled for the non Turbo PMAC only I14 is the auto position match on run enable parameter With I14 set equal to 1 PMAC will execute the PMATCH function on any Run or Step command to make sure that the axes in the motion program have the proper starting position information Analog Power Supply and Opto Isolation To achieve the opto isolation features of ACC 28 you must bring in separate analog power supplies either through the Terminal Block TB1 or through the connector J3 In addition jumpers E2 E3 and E4 should not be installed Power Requirements 5V 12V 12V Other 24V etc 250mA 100mA N A 8 Resolution Selection Accessory 28A BOARD LAYOUT ACC 28A 4 CHAN 16 BIT A D CONVERTER DATATO PMAC CR ACC 24 MA JS1 OR JS2 2FT CABLE ANALOG INPUTS 2 87 in 72 9 mm O 8 O08 e 0 o e ej
7. ON PMAC s Accessory 28A Analog to Digital Conversion board provides four channels of high speed high resolution analog input capability to the PMAC controller The input voltages in the range of 10V are converted to 16 bit signed values at a rate of 18 KHz 55 usec conversion This input can be used for servo position feedback as from an LVDT or potentiometer or for general purpose use e g to monitor process variables to allow analog speed control or to monitor motor currents The resolution of the A D conversion can now be selected via jumpers In addition the ACC 28A benefits from a design improvement aimed at substantially reducing the noise signals and the cross talk signals among the four analog input channels It achieves this by trading off resolution to gain substantially improved cross talk elimination Also an improved sample and hold circuit design reduces noise and enhances the accuracy of the analog to digital conversion process PMAC Analog to Digital Converter Accessories PMAC has three accessories that it can use to read analog signals These entire interface boards may be used for either servo loop feedback or for data acquisition ACC 28B is Delta Tau s most accurate analog to digital converter featuring separate A Ds per channel and can be used with either PMACI or PMAC2 Both ACC 36 and ACC 28A have multiplexed A Ds on board ACC 28A is an externally mounted board with a 16 bit resolution and a higher conve
8. USER MANUAL Accessory 28A 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
9. alog circuits Connecting Your Accessory 28 The analog signals are wired into the ACC 28 through the TB1 terminal block 12 terminals or through the J3 connector a DB 15 connector whichever is present on your board Each input has a primary line and a complementary line If you are providing differential analog input use both of these If you are providing single ended inputs connect the complementary pin to the ground of your analog source The pins for each input are Terminal Block DB 15 Connector Signal Main Pin Comp Pin Main Pin Comp Pin ADCI 1 2 1 9 ADC2 3 4 2 10 ADC3 2 6 3 11 ADC4 7 8 4 12 The analog signals are passed through differential amplifiers anti aliasing filters a multiplexer and a serial analog to digital converter The serial data stream from the converter is then passed through optical couplers for noise immunity and sent to shift registers in DSPGATE ICs through ACC 28 s J1 connector and the provided 16 pin flat cable This cable can be plugged in on the other end to one of four possible connectors either on the main PMAC board or the ACC 24 Axis Expansion board The connector is used on the other end determines in which A D registers the information will be available Connector A D Registers PMAC JS1 ADC Registers 1 4 PMAC JS2 ADC Registers 5 8 ACC 24 JS1 ADC Registers 9 12 ACC 24 JS2 ADC Registers 13 16 Thus ACC 28
