Delta Tau PMAC2 User's Manual
Contents
1. S 2 a S a S a P P ND A NC NC NoConnection GND Common PMAC Common NC NC NoConnection GND Common PMAC Common A NC NC A D Common A AAA SY Output Common Common N C Common N C Common N C Common PMAC Common OO 45V Output 5VDC Supply Power Supply output INIT PMAC Reset The JTHW multiplexer port provides 8 inputs and 8 outputs at TTL levels While these I Os can be used in unmultiplexed form for 16 discrete I O points most users will utilize PMAC software and accessories to use this port in multiplexed form to greatly multiply the number of I Os that can be accessed on this port In multiplexed form some of the SELn outputs are used to select which of the multiplexed I Os are to be accessed N N N l 7 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 How to use THW Port with Acc 34 l Set 129 78400 2 save 3 4 Follow the setup for Acc 34 HARDWARE SETUP 19 Turbo PMAC2 Eth Ultralite Manual How to use THW Port as general purpose IO 8 Input and 8 Output 1 WxX 78400 FFOO IO Direction Control 2 WY 78404 FFFF IO Data Type Control 3 WX 78404 0 IO Inversion Control M1000 gt Y 78400 0 8 8 Inputs M1001 gt Y 78400 8 8 8 Outputs HARDWARE SETUP 20 Turbo PMAC2 Eth Ultralite Manual Software Setup Host Communications To communicate with Turbo PMAC2 Eth Ultralite from yo2. Maximum length for Ethernet cable should not exceed 100m 330ft J2 RJ 45 Female Connector Ful 1 Function Transmit line Transmit line Receive line Receive line Amber LED Blinking indicates transmit receive activity Green LED Solid Green indicates a valid connection HARDWARE SETUP 9 Turbo PMAC2 Eth Ultralite Manual Fieldbus Setup Connector J3 This connector is a 10 pin female flat cable connector directly connected to the Fieldbus communication device installed in the system based on order options You should use SyCon program to set up the communication module SyCon is a universal Fieldbus configuration tool developed by Hilscher Corporation and is used to configure the PMAC Gateway Delta Tau has licensed SyCon and it is provided as part of the PMAC Gateway product The Hilscher license agreement presented during the installation process still applies Besides being able to configure Fieldbus systems like ProfiBus DeviceNet CANopen and ControINET SyCon can also configure Interbus SDS etc SyCon is a common tool that provides consistent user interface for all protocols for both masters and slaves SyCon checks the dependencies between the devices checks for configuration conflicts and warns of possible errors Some protocols support standardized files containing information about all features and limitations of the slave device SyCon uses these files for the configuration After configuration switch Sy
3. 4 2 4 0 About Us Cancel Click the Insert button Available PMAC Devices PMAC devices not registered Pmac ETHO IP 192 6 94 5 Pmac ETH1 IP 192 6 94 5 Pmac ETHS IP 192 6 94 5 ee EAD Dat COON bate bl IA Cancel Select the communication port from the list All the available Serial ports COM1 COM2 and Delta Tau USB products are present in the list If you re trying to communicate through an Ethernet port and the IP address for the PMAC is not in the list click the New button Select a PMAC Comm Type C Serial Port COM Ethernet ETH Cancel Select the Ethernet Eth option and click OK PMAC Ethernet Enumeration Ea 4 IP Address 192 6 94 5 Cancel Network Test Enter the IP address of the controller The Default IP address for all Delta Tau Products is 192 6 94 5 If you need to change this default address you can do so by using a Configure Ethernet 100BaseT software which can be accessed from the PMAC Executive PRO 2 Suite Delta Tau Common folder under the Start menu SOFTWARE SETUP 23 Turbo PMAC2 Eth Ultralite Manual After selecting the communication port with the controller click OK Available PMAC Devices PMAC devices not registered Pmac ETHO IP 192 6 94 5 Pmac 1540 Port OxFFFO Intr N 44 Pmac PCIO A Cancel Dmna 1120DM The selected device is now added to the list and is referred to as PMAC You can have up to 32 PM
