Delta 4Ax-602804-xHxx User's Manual
Contents
1. rl 460 Dd V i Ke Kee t2 vs 10 00 FLAG W1 n LI 3 FAULT 1 DATA 2 IG 01 FLAG V1 385 2 CT 4 FAULT 2 DATA 3 IO 02 FLAG Ut 0 O75 EQU i DATA4 10 03 FLAG T1 5 5 0 C76 EQU2 DATA 5 1004 FLAG D1 51 2 E 7 AENA 1 DATA 6 10 05 FLAG C1 RU DS AENA 2 DATA 7 IO 06 FLAG B1 182 1 DS A0 I0 07 FLAG A1 11 1 E30 DATA 0 ENC C1 25 OiT a2 ENG Biel E327 a3 ENC A1 22 0 E 13 aa VSS 747 2 E34 A5 PUL 1 PWM_C_B1 ig6 2 LU 15 as DIR 1 PWM C T1 38 2 Died RO 10 08 PWM_B B1 j47 2 E Td WR IO 09 PWM B Di cs 10 10 PWM A B1 142 1 E19 ADC STRB SEL 0 10 14 PWMCA T1 2L E20 vss2 vss 40 E21 ADC CLK SEL 1 VOD 135 2 Gz apc SELZ IO 12 PWM A T2 157 2 23 ADC2 SEL 10 13 PWM A B2 32 0 T ADC3 SEL4 0 14 PWM B T2 125 1 E25 ADC4 SELS 10 15 PWM B B2 135 2 E28 s cik sEL6 DIR 2 PWM_C_T2 32 0 E 27 CLKDIR SEL 7 PUL2 PWM C B2 135 2 128 servo VSS2 25 0 E29 PHASE ENC_A2 37 0 E30 Dino ENC KL E31 DINI DATA 1 ENC C2 55 1 D 32 piN2 IO 16 FLAG A2 5 71 D 33 piN3 IO 17 FLAG B2 772. 9 10 C090 C098 F8300 9 10 C090 C098 SFB000 1 2 3 4 9 10 C000 C008 C010 C018 C090 C098 FB333 0 I O only None None F8000 Reserved Future Use 0 F8800 These addresses are for stack axis boards Add 40 to these addresses for backplane axis boards Other bits of this I variable may also be set to enable I O nodes or other slave stations it is commanding A setting of 15 forces the station to use its factory default I variables on power up reset SW2 MACRO Master Number Select 0 Commanded from Master IC 0 1 Commanded from Master IC 1 F Commanded from Master IC F 15 3U MACRO CPU Jumper and Switch Configurations 15 MACRO CPU Hardware Reference Connector Summary 16 JI J2 J3 J4 J5 J6 J7 J14 J17 P1 xt Xt Xt dio X TBI U73 JEXP_A for interboard connection JEXP B for interboard connection JEXP C for interboard connection JISP Factory configuration header JTAG OnCE Factory troubleshoot header JTHW Multiplexer Port Connector JRS232 Serial Port Connector RJ45 MACRO Copper I O OPT C JEXP Backplane Expansion Port Connector JPWR 4 Pin Terminal Block MACRO Fiber Optic Connector OPT A These connectors are not typically designated as end user interfaces The pinouts are not included in this hardware reference manual Consult the factory if pinou
3. D Issue MSSAVE11 command to save the factory defaults to the Station Turbo Ultralite Example Servo nodes 0 1 4 5 enabled at Ultralite 16841 0F8033 A The user would have to enable node 11 1996 0F8833 B Then user can reistablish communications with MS11 MIvar commands C Issue MS 1 to ensure re initialization D Issue MSSAVEI1 command to save the factory defaults to the Station 18 Hardware Re initialization MACRO CPU Hardware Reference Hardware Re initialization 19 MACRO CPU Hardware Reference FIRMWARE UPDATES Downloading new firmware to the MACRO Station is a simple process once the MACRO board is setup properly To download new firmware to the MACRO station the user must have the following items 5V power supply 2 jumpers DB9 female to 10 pin header any cable used for PMAC RS232 communications PC at the DOS prompt New firmware and necessary downloading batch files Make sure to power down the MACRO Station To download the software to the MACRO station the user will first jumper the following E2 1 2 and E1 1 2 Wire the 5V power to the appropriate terminal on the MACRO station or plug into 3U Rack Place the 10 pin header cable to the serial connection on the MACRO station and place the other end to the COMI port on the PC the batch files were written for COMI but could be modified if necessary Goto the DOS prompt and create a directory called firmware and station as an example
4. HARDWARE REFERENCE MANUAL MACRO CPU BOARD DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com MACRO CPU Hardware Reference CONTENTS INTRODUC TION emm 1 3U Product Configurations General Description 4 eeeeeee sees tenete eene enne sn tns tn setas tasa ta seta stesse ense suse tasa tasa tasa tassa sna 2 MACRO CPU Specifications 4 Physical Specifications eene Ce n EHI REP CI EE EYE EES HEC E E RO E E e ER TR 4 Electrical Specifications cite i eir Hr p RR E Lr E E re neat 4 3U MACRO CPU CONFIGURATION neueren cur run nn iru u Rx RE TG MuHuMU TUE E rRREM EEEM DE Cru nac GERM PR TEE UT annnm 5 3U MACRO CPU BOARD HARDWARE SETUP eeeeeeeesssseeeeeeenn nnne nennen 7 3U MACRO CPU Board Jumper amp Switch Setup eere eee eee eee eese eese en setenta aetates sts stus n sense suse suse sas tas tasa 7 MACRO CPU Board E E E 8 3U MACRO CPU JUMPER AND SWITCH CONFIGURATIONS eeeeeeeees 11 3U MACRO CPU Card E Ter 11 Els Watchdog Timer DIC EE 12 E2 CPU hne ici 12 E3 Serial Port Baud Ra