10. command This simple procedure for the above example is as follows PMAC Turbo PMAC Description WY 0728 10C006 18008 178006 Set 9th ECT Entry for ADC 1203 0728 1203 3509 Position feedback from 9th ECT entry 1204 0728 1204 3509 Velocity feedback from 9th ECT entry Setup 5 Accessory 28A Setup Accessory 28A RESOLUTION SELECTION Although PMAC reads the content of the ADC registers as 16 bit 2s complement values the maximum resolution of ACC 28A is now 15 bits The resolution may be further reduced down to a minimum of 8 bits by the appropriate installation of jumpers E5 to E8 Note that the least significant bit should be ignored in the 15 bit operational mode and the least significant two bits should be ignored in the 14 bit operational mode and so on The table below shows the jumper selection for the various resolutions of ACC 24A Resolution Selection Jumpers Resolution E8 E7 E6 E5 8 bits ON OFF OFF OFF 9 bits ON OFF OFF ON 10 bits ON OFF ON OFF 11 bits ON OFF ON ON 12 bits ON ON OFF OFF 13 bits ON ON OFF ON 14 bits ON ON ON OFF 15 bits ON ON ON ON Default factory setup is for 13 bit operation with both 20 and 30 MHz versions of PMAC For the 30 MHz PMAC if a resolution higher than 13 bits is desired then the jumper E98 on the PMAC board should be installed between pins 2 and 3 Interpretat
11. e 24 bits Only the top 16 bits carry the converted data The data is in signed two s complement form if ACC 28 Jumper E1 is in the default setting See Section 8 of PMAC User s Manual Gate Array Registers Usually these registers are accessed in software through the use of M variables which point to a register M variables are first defined to location and size then they can be used as any other variable although these are read only variables by the nature of the registers Typical definitions for PMAC non Turbo would be PMAC Turbo PMAC Description M201 gt Y C006 8 16 S M201 Y 78006 8 16 S ADCI 8 bit offset 16 bit width signed M202 gt Y C007 8 16 S M202 gt Y 78007 8 16 S ADC2 8 bit offset 16 bit width signed M216 gt Y C03F 8 16 S M216 gt Y 7820F 8 16 S ADC16 8 bit offset 16 bit width signed 4 Setup Accessory 28A These M variable definitions once made are stored indefinitely in battery backed RAM Once they have been made you are free to use the variables in expressions in your motion and or PLC programs Examples F M201 P1 This makes move speed proportional to voltage X M202 P2 This makes location proportional to voltage IF M203 8192 This makes action conditional on voltage level Feedback Handwheel Use The ADC registers can also be used as position registers for either servo feedback or master control of an axis You m
12. ion of Converted Analog Data PMAC s 16 bit 2 s complement read of the ADC registers using the M variable format would yield a number in the range in between 2 1 representing nominally 10V to 2 representing nominally 10 volts With ACC 28A the resolution ranges from 15 bits to 8 bits This means that the actual converted data resides in the most significant 15 bits to the most significant 8 bits respectively As an example Assuming 13 bit resolution default jumper setup M201 gt Y C006 8 16 S PMAC M201 is addressing ADC1 with the usual format 8 bit offset 16 bit width signed As defined the value of M201 may range between 32767 to 32768 M201 gt Y 78006 8 16 s Turbo representing 10V to 10V respectively However due to the default jumper setup on ACC28A see above the least significant three bits of the number are to be ignored Note It may appear that reducing the effective resolution of the A D converters is unwarranted However in the original 16 bit operation mode of ACC 28 the cross talk and noise often covered a voltage range which was equivalent to several of the least significant bits In ACC 28A the reduction in the effective resolution is overcompensated by the extra signal to noise ratio improvement Absolute Power On Position PMAC allows you to acquire power on position automatically if you set up Ix10 for the PMAC or Ix10 and Ix95 for the Turbo PMAC Starting with PMAC firmware version V1
13. ise immunity If using differential inputs the usable range is 5V to 5V 3 valid power supply range is 12V to 15V ACC 28 J3 15 Pin Header Pin Symbol Function Description Notes 1 ADCI Input 1 Channel Main Input 1 2 ADC2 Input 2ndf Channel Main Input 1 3 ADC3 Input 3 Channel Main Input 1 4 ADC4 Input 4 Channel Main Input 1 5 AGND Common Analog Ground Must use one 6 AGND Common Analog Ground Must use one 7 A 15V Input Analog Positive Supply Must use one 8 AGND Common Analog Ground Must use one 9 ADCI Input 1 Channel Comp Input 2 10 ADC2 Input 2 Channel Comp Input 2 11 ADC3 Input 3 Channel Comp Input 2 12 ADC4 Input 4 Channel Comp Input 2 13 AGND Common Analog Ground Must use one 14 AGND Common Analog Ground Must use one 15 A 15V Input Analog Negative Supply Must use one This connector is provided only if Option 1A or 2A is ordered 1 Range is 10V to 10V if single ended 5V to 5V if differential 2 Ifusing single ended inputs it is advisable to these pins to AGND for increased noise immunity If using differential inputs the usable range is 5V to 5V 3 Valid power supply range is 12V to 15V ACC 28 Pinouts 11 Accessory 28A ACC 28 J1 16 Pin Header