4. JTHW 00000000 OOO GOOO Handwheel Wiring To read the handwheel counts you need to implement these settings in Encoder Conversion Table T8000 78410 MIOLO gt X9 99 gt 30L 0 24 8 You can access the position of the handwheel You can also use the same address 3501 as a master address for any of the motors Ixx05 Analog to Digital Connections Option 12 required There are two Analog to Digital circuits on J8 which can have 12 bit or 16 bit resolution based on the requested options The signal can be either differential or single ended In single ended configuration the input range can be 10VDC in contrast with 5VDC in differential signal setting HARDWARE SETUP 15 Turbo PMAC2 Eth Ultralite Manual Single Ended Signal Differential Signal OO Oe eS CO 0 O E J8 E FESR Rn DIOSAS EO GND on the analog signal side To read the value of the ADCs make sure the correct strobe word 1s written to the ADCs The ADC values can be read using M variables with the following definitions Option 12 12 bit Analog to Digital Option 16806 1FEFEFFE M6 S gt Y1 507040680 Data type control SELO to SEL7 M63 50 MIQOL gt Y 2s 78415 94 12 76 Mi00Z F72570416 8 12 5 Digital to Analog Connection The Digital to Analog output has a range of l0VDC and can source 20mA current The output signal is in differential mode and can be used as either differential or single ended mode Digital to Anal
5. do the following immediately 1 Inspect the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the drive 2 Remove the controller from the shipping container and remove all packing materials Check all shipping material for connector kits documentation diskettes CD ROM or other small pieces of equipment Be aware that some connector kits and other equipment pieces may be quite small and can be accidentally discarded if care is not used when unpacking the equipment The container and packing materials may be retained for future shipment 3 Verify that the part number of the drive received is the same as the part number listed on the purchase order 4 Inspect the drive for external physical damage that may have been sustained during shipment and report any damage immediately to the commercial carrier that delivered the controller 5 Electronic components in this controller are design hardened to reduce static sensitivity However use proper procedures when handling the equipment 6 Ifthe controller is to be stored for several weeks before use be sure that it is stored in a location that conforms to published storage humidity and temperature specifications stated in this manual Mounting The location of the control is important Installation should be in an area that is protected from direct sunlight corrosives harmful gases or liquids dust metallic particles and oth
6. normally open contacts are available on pins 24 and 12 consequently with common contact on pin 11 D27 MMBD301L SOT23 EE2 5ND Auxiliary Connector J8 A 15 pin DB style female connector contains connections for Handwheel quadrature input two ADC inputs one DAC output and one Pulse and Direction output Please check the software setup and connector pin out sections for more information on how to use each of these features J8 AUX DB15 Female 0000000 0000000 Symbol l ADCI Analog to Digital input negative signal or DGND DACI 10VDC output inverted DIRI i se A PULI Pulse output inverted a a ADC2 Analog to Digital input negative signal or DGND 2 3 4 5 HARDWARE SETUP 14 Turbo PMAC2 Eth Ultralite Manual Handwheel Quadrature input A Handwheel Quadrature input B Digital Ground Analog to Digital input positive signal Analog to Digital input positive signal l0VDC output Direction output Pulse output Handwheel Quadrature input A Handwheel Quadrature input B Handwheel Wiring The Handwheel wiring should be done as shown in the following figure You can either use differential or single ended signals from any quadrature encoder Make sure that you tie the ground connection of the encoder to the ground connection of the J8 if you re planning to use a single ended encoder Since there 1s no power output pin available on J8 you need to power up the encoder from a separate source 1 e