5. 7 More detailed information on the SW1 settings is presented in the Jumper Switch description in the back of this manual Used 3U MACRO CPU Board Hardware Setup 7 MACRO CPU Hardware Reference SW2 Rotary Switch Setting SW2 establishes the number of the master IC to which the MACRO station will respond The values of 0 to 15 correspond to Master numbers 0 to 15 respectively For a non Turbo PMAC2 master this value must match the master number value in the first hexadecimal digit of PMAC2 s 1996 Fora Turbo PMAC2 this value must match the master number value in the first hexadecimal digit of the Turbo PMAC2 s 16840 16890 16940 or 16990 for MACRO ICs 0 1 2 or 3 respectively on the Turbo PMAC2 The default switch setting is 0 so the station will respond to Master 0 Watchdog Timer Enable Jumper For normal operation of the Compact MACRO Station jumper E1 should be OFF to enable the watchdog timer an important safety feature Operational Mode Jumper Jumper E2 should connect pins 2 and 3 to tell the CPU it is in normal operational mode not in bootstrap mode It should only connect pins 1 and 2 if you desire to load new firmware into the flash IC through the serial port Baud Rate Jumper Jumper E3 must be ON if you are connecting an ACC 8D Option 9 Yaskawa absolute encoder converter to the J7 serial port most users will connect it to the JTHW port instead This sets the baud rate to 9600 If E3 is OFF the baud rate
6. EH FEE EET 24 114 117 MACRO COPPER T O OBT GC 4i tenete eee tiet no ener De ee Eeer 25 Pl UBUS Interface Connector merere S oto Moa e E anon dfe ee PR o cave e dee 26 TB1 IPWR 4 Pr Terminal ME 27 U73 MACRO Fiber Optic Connector OPT ei eet in ee etie a eta edd eege ont E RV va eR ees TR E Rua oe 27 Contents i MACRO CPU Hardware Reference U MACRO CPU HARDWARE MEMORY MAP ceseeeeeeeenen nennen nnn nnne nnn 28 ACCESSORIES M 30 ii Contents MACRO CPU Hardware Reference INTRODUCTION The 3U MACRO CPU board is the processor and MACRO interface board that is used in a 3U MACRO Station in either UMAC MACRO or MACRO Stack configuration Note There are 3 documents that describe the operation of Delta Tau Data Systems Inc 3U MACRO Station products e UMAC System Manual General Product Overview e 3U MACRO Station User s Manual 3U MACRO Station Software Reference This manual describes the interfaces and physical hardware that is used on the 3U MACRO CPU The UMAC MACRO and the MACRO Stack provide a remote interface for encoders flags direct PWM digital drives analog drives stepper drives analog I O and digital I O for Delta Tau Data s PMAC products that have a MACRO interface The UMAC MACRO and MACRO Stack configurations communicate with PMAC2 Ultralites or Turbo PMAC2 Ultralites solely through the MACRO ring interfacin
7. 1 D 34 pw 10 18 FLAG G re D 35 owes 10 19 FLAG D2 25 3 D 36 DING IO 20 FLAG T2 77 13 D 37 DIN7 10 21 FLAG U2 rail L1 38 DATA STRB 10 22 FLAG V2 25 1 39 vss2 10 23 FLAG W2 22 11 40 vop2 Vop 2215 cat voo ee CMD IN vss2 139 n 431 cmp_our DB0 18 r1 441 CMD STROBE pain 41 pouro DB2 116 n CZ pour DB3 115 5 47 pour DB4 L14 11 481 pours DB5 ZS aA pours DB6 AE r1 5V 30 pours DB7 1 1 1 LL S1 pours DBs 1 C92 bout DB9 109 p 53 vss2 DB10 18 r1 x CS vm 0811 20 et 055 srROBE OUT TESTI EA RPG RP7 TCLK TEST CLK 0 J 3 3KSIP10C 3 3KSIP10C CLS7 om Vop2 94 6 CS crRA PLLVDD JS 2 JTHW 32 crri2 CLK20MHZ 102 0 280 vss PLLVSS JH r1 J 4 u98 GE vonz 1P r UE SL 82 om LP2 59 0 iB 4 DAT 470 OE ER Der Ge PLLAGND H 11 ZE DATO DAT 46 A1 m BISP El pisPt vss2 9 0 4 SsEte tE np cno UH BISP 85 pisp2 RESET i HA BATT DAT 24 a2 bie BISP 66 bisps TESTOUT 23 x S Ett BATS 43 Ag B3 LS Geer 87 Geng DBi2 95 n A 98A12 a ie T ps 2 Ver vee t Ea DISP Coe vss 0813 230 P Et DAT BISPE 88 pisps D BO Ha DAT BAT 40 A5 Ee BISP 20 bispe DBiS Sr poses 3 dun ew LO A DEET De 3 SE DATE DAT 38 Ac Be Li 16 24 2 024 DB17 59 o da Ett BAT i SA B7 H2 i63 035 bbi8 Si DATS EL i gt 14 io 26 Deal 9 r3 Et Ett 5 BC ez 75 10227 DB20 5 r1 is DE t iow ap 1 IO 28 0821 50 Ett Et E 10 29 D822 54 1 ce Et 32 At bn LIT z 10 30 D823 53 5
8. 1s b 31 Vec vec LE 10 31 vss 22_0 19 30 2 B12 L9 804 vo vop BL 2 zb EN 29 an 813 L2 21 p ek ono FF DSPGATEZA TOFP160 22 5B Sg A14 B14 Se 23 D A15 B15 zb 1 3 94 o Ting 5 mmer 25 D O 5V 2 p TAFCT16245 A GND TSSOP GND HEADER 26 GND Circuitry For J6 JTHW Interface 3U MACRO CPU Board Connector Pin outs 23 MACRO CPU Hardware Reference J7 JRS232 Serial Port Connector 10 pin Header at Location C 2 br BIDIRECT 6 RTS OUTPUT 8 NC OUTPUT 9 GND COMMON d JRS232 N C DTR TXD CTS RXD RTS DSR N C GND 5V HEADER 10 COONDARWN O O 5V 1 Front View Noconnection sd connection No Connection pore S DC Cam le 5V OQ MAX202ECSE SOL16 O GND Circuitry for J7 JRS232 Interface 24 3U MACRO CPU Board Connector Pin outs MACRO CPU Hardware Reference J14 J17 MACRO COPPER I O OPT C 8 pin RJ45 1 DATA Data Differential MACRO NEL J17 DATA input J14 DATA output 2 DATA Data Differential MACRO Signal J17 DATA input 3 unused Unused terminated pin See schematic below 4 unused Umsedterminatedpin See schematic below 5 unused Unusedterminatdpin See schematic below 6 unused Unused terminated pin See schematic below _ 7 unused Unused te