14. rsion rate than ACC 36 12 bit ACC 36 must be located immediately adjacent to PMAC while ACC 28A or ACC 28B may be placed up to 2 feet away from PMAC The three A D boards are summarized below ACC 36 is a 16 channel 12 bit resolution analog to digital converter board ACC 28A is a 4 channel 16 bit resolution analog to digital converter board ACC 28B is a 2 channel 16 bit resolution analog to digital converter board most accurate S Ne PMAC STD may use only ACC 28A to read analog inputs ACC 28A may not be used with PMAC2 Ordering Your Accessory 28A Option 2 is a DIN railmount for stand alone use Option 2A has the DB 15 pin analog input connector Option 2B uses the 12 pin terminal block instead The default option for ACC 28A is Option 2B which orders a DIN railmount for ACC 28 with the 12 pin terminal block connector used for analog input signals and analog power supply Introduction 1 Accessory 28A Introduction Accessory 28A SETUP Connectors J1 brings the converted digital signals from the ACC 28 to a DSPGATE on PMAC or the ACC 24 Axis Expansion board through its JS x connector It also provides the power for the digital section of the ACC 28 board J2 obsolete J3 Option 2A only provides the input connections for the analog signals and the power input for the analog circuits TB1 Option 2B only provides the input connections for the analog signals and the power input for the an
15. secseeecseeeecsaesesssecseesecseeseesaeeseeaecaeesecseesecnecseeseesaeeessaecaeeaesaeeeessaeeees 7 Interpretation of Converted Analog Data nenne nennen nennen nennen trennen innen 7 Absolute Power On Position eene rennen ennt inneren iera a niai oaair aire nnne enne ia eri neies 7 Absolute Position Table eese eese esee seen entente enne enneneennnet tent enns et nene tenete tren rese tene enne enne trennen nne amp Analog Power Supply and Opto Isolation eeeeeeeeeeeseee eene nennen nenne nein enne trennen innen enne nn 8 Power REQUITEMONIS EN S amp BOARD LAYOUT n 9 Connecting to PM AC iter eti ete iet eerte see qi cre RESTER UHR EPIS PEE eE RU IERE Ee EE EE EE I Hee E HER EOS P EEUL EB eee RH dd 10 ACC 28 PINOQUTS Pee M 11 ACC 28 TB1 12 Pin Terminal Bl ck acie iiti eet tk ohio retento aea eere EE E ape A voe Es Ee eoe 11 EQ eS BEURUDuIc IE M 11 ACC 28 Nd Duns E 12 nies Nul 12 Resolution Selection Jumpers 4t bitu aeerieertetilu eerte pest dices odes ee delete CH ERR EIU EE Te Ea ROEE 12 Table of Contents i Accessory 28A Table of Contents Accessory 28A INTRODUCTI
16. ust simply create an entry in the Encoder Conversion Table see PMAC main User s Manual section on Encoder Conversion Table By creating an entry for an ADC register you are in effect telling PMAC to process an ADC register instead of the standard encoder feedback as your feedback or master register Once created the appropriate motor I variable s should be modified from their default values For position feedback Ix03 must be modified for velocity feedback Ix04 must be modified also If the ADC is used as Master Handwheel register then Ix05 must be modified Detailed instructions for the setup of the Encoder Conversion Table are given in PMAC main User s Manual under Feedback Features or in the Turbo PMAC Software reference manual Summarizing briefly the Y word setup word of the table entry is a 6 digit hex value The first two digits specify the type of conversion and should be set to 10 hex for ADC conversion The last four digits contain the Y word address of the ADC register Then a typical non Turbo entry such as 10C007 provides for the conversion of the ADC 2 register To use this information as position feedback for motor 2 set I203 and I204 to point to the address of this entry in the Encoder Conversion Table This causes the motor to use the x word of the same table entry the processed ADC register as the feedback signal for servo loop closure This setup procedure is required only once if saved using PMAC s SAVE
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