7. switch while powering up the system will go into bootstrap mode You can then use Delta Tau s Executive software to download the new firmware to the controller RE INIT switch The RE INIT switch will cause the controller to revert to the factory default settings To use this function you need to hold down the switch while powering up the system This will stop the controller from loading your settings from the EEPROM and will load the factory default settings instead Although your settings are not loaded once you power up holding the RE INIT switch they are still available in the EEPROM until you overwrite them with a SAVE command Caution Loading the factory default settings for this specific controller will stop the normal functioning of the system over the MACRO Ring In order to get the controller to communicate over the ring you need to download the backup settings file available from Delta Tau s website www deltatau com Connections USB Connection J1 This connector 1s used in conjunction with USB A B cable which can be purchased from any computer store The A connector is connected to a PC or Hub device the B connector plugs into the J1 USB port Up to date USB drivers are always included in the latest software packages from Delta Tau s Web site www deltatau com NOTE Since the USB connector will connect the ground on the controller and computer together make sure the computer and controller have the same
8. voltage ground 1 e they are connected to the same power line HARDWARE SETUP 8 Turbo PMAC2 Eth Ultralite Manual DATA Ethernet Modbus Connection J2 This connector is used for Ethernet communications from the Turbo PMAC2 Eth Ultralite to a PC or into an Ethernet network The default IP address for all Delta Tau products with Ethernet communication capability is 192 6 94 5 which can be changed with the proper software provided by Delta Tau This port can support Modbus communication and act as either Server or Client on a Modbus Network There are four sockets available on this port and each can be configured as Modbus Server Modbus Client PMAC ASCII or PMAC INTR If you want to use this port for communication purposes with the controller you need to set at least one of the sockets to PMAC ASCII NOTE Delta Tau Systems strongly recommends the use of RJ45 CATSe or better shielded cable Newer network cards have the Auto MDIX feature that eliminates the need for crossover cabling by performing an internal crossover when a straight cable is detected during the auto negotiation process For older network cards one end of the link must perform media dependent interface MDI crossover MDIX so that the transmitter on one end of the data link is connected to the receiver on the other end of the data link a crossover patch cable is typically used If an RJ45 hub is used then a regular straight cable must be implemented
9. which hardware and therefore option is selected The hardware cannot be programmed for an alternate protocol including master slave Additional I O points are available through a Thumbwheel port which supports multiplexed I O devices such as ACC 34AA or Opto 22 digital I O modules Configuration Base Version The base version of the Turbo PMAC2 Eth Ultralite provides 80 MHz DSP56303 CPU 128k x 24 SRAM compiled assembled program memory 128k x 24 SRAM user data memory 1M x 8 flash memory for user backup amp firmware 32k x 16 bank of dual ported RAM Latest released firmware version RS 232 serial interface USB 2 0 amp Ethernet Communication No on board axis interface circuitry INTRODUCTION l Turbo PMAC2 Eth Ultralite Manual e Two channels supplemental interface circuitry each including o 2 channel differential single ended encoder input o One output command signal set configurable as pulse and direction or PWM top and bottom pair e Direct I O interface port e 1 year warranty from date of shipment Cables not included Macro Ring Connector Options If a MACRO interface is desired which is the usual reason for use of the board at least one of the MACRO connector options must be selected e Option A provides the MACRO ring fiber optic SC style interface connector The key component on the board 1s U49 e Option C provides the MACRO ring RJ 45 electrical interface connectors The key components on the board are C