9. CMirmware station a copy cMirmware station Go back to the c drive and type the following command c firmware station mcdwnld The firmware will be down loaded to the MACRO station Easy The PMAC Executive Software will soon have the capability of downloading the MACRO Station firmware in the Windows Operating Environment 5 Place jumper E2 back to pins 2 3 and remove E1 jumper Please call the factory if you have any questions 20 Firmware Updates MACRO CPU Hardware Reference Firmware Updates 21 MACRO CPU Hardware Reference 3U MACRO CPU BOARD CONNECTOR PIN OUTS The schematic circuits shown in this section are for interface reference only Subtle differences may exist between the circuits shown here and the actual hardware used 25 ee 00000008 J6 JTHW Multiplexer Port Connector Zeg ee ee ecce eov 26 pin Header at Location D 3 Common PMACCommo Ir Common PMACCommon O Must be IN for MUX Must be OUT for MUX Must be IN for MUX Must be OUT for MUX Must be IN for MUX Must be OUT for MUX Must be IN for MUX NC jNoComectin LI PENES PMAC Common Buffer Request Low is BUFFER REQ PMAC Common pO 24 DND Common _ PMACCommon 22 26 INIT PMAC RESET Low is RESET 3U MACRO CPU Board Connector Pin outs MACRO CPU Hardware Reference
10. MACRO CPU Hardware Reference ACC Ux UBUS backplane board It can also be used to bring in 5V power and optionally 15V power from a backplane or breakout board to the entire MACRO Station Note When interfacing to accessory boards across the UBUS backplane it is strongly recommended to use a new revision 105 or higher of the MACRO CPU board and an ACC Ux backplane board not an older ACC Jx backplane board The newer revision MACRO CPU boards have stronger bus driver ICs but they do not work well with the termination of the ACC Jx backplane boards Power Terminal Block The TB1 4 point terminal block can be used to bring in 5V power and optionally 15V power to the entire MACRO Station In a UMAC pack configuration the power is more likely to be brought in through the backplane 3U MACRO CPU Board Hardware Setup 9 10 MACRO CPU Hardware Reference 3U MACRO CPU Board Hardware Setup MACRO CPU Hardware Reference 3U MACRO CPU JUMPER AND SWITCH CONFIGURATIONS 3U MACRO CPU Card Layout The Location columns of the following tables refer to the mapped locations shown in the drawings below D F A BC DELTA TAU DATA SYSTEMS INC MACRO CPU PCBA pisa 4 4 4 MA ZZ OPTED DISPLAY SINT TE 1 mj l g
11. a common UBUS backplane and installed inside a 3U format rack The UMAC MACRO must receive commands from an external MACRO compatible device like a PMAC2 Ultralite or a UMAC Turbo system The UMAC MACRO does not support a PC 104 or communication accessories and it is preferred for distributed control over a MACRO ring connection Stack Products Turbo Stack The Turbo stack is composed ofa 3U format Turbo PMAC2 CPU board and a set of accessory boards in 3U format plugged to it in a stack configuration The Turbo stack configuration is less expensive than the UMAC Turbo system but it is limited to eight axes of motion control versus 32 axes on a UMAC Turbo system The Turbo Stack is selected over a UMAC Turbo system because is more compact allowing its installation inside already existing cabinets with some space limitations MACRO Stack e The MACRO stack is composed of a MACRO Interface CPU board and a set of accessory boards in 3U format plugged to it in a stack configuration The UMAC MACRO must receive commands from an external MACRO compatible device like a PMAC2 Ultralite or a UMAC Turbo system The MACRO Stack is selected over a UMAC MACRO system because it is more compact allowing its installation inside already existing cabinets with some space limitations MACRO CPU Hardware Reference MACRO CPU Specifications Physical Specifications Size 33 5cm x 9 9cm x 3 8cm 13 2 x 3 9 x 1 4 Weight