10. 3 80MHz 0 No Option RJ 45 electrical interf 4 Opt 1C 24 servo 181 O E Slave DSP 563xx CPU and 6 communic nodes 1024Kx24 SRAM 3 Opt 18A Q 5 Opt 1D 32 servo 24 1 0 3 Opt G3 4 Mx8 flash Electronic board and 8 communic nodes DeviceNet Master F3 Opt 5F3 240MHz Identification DSP 563xx CPU 4 No Option Axis MACRO Node Options 4 Opt G4 1024Kx24 SRAM p Standard DeviceNet Slave 4 Mx8 flash CPU Memory I Firmware Options 5 Opt 2B Cu 5 Opt G5 Dual Port RAM CanOpen Master 6 Opt 15F 0 No Options 6 ai 7 anOpen Slave ModBus Comm 1 Opt 12 p 7 Opt 2B amp Opt 15F 2 channels 12 bit 7 Opt GB Dual Port RAM A D converter amp CC Link Slave amp 1 12 bit D A converter ModBus Comm Other Options Communication Options CXA 00 No Additional Options xx Factory assigned digits for Additional Options Factory Assigned Options If Opt 10xx specific firmware version or any other Additional Option is required contact factory for digits K and L Factory Assigned digits If Opt 10xx is not ordered the latest firmware is used For detailed information on any of these options please refer to the previous section of this manual INTRODUCTION 4 Turbo PMAC2 Eth Ultralite Manual Hardware Setup Receiving and Unpacking Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment When the Turbo PMAC2 Eth Ultralite is received
11. AC devices defined on the software PMAC Devices Pcomm Version 4 2 4 0 ETHO 1P 192 6 94 5 wai x Remove Properties About Us Cancel To check the communications click the Test button If communication is successful you will see a confirmation message MM PcommServer A The PMAC was successfully detected In the case of Ethernet Communication the Pcommserver will report the result of the PING command to the network driver chip on the controller before trying to communicate to the controller CPU PcommServer A PING Success Ethernet adapter settings are currently configured correctly Once communication is established you can use any of the windows and tools provided by the Pewin32PRO2 software and accompanied tools SOFTWARE SETUP 24
12. Con into diagnostic mode to monitor all status information of devices connected to the network For example the node list or slave diagnostic information can be seen If a slave is not operating correctly it will be displayed in a different color normally red The base address for master modules is located at memory location 6D000 and for slave modules at 6D700 J3 10 pin Male Flat ribbon header connector IDC Symbol HilDTR Data terminal ready DTR N C HilTxD HilCTS HilRxD HilRTS HilDSR N C Signal Ground 5V 5 VDC output Pin Symbol 22 HiDTR_ E mD 24 H icrs 5 HiRxD 6 HiIRTS TO HIDS ES E NA o GN ET 0 Fieldbus Connection J4 Fieldbus option required This Female DB 9 connector is connected to the Fieldbus module inside the board and the communication to the network will be performed through this port This will have different pin out descriptions based on the module installed in the controller HARDWARE SETUP 10 Turbo PMAC2 Eth Ultralite Manual HARDWARE SETUP J4 DB9 Female Symbol N C See A 5VDC RXD TXD P RS 485 CNTR P DGND 5VDC N C Sa ee ea RXD TXD N RS 485 N C AE p o 5 DB9 Female Symbol CAN L CAN L Bus line ISO 11898 CAN GND CAN Ground CAN H CAN_H Bus line ISO 11898 N C Eo 2 DeviceNet J4 200000 Symbol DeviceNet 24V Power Supply N N C N C N C p 5 CAN H CAN High Signal i Ve OS DeviceNet V Ref
13. HARDWARE REFERENCE MANUAL Turbo PMAC2 Eth Ultralite N 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 2010 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 da
14. N3 and CN4 Option 1 Additional MACRO Interface ICs Option 1A provides the first additional MACRO interface IC 2 total for 16 additional MACRO nodes eight additional servo nodes and eight additional I O nodes 32 nodes total 16 servo and 16 I O The key component on the board is U41 Option 1B provides the second additional MACRO interface IC 3 total for 16 additional MACRO nodes eight additional servo nodes and eight additional I O nodes 48 nodes total 24 servo and 24 I O The key component on the board is U42 Option 1A is a pre requisite Option 1C provides the third additional MACRO interface IC 4 total for 16 additional MACRO nodes eight additional servo nodes and 8 additional I O nodes 64 nodes total 32 servo and 32 I O The key component on the board is U43 Options 1A and 1B are pre requisites Option 5 CPU and Memory Configurations Different versions of Option 5 provide different CPU speeds and main memory sizes Only one Option 5xx may be selected for the board The CPU is a DSP563xx IC as component U1 The CPU is available in two speed options 80MHz CPU is a DSP56303 Option 5C0 240 MHz CPU is a DSP56321 Option 5F3 The maximum frequency of operation is indicated with a sticker on the CPU in U1 The compiled assembled program memory SRAM ICs are located in U30 U31 and U32 These ICs form the active memory for the firmware compiled PLCs and user written phase servo algorithms These can be 128k x 8 ICs
15. be made using 16 AWG wire directly from a protected power supply In situations where the power supply 1s shared with other devices it may be desirable to insert a filter in this connection The power supply providing this 24V must be capable of providing an instantaneous current of at least 900 mA In the case where multiple devices are driven from the same 24V supply it is recommended that each device be wired back to the power supply terminals independently The connector for J9 is a Phoenix PCB Edge connector ZEC 1 5 3 ST 5 0 C2 R1 3 with Delta Tau part number 014 188305 001 and Phoenix part number 18883051 HARDWARE SETUP 17 Turbo PMAC2 Eth Ultralite Manual J9 24V DC Input Phoenix PCB Edge Connector HE NG S S 24VDC input from power supply MACRO Connector Based on the option that you have either the MACRO fiber connector or the MACRO RJ45 connector is installed on the controller e Option A provides the MACRO ring fiber optic SC style interface connector The key component on the board is U49 MACRO SC Style Fiber Connector CN3 and CN4 Front View Symbol Function AN MACRO Ring Receiver 2 our MACRO Ring Transmitter 1 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 2 It is possible to adapt wire to fiber operation when using OPT B e Option C provides the MACRO ring RJ 45 electrical interface
16. connectors The key components on the board are CN3 and CN4 MACRO RJ45 Connector CN3 and CN4 Front View Symbol Function DATA Differential MACRO Signal CN4 DATA input CN3 DATA output 2 Differential MACRO Signal CN4 DATA input CN3 DATA output Unused terminated pin See schematic below Unused terminated pin See schematic below Unused terminated pin See schematic below 6 Unused Unused terminated pin See schematic below Unused terminated pin See schematic below 8 Umused Unused terminated pin See schematic below Thumbwheel Multiplexer Port JTHW Port J10 The Thumbwheel Multiplexer Port or Multiplexer Port on the JTHW connector has eight input lines and eight output lines The output lines can be used to multiplex large numbers of inputs and outputs on the port and Delta Tau provides accessory boards and software structures HARDWARE SETUP 18 Turbo PMAC2 Eth Ultralite Manual special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination l 26 pin female flat cable connector T amp B Ansley P N 609 2641 2 Standard flat cable stranded 26 wire T amp B Ansley P N 171 26 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J10 Thumbwheel Port 26 Pin IDC Header Reciprocal 0000000000000 DODODODBDODOO Pin GND Common PMACCommon GND Common PMAC Common Dae
17. e used either for communication between the unit and a PC as user interface FIELDBUS connector gets connected directly to the Hilscher module inside the unit and the SyCon software for setting up the module FIELDBUS SETUP FIELDBUS monn 223s X Zz The FIELDBUS connectoris the main connector between the Hilscher module and FIELDBUS the optional FieldB us network Please check the pin out configuration section carefully INTERFACE 00000 0000065 RS 232 e E O 2 gt uw Le 14 00000 0000 g 3 o gt amp 2 E N 5 E ke Z va oD 5 O E a Serial Connection RS 232 can be used to talk t Panis Can be US O talk tO A the CPU directly Since the res parser on this port can be tumed off it can also be used for communicating to the 3 party devices over power up you can place th e car d in Bootstr ap m ode f orloa ding fir mware up th e car d will b ad th e facto ry de fault By holding FW LOAD micro switch while sett h gs instea d of sa ved se ttings on FLASH HARDWARE SETUP 7 Turbo PMAC2 Eth Ultralite Manual Pushbutton Switches There are two pushbutton switches located at the bottom of the unit next to the 24V power supply input These buttons are accessible for reinitializing the board back to factory default settings and loading new firmware revisions FW LOAD switch The FW LOAD switch is used to download new firmware to the controller When holding down this