12. ce for setup and debugging Stack connectors for servo and I O accessory boards UBUS connector for backplane connection to servo and I O accessory boards JTHW multiplexed I O port with 26 pin IDC header The 3U MACRO Station can be configured in either of two fundamental assemblies UMAC MACRO and MACRO Stack e UMAC MACRO In this configuration once called Pack the 3U format boards are put together to communicate through a backplane bus called the UBUS All boards are installed in a Euro card rack In this configuration all 3U format boards or modules can be installed or withdrawn from the pack individually providing ease of installation debugging and repair The photo at the upper right shows a UMAC rack with power supply and I O boards that are connected through a backplane This system allows for an easier integration of the 3U MACRO CPU for larger up to 8 axes applications UMAC MACRO Station Configuration MACRO Stack In the Stack configuration the 3U format boards are put together as a stack of piggyback boards right below This configuration is ideal for compact cost sensitive embedded applications 4 Axis Stack Configuration Note The Stack boards and related breakout boards can be installed in a Euro card rack creating a hybrid stack pack configuration This requires a special backplane configuration that makes removing stack boards difficult This hybrid confi
13. ds UO ACC 3EI 48 96 144 I O 3x0 603359 10x ACC 9E 48 In 3x0 603283 10x ACC 10E Isolated 48 Output Board 3x0 603299 10x ACC 11E Isolated 24 In 24 Out Board 3x0 603307 10x ACC 12E Isolated 24 In 24 Hi Power Out Board 3x0 603277 10x ACC 14E 48 I O 3x0 603472 10x UMAC Backplane Mountable Accessory Boards Communication ACC 5SE UNET Universal Field Bus Adapter Network Card 3x0 603485 10x UMAC Backplane Mountable Accessory Boards Miscellaneous ACC 28E 16 Bit A D 3x0 603404 10x ACC 36E A D D A Converter 3x0 603483 10x ACC S1E X 4096 Interpolator 3x0 603438 10x ACC 53E SSI 3x0 603360 10x ACC S56E Extender Card 300 603401 10x ACC 57E Yaskawa or Mitsubishi ABS Encoder Unit 3x0 603484 10x ACC 58E R D Converter 16 Bit 3x0 603482 10x UBUS Backplane 30 ACC U4 UBUS 4 Slot ACC U6 UBUS 6 Slot ACC U8 UBUS 8 Slot Accessories MACRO CPU Hardware Reference Boards Backplane 300 603462 Backplane 300 603403 10x Backplane 300 603463 10x ACC U10 UBUS 10 Slot Backplane 300 603464 10x ACC U12 UBUS 12 Slot Backplane 300 603465 10x ACC U14 UBUS 14 Slot Backplane 300 603466 10x ACC U16 UBUS 16 Slot Backplane 300 603471 10x ACC UI8 UBUS 18 Slot Backplane 300 603491 10x Amplifiers Analog 10VDC Input Brush Motors 4 Axis Analog 10V Input Linear Am
14. e ink on the legend of each board Pin numbers for each number can be determined either from the legend on the component side on the board or by looking at the solder side of the board where pin has a square solder pad 3U MACRO CPU Board Jumper amp Switch Setup The MACRO Station has two 16 way rotary switches on the MACRO CPU board that establish the station s basic configuration on the MACRO ring SW1 Rotary Switch Setting SW1 establishes how many servo nodes and which servo nodes will be used on the MACRO station It also establishes the mapping of MACRO node numbers to MACRO Station channel numbers This mapping information will be important in establishing the software setup The following table shows possible MACRO Station axis configurations and the appropriate settings of SW1 2 0 Which Stack Axis Backplane UMAC Axis SWI Setting MACR Boards Used Boards Used O Servo Nodes Used L 41 E a 45 IxACCIE Il 9 89 IxACCIE 108A 12 13 IxXACCIE N B 0 1 IxACC2E IxACCOM4EXorSIE 2 89 IxACC2E IxACCOMEXorSIE 4 IT MAE TE IT ACC 51E w Opt 1 4 8 9 12 Ix ACC 2E 1x ACC 24E2x wi Opt Ix or 1x 0 1 4 5 Ix ACC IE Ix ACC 24E2x w Opt Ix or 1x 8 9 Ix ACC 2E ACC SIE w Opt 1 ES plus Ix ACC 24E2x or 51E 1 4 5 2x ACC2E 1x ACC 24E2x w Opt Ix or 1x BEN 8 9 ACC 5IE w Opt 1 plus Ix ACC 24E2x or 51E 2x ACC 2E 2x ACC 24E2x w Opt 1x
15. er EQ Select rev 104 and earlier Rev 105 Rev 104 Jumper Description Default and Later and Earlier Type Location Location These jumpers are used to select different modes of not jumpered equalization when copper based communications are used When not jumpered adaptive equalization is used JP5 and B 1 2 PIN TR JP6 are used for manufacturer s testing only These jumpers do not exist on MACRO CPU versions 105 and greater 14 3U MACRO CPU Jumper and Switch Configurations MACRO CPU Hardware Reference Switch Configurations SW1 MACRO Slave Node Configure SWI Setting of Servo Channels amp Nodes Used MACRO Servo Nodes Specified Station Channel Nos Station Channel Starting Addresses PMAC s 1996 Value Turbo PMAC2 S 16840 etc PMAC s 11000 11002 Value Turbo PMAC s I70 I71 etc 0 default 4 0 1 4 5 1 2 3 4 C000 C008 C010 C018 F8033 0033 1 4 8 9 12 13 1 2 3 4 C000 C008 C010 C018 FB300 3300 0 1 C000 C008 F8003 0003 4 5 C010 C018 F8030 0030 8 9 C000 C008 F8300 0300 12 13 C010 C018 SFB000 3000 C000 C008 C010 C018 C020 C028 F8333 0333 C000 C008 C010 C018 C020 C028 C030 C038 FB333 3333 9 10 C090 C098 F8003 9 10 C090 C098 F8030