18. er contaminants Exposure to these can reduce the operating life and degrade performance of the control Several other factors should be evaluated carefully when selecting a location for installation e For effective cooling and maintenance the control should be mounted on a smooth non flammable vertical surface e Atleast 3 inches 76mm top and bottom clearance must be provided for airflow At least 0 4 inches 10mm clearance is required between controls each side e Temperature humidity and vibration specifications should also be taken in account The Turbo PMAC2 Eth Ultralite can be mounted with a traditional 2 hole panel mount one U shape notch on the bottom and one pear shaped hole on top The controller is mounted to a back panel The back panel should be unpainted and electrically conductive to allow for reduced electrical noise interference The back panel should be machined to accept the mounting bolt pattern of the drive Make sure that all metal chips are cleaned up before the controller is mounted so there is no risk of getting metal chips inside the controller HARDWARE SETUP 5 Turbo PMAC2 Eth Ultralite Manual The controller is mounted to the back panel with four M4 screws and internal tooth lock washers It is important that the teeth break through any anodization on the controllers s mounting gears to provide a good electrically conductive path in as many places as possible Mount the controller on the back panel
19. erence Potential SHELL Shield CAN H CAN High Signal CAN L CAN Low Signal E8 jumper should be in 2 3 position CC Link J4 00000 DB9 Female Symbol SLD CC Link Shield CC Link Function Ground DATA A CC Link Data A CC Link Data Ground CC Link Function Ground DATA B CC Link Data B ES jumper should be in 2 3 position a p o ry J 11 Turbo PMAC2 Eth Ultralite Manual General Purpose I O Connection J5 The 25 pin D Sub connector located on the top of the controller provides eight optically isolated inputs four optically isolated outputs and controller watchdog output with both normally closed and normally open contacts The connector also has an extra input which can be used as sinking or sourcing input regardless of the other inputs setup J5 General Purpose I O 25 pin Female D Sub connector Pin Z Z Z Z Z Z Pin 6 E AA 1 Symbol 7 INRET OUTI COL OUT2 COL OUTS COL OUT4 COL COM EMT WDO COM WDO NO ESTOP 2 i 6 COM COL OUTI EMT OUT EMT OUT3 EMT OUT4 EMT IN WDO NC ESTOP 24 V input from Normally Closed E Stop Button to use sourcing outputs connect the 12 to 24V to pin 18 and use pins 19 20 21 amp 22 as your sourcing outputs 2 to use sinking outputs connect the GND to pin 10 and use pins 6 7 8 amp 9as your sinking outputs Extra input wiring diagram All other inputs on the General Purpose I O Connection can only be either sinking or so
20. for a 128k x 24 bank fitting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint The user data memory SRAM ICs are located in U27 U28 and U29 These ICs form the active memory for user motion programs uncompiled PLC programs and user tables and buffers These can be 128k x 8 ICs for a 128k x 24 bank fitting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint INTRODUCTION 2 Turbo PMAC2 Eth Ultralite Manual The flash memory IC is located in U26 This IC forms the non volatile memory for the board s firmware the user setup variables and for user programs tables and buffers It can be 1M x 8 2M x 8 or 4M x 8 in capacity e Option 5C0 Default CPU speed and memory configuration 830MHz DSP56303 CPU 8Kx24 internal memory 128Kx24 SRAM compiled assembled program memory 128Kx24 SRAM user data memory 1Mx8 flash memory e Option 5C3 Default CPU speed and memory configuration 830MHz DSP56303 CPU 8Kx24 internal memory expanded 512Kx24 SRAM compiled assembled program memory expanded 512Kx24 SRAM user data memory 4Mx8 flash memory e Option 5F3 240MHz DSP56321 CPU 192Kx24 internal memory expanded 512Kx24 SRAM compiled assembled program memory expanded 512Kx24 SRAM user data memory 4Mx8 flash memory Option 10 Firmware Version Specification Normally the Turbo PMAC2 Eth Ultralite is pro