16. g to standard drives encoders flags and I O through on board connectors This MACRO Station integrated packaging and connectivity strategy provides revolutionary flexibility and ease of use A 3U MACRO Station consists of a set of 3U format Euro cards 100 x 160 mm that can be assembled in a variety of configurations When used in the rack configuration connected through a backplane bus the backplane is UBUS format designed by Delta Tau Data Systems Inc for motion control and I O interfaces When using the fiber optic MACRO interface the 3U MACRO Station can be up to 3 kilometers 2 miles away from the PMAC2 controller or any other station on the ring When using the RJ 45 copper electrical interface it can be up to 100 meters 330 feet away The 3U MACRO Station allows PMAC2 MACRO controllers to control servo axes and I O just as if they were directly connected to the PMAC2 even though they may be a great distance away The only interface needed from the PMAC2 is the electrically isolated MACRO ring Typically a PMAC2 Ultralite board one without any of its own servo interface circuitry is used with the MACRO Station to provide the most cost effective solution Introduction 1 MACRO CPU Hardware Reference 3U MACRO CPU Board 3A0 602804 10x INC MACRO CPU PCBA EE aiiai 80MHz DSP56303 CPU 512k x 8 flash memory for user backup amp firmware Latest released firmware version RS 232 serial interfa
17. guration is now recommended for existing legacy systems only 3U Product Configurations General Description 2 Introduction MACRO CPU Hardware Reference Assemblies of 3U format boards can be made with either of two CPU processor boards a 3U MACRO CPU board or a 3U Turbo PMAC2 CPU board Most other 3U format boards labeled Accessory boards can be used with either CPU board e When the 3U MACRO CPU board is used the resulting assemblies are called UMAC MACRO or 3U MACRO Stack e When the 3U Turbo PMAC2 CPU board is used the resulting assemblies are called UMAC Turbo or Turbo Stack Refer to the UMAC amp 3U Stack Products Selection Guide for more detailed descriptions of how the rack and stack products are integrated UMAC and 3U Stack Products UMAC Products UMAC Turbo D E jill d omen E Ed E The UMAC Turbo is composed of a 3U format Turbo PMAC2 CPU board and a set of accessory boards in 3U format all plugged in a common UBUS backplane and installed inside a 3U format rack A PC 104 computer and several optional communication accessories including all of the major FieldBuses MACRO and Ethernet can be installed inside the UMAC system providing convenient flexibility and virtually unlimited expandability Introduction UMAC MACRO The UMAC MACRO is composed of a MACRO Interface CPU board and a set of accessory boards in 3U format all plugged in
18. is 38400 Power Supply Check Jumper Remove jumper E4 if you are not bringing a 12V to 15V supply into the Compact MACRO Station itself 5V only If you are bringing these analog circuit supplies into the Compact MACRO Station it is best to have jumper E4 on so that the servo outputs are disabled 1f either of the analog supplies is lost MACRO Input Select Jumper Because the MACRO CPU board can potentially accept MACRO ring input from either the RJ 45 electrical input or the fiber input you must select which input is used even if only one of the ring interface options is present Jumper E40 must be ON to use the fiber input it must be OFF to use the electrical input If both interface options A and C are present either ring output may be used regardless of the setting of E40 MACRO Signal Loss Detect Jumper Jumper E5 board revisions 105 and newer only should connect pins 1 and 2 so that the MACRO receiver s fiber or electrical loss of signal detect is reported automatically as a byte violation error Older revisions 104 and before of the board could not use the receiver s signal loss detect as a violation error relying on higher level detection schemes and connecting pins 2 and 3 makes operation of the new revision completely compatible with the old This is not recommended MACRO CPU Board Connections The connection of Compact MACRO Station to other stations on the MACRO ring is achieved by connecting
19. lb Temperature Operating 0 C to 60 C 32 F to 140 F Storage 12 C to 82 C 10 F to 180 F Humidity 10 to 95 noncondensing Electrical Specifications Power 1 5A 5V X596 7 5W Pertains to 8 channel configuration with a typical load of encoders 4 Introduction MACRO CPU Hardware Reference 3U MACRO CPU CONFIGURATION The purchase of the 3U MACRO CPU board provides a 3U format 100mm x 160mm board with a DSP processor MACRO ring circuitry piggyback connectors onto which stack accessory boards can be mounted and a backplane connector through which other 3U format boards can be connected by means of a UBUS passive backplane board The MACRO CPU board went through an extensive redesign in the 105 revision because key components on the 104 and older revisions became obsolete Both the older and the newer versions are described in this manual The only system change required is a slight change in the DIP switch addressing of ACC 24E2x and ACC 51E backplane axis boards when using the new MACRO CPU boards Note It is recommended that only the new MACRO CPU boards which have stronger backplane bus drivers be used in UMAC pack configurations The 3U MACRO CPU can be purchased in two physical configurations distinguished by part number prefix e 300 602804 10x provides the 3U MACRO CPU board without a front plate This configuration is recommended for stack assemblies e 3R0 602804 10
20. lock Board 300 603365 10x Legacy Systems ACCI3A Flag Terminal ACC 13B Amplifier ACC 15E Isolated 12 In 12 Only Block Board Terminal Block Board Out Opto22 Driver amp 300 603366 10x 300 603367 10x Breakout Board 300 603488 10x Accessories 31
21. oduct line 28 U MACRO CPU Hardware Memory Map MACRO CPU Hardware Reference U MACRO CPU Hardware Memory Map 29 ACCESSORIES MACRO CPU Hardware Reference Both the Turbo and the MACRO CPU boards can support either the Stack or the UMAC configuration The systems are configured modularly with the selection of a series of accessory boards some appropriate for the Stack and some appropriate for the UMAC These accessories are listed here Each has its own manual for detailed description The following table shows 3U products by function MACRO CPU Board Options Board must be ordered with either Option A or Option C Option A fiber optic connectors Option C RJ 45 electrical MACRO connectors Stack Piggyback Accessory Boards ACC IE 2 Axis Interface Stack Board UMAC MACRO only 3x0 602810 10x ACC 2E 4 Axis Interface Stack Board 3x0 602805 10x ACC 3E 48 96 144 TTL I O Stack Board 3x0 602811 10x ACC 4E Isolated 24 In 24 Out Stack Board 3x0 602872 10x ACC 6E 8 16 Channel 12 Bit ADC Stack Board 3x0 602810 10x UMAC Backplane Mountable Accessory Boards Axis ACC 24E2 2 Axis Digital PWM 3x0 603397 10x Option 1D Additional 2 Axis Digital PWM 3D1 603397 10x ACC 24E2A 2 Axis Analog 3x0 603398 10x Option 1A Additional 2 Axis Analog 3A1 603398 10x ACC 24E2S 4 Axis Stepper 3x0 603441 10x UMAC Backplane Mountable Accessory Boar
22. ogaooaoogadoaoooapooaogaoaoao ooooo00o0o oo000000000 oooo000 oooo000 oo oo o E1 H P1 o Ol REV 104 and Earlier Revisions Note Pin 1 of an E point is masked by an X in white ink on the composite side and by a square solder pad on the solder side 3U MACRO CPU Jumper and Switch Configurations 11 E1 Watchdog Timer Disable Rev 105 Rev 104 and Later and Earlier Location Location E2 CPU Mode Operation Rev 105 Rev 104 and Later and Earlier Location Location E3 Serial Port Baud Rate Rev 105 Rev 104 and Later and Earlier Location Location MACRO CPU Hardware Reference Description Remove jumper to enable Watchdog Timer Jump pins 1 and 2 to disable Watchdog Timer for test purposes only Description Jump pins 1 and 2 for firmware download through serial port Jump pins 2 and 3 for normal operation Description Jump pins 1 and 2 for 9600 baud serial port operation Required for Yaskawa interface Remove jumper for 38400 baud serial port operation E4 Power Supply Loss Control 15Vdc Supply Monitor Rev 105 Rev 104 and Later and Earlier Location Location Description Default Default Default Default 12 Jump pins 1 and 2 to disable servo outputs on loss of 5V 15V or 15V power supply Remove this jumper to monitor 5 Vdc power supply only 15V supply monitoring is not usually requi
23. plifier 24VDC 0 5 1A 300 603489 10x 4 Axis Analog 10V Input PWM Amplifier 48VDC 2 4A 300 603443 10x 4 Axis Analog 10V Input PWM Amplifier 70VDC 8 12A 300 603486 10x Backplane Double Analog Amplifier 300 603470 10x Backplane Single Analog Amplifier 300 603490 10x Amplifiers Digital PWM Input brushless 2 Axis Digital PVM Amplifier 360VDC 4 8A 400 603391 10x 2 Axis Digital PWM Macro Amplifier 360VDC 8 16A 400 603392 10x Single Axis Digital PWM Macro Amplifier 360VDC 8 16A 401 603391 10x Single Axis Digital PVM Amplifier 360VDC 8 16A 401 603492 10x Power Supply for 3U Digital PWM Amplifiers 400 603428 10x Backplane Digital PWM 300 603435 10x Power Supplies DC Input ACC F 3U DC to DC Converter 10A 30F 603216 OPT Power Supplies AC Input ACC E 3U AC Power Supply 8A 30E 603269 OPT ACC E1 3U AC Power Supply 14A 3 1E 603269 OPT ACC E2 AC Power Supply 20A 32E 603468 OPT UMAC Chassis Assemblies Rack 3U Rack 10 1 2 Slot 42T 542 602932 10x 3U Rack 15 3 4 Slot 63T 563 602932 10x 3U Rack 21 Slot 84T 584 602932 10x 3U Rack Variable Width per Customer Requirements custom design 500 602932 10x Hybrid Stack Pack Accessories ACC 8DE 2 Axis 3U Analog Output Breakout Board 3x0 603215 10x ACC 8FE 2 Axis 3U Digital Output Breakout Board 3x0 603176 10x ACC 13 Encoder Terminal B
24. red for applications without DACs or A D converters not jumpered 3U MACRO CPU Jumper and Switch Configurations MACRO CPU Hardware Reference E5 MACRO Received Signal Detect Bypass Mode rev 105 and 106 only Does not exist on rev 107 and later models Rev 105 Rev 104 Jumper Description Default and Later and Earlier Type Location Location Jump pins 1 and 2 to access the receiver s signal detect operation Jump pins 2 and 3 to bypass the receiver s signal detect B 3 3 PIN operation This jumper does not exist on MACRO CPU versions 104 and earlier E40 MACRO Input Fiber Wired Selector Rev 105 Rev 104 Jumper Description Default and Later and Earlier Type Location Location Remove jumper to select MACRO wired RJ45 input from J14 Jumpered Jump pins 1 and 2 to select MACRO fiber optic input from U73 pubs dy B 3 C 3 2 PIN Not jumpered Option C JP3 MACRO Loop back Test Select For Copper Only rev 104 and earlier Rev 105 Rev 104 Description Default and Later and Earlier Location Location Remove jumper to select loop back in the copper interface of jumpered MACRO communications for test purposes only Jump pins 1 and 2 for normal copper MACRO communications This jumper does not exist on MACRO CPU versions 105 and greater JP4 Reserved for Future Use 3U MACRO CPU Jumper and Switch Configurations 13 MACRO CPU Hardware Reference JP5 JP6 MACRO Copp
25. rminated pin See schematic below 8 unused Unused terminated pin See schematic below The cable used for MACRO wired connections is CATS verified straight through 8 conductor J14 H a eck Wu Ql esounen 8 WIRED OUTPUT J17 WIRED INPUT ONS m3 MTG HOLE 50 01 mfd 2kv STL Circuitry for J14 and J17 Copper MACRO I O 3U MACRO CPU Board Connector Pin outs 25 MACRO CPU Hardware Reference P1 UBUS Interface Connector 96 pin EURO Connector at F 1 2 3 4 PHASEF BEE GND on GND n c EE 15Vdc PWRGUD n c 15Vde GND Refer to the UBUS Specification for detailed signal descriptions This interface is NOT VME bus compatible Items shown in parentheses represent pin descriptions for 104 and earlier revision MACRO CPU boards 26 3U MACRO CPU Board Connector Pin outs MACRO CPU Hardware Reference TB1 JPWR 4 Pin Terminal Block Location B 4 1 DND JL Common RefeeneVolage Z o y O 2 5V Input PositiveSupply Voltage Supplies all PMAC digital circuits 3 5V JL Input Positive Supply Voltage 12V to 15V used for on board analog L2 ISV Input NegativeSupply Voltage 12to ISV usedforon boardanalog U73 MACRO Fiber Optic Connector OPT A 2 Socket SC Style Front View Fiber Input MACRO Ring Receiver Fiber Output__ MACRO Ring Transmi
26. t information is needed 3U MACRO CPU Jumper and Switch Configurations MACRO CPU Hardware Reference MACRO STATION CHARACTER DISPLAY The Compact MACRO Station has a single hexadecimal character display on the CPU Interface Board that provides useful information as to the status of the station The display can show the following values 0 8 Operation OK value is of motors enabled 9 reserved forfutureuse B Ring break fault D Ringdataerror _ __ _ o O MACRO Station Character Display 17 MACRO CPU Hardware Reference HARDWARE RE INITIALIZATION MACRO hardware reinitialization to factory defaults is enabled when the SW1 setting is set to 15 or F hexidecimal and the power is cycled at the MACRO Station The only time the user would want to use a hardware reinitialization to factory defaults with the MACRO Station would be if the MACRO Station always powers up with a watchdog typically 1f the ring clock at the Ultralite is different than the ring clock at the MACRO Station Node 11 will be the only MACRO Station node enabled Therefore the user will have to enable node 11 of the MACRO IC at the Ultralite to communicate to the MACRO Station Ultralite Example Servo nodes 0 1 4 5 enabled at Ultralite I996 0F8033 A The user would have to enable node 11 1996 0F8833 B Then user can reistablish communications with MS11 MIvar commands C Issue MS 1 to ensure re initialization
27. ters 12 E4 Power Supply Loss Control 15 Vdc Supply Monitor seen rennen nennen nen 12 E5 MACRO Received Signal Detect Bypass Mode rev 105 and 106 only Does not exist on rev 107 and later models 13 E40 MACRO Input Fiber Wired Selector eese eee enne eene nnne rre en nnne nene nennen 13 JP3 MACRO Loop back Test Select For Copper Only rev 104 and earlier sss 13 JPA Reserved for RE 13 JP5 JP6 MACRO Copper EQ Select rev 104 and earlter sess enne 14 Switch Configurations VSSE 15 SWI MACRO Slave Node Configure piece ere rte err rH HERR FE e Fee EE HERR LE EE TESES Fee oet erred 15 SW2 MACRO M ster Number Select 2 5 iri ted eH DRPREPU HER PIRE EE see AEN pe Rer Meo E He EIER 15 COMES UNE esce 16 MACRO STATION CHARACTER DISPLAY eeeeeessseeeeeseeeee eene nennen nnn nnn nnn nnne 17 HARDWARE RE INITIALIZA TION siexu s ExE eR nS RoERERXETAERYR nESENSRE DIM NEFEeESRaRA S RkE TAa ERES ERES NUS P xA AER 18 FIRMWARE UPDATES coectetuer seien uM e DN MD UE 20 3U MACRO CPU BOARD CONNECTOR PIN OUTS eeeeeeeeeesseeeeennrnn nnn 22 J6 JTHW Multiplexer Port COrDector icm t rrt ete ae rere eroe hve ee BR roe xo ERR 22 JT JRS232 Serial Port Connector inicie entrer trier ed e d de ee atre HEC
28. the output connector of the Compact MACRO Station to the input connector of the next station and by connecting the output connector of the previous station to the input connector of the Compact MACRO Station There must be a completely connected ring with all stations powered up for any communications to occur on the ring Optical Fiber Ring Connection The U73 integrated fiber optic transceiver is used for both the optical fiber input and the optical fiber output connections to the MACRO ring With the component side of the board up and the opening facing you the input socket is on the right and the output socket is on the left these are marked on the component RJ45 Electrical Ring Connection The J14 connector is used for the input from the previous station on the MACRO ring if electrical connection is used and the J17 connector is used for the output to the next station on the MACRO ring Multiplexer Port The J6 26 pin header is used to connect to multiplexer port accessories such as the ACC 8D Opt 7 resolver to digital converter board and the ACC 8D Opt 9 Yaskawa absolute encoder interface board This port can be used alternately to provide 8 inputs and 8 outputs non multiplexed at TTL levels Backplane UBUS Expansion Port The P2 96 pin DIN header is used to connect to expansion port accessories such as the ACC 9E 10E 1 1E 12E and 14E I O boards or the ACC 24E2x axis boards through an 8 3U MACRO CPU Board Hardware Setup
29. tter A The fiber optic version of MACRO uses 62 5 125 multi mode glass fiber optic cable terminated in an SC style connector The optical wavelength is 1 300nm B Itis possible to adapt wire to fiber operation when using OPT A amp C on the same MACRO CPU board 3U MACRO CPU Board Connector Pin outs 27 MACRO CPU Hardware Reference U MACRO CPU HARDWARE MEMORY MAP The values in this table represent the hardware locations associated with register based transactions that occur in the 3U MACRO CPU Reference ADDR hex Description CS00 FFCO Stack I O select 1 CS02 FFC8 Stack I O select 2 CS04 FFDO Stack I O select 3 CS06 FFD8 Stack I O select 4 CS0 C000 Stack axis 1 4 select CSI C020 Stack axis 5 8 select CS2 C040 UBUS backplane axis 1 8 select CS3 C060 UBUS backplane axis 5 8 select CS4 C080 n board DSPGATE2 select CSAX COCO UBUS backplane MACROgate or DSPgate2 select CS4 on UBUS CS10 FFEO JS backplane I O select 1 CS12 FFE8 JS backplane I O select 2 CS14 SFFFO JS backplane I O select 3 CS16 FFF8 JS backplane I O select 4 MEMCSO0 D000 MEMCSI E000 BUS hardware I O field was VMECS The addressing field size is 16 bits in the 3U MACRO CPU The address table above is similar to the PMAC2 pr
30. x provides the 3U MACRO CPU board with a front plate This configuration is recommended for UMAC rack assemblies The top and bottom plates are provided with the ACC Px rack There are a few options available for the MACRO CPU board One of the Options A or C must be present on a MACRO CPU board to provide the actual MACRO ring interface circuitry both may be present Option A provides an SC style fiber optic transceiver to connect into the MACRO ring Its main component is the U73 transceiver Option C provides RJ 45 electrical input and output connectors for the MACRO ring Its main components are J14 and J17 Option 10 permits a specified revision of the MACRO Station firmware to be installed in the flash memory in the card Without this option the latest released revision is installed A label on the flash memory IC indicates the firmware revision installed at the factory but not necessarily which revision is presently installed in the IC The presently installed revision can be ascertained by using the MSVER node command 3U MACRO CPU Configuration 5 MACRO CPU Hardware Reference 3U MACRO CPU Configuration MACRO CPU Hardware Reference 3U MACRO CPU BOARD HARDWARE SETUP The hardware setup of the 3U MACRO CPU Board consists of the setting of 2 rotary switches the setting of several E point jumpers on each board followed by power supply and signal connections Note E Point Jumper numbers are shown in whit
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