21. maging components or 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 exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY DESCRIPTION DATE NEW MANUAL CREATION 06 27 08 REVISED PART NUMBER DEFINITION P 4 01 28 09 UPDATED MECHANICAL DRAWING P 6 UPDATED SYSTEM WIRING P 7 UPDATED J5 amp J8 PINOUTS CONNECTORS P 12 14 ADDED J10 INFORMATION P 18 3 CORRECTION IN J5 PIN OUT TABLE 02 15 10 CP S SATTARI UPDATED WIRING FOR HANDWHEEL PORT IMAGE Turbo PMAC2 Eth Ultralite Manual Table of Contents INTRODUCTION sunno 1 ORE gis on eeerre ere es ete ae eee Pee en arte Tris eter Pere nnT eRe TN MTT T ere ne a Mer is Mier ee Meese ees ee eer er ree ee arene hae 1 Cono EI Bg oe o A E li tl o de A A l Base VES TOA A a O Laie at 1 PartNumber De MIO ti ia 4 HARDWARE SSETUP aaea a a E E a eaa N 5 Recevneand NAAA AA A A A E R 5 A A er tear en 5 Meech mear DI AN e a a a ee Ome a AA 6 A a NES 7 PUSHDULLON WINS 8 DV TAO ADD SWE AAA Badia tale E E I E 8 REAN SV AA AE a A A icauthectinust 8 CONN CHOS also 8 USB Conect on Td de LD Le hia O 8 Ethernet Modbus CONNCCHON Tai 9 Fieldbus Setup ONNCCION JA 2 Aca 10 Fieldbus C
22. nd install the appropriate driver for communication with the controller If you install the PMAC Executive Pro2 Suite before connecting the USB connection Windows will detect the communication driver automatically Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for OOPS UMAC If your hardware came with an installation CD 42 or floppy disk insert it now What do you want the wizard ta da 3 Install the software automatically Recommended Install fror a list or specific location Advanced Click Nest ta cantinue Select the automatic installation of the drivers and click Next SOFTWARE SETUP 21 Turbo PMAC2 Eth Ultralite Manual Found New Hardware Wizard Please wait while the wizard installs the software e OOPS QMAC Hardware Installation A The software you are installing for this hardware OOPS QMAC has not passed Windows Logo testing to verify its compatibility with Windows lt P Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Continue Anyway STOP Installation A pop up window will state that 1t cannot verify the compatibility of the dri
23. og Output Wiring ORGRORO OL 2 OO 0 O J8 To write into the DAC output 16816 0 set the channel output type to PWM output MLOOS gt Y 570414 5 16 5 By changing the value of M1005 in a range of 16800 you can have 10VDC output on your DAC output HARDWARE SETUP 16 Turbo PMAC2 Eth Ultralite Manual Note Please note that the DAC output is a filtered PWM signal and is limited by the max phase settings which cannot be changed because of Realtime Express network requirements Pulse and Direction Output This output can be connected to any stepper motor amplifier or it can be used to generate pulses for any other application Since the phase and servo clock cycle times are preset at Realtime Express network s update rate the maximum output frequency with default settings is 327kHz which can be increased to 1 31 MHz by changing the PFM clock divider 16803 00000000 QO O O O Pulse amp Direction Wiring To output Pulse and Direction on the handwheel port 16826 3 set the channel output to PFM mode MI006 gt Y 57841C 0 24 5s By changing the value of m1006 you can select the direction and the frequency of the pulses 24 VDC Power Supply Input J9 An external 24VDC power supply is required to power the Turbo PMAC2 Eth Ultralite The 24V is wired into connector J9 The polarity of this connection 1s extremely important Carefully follow the instructions in the wiring diagram This connection can
24. onnection J4 Fieldbus option required cccccccccccccccece cee nono nn nono nono non nn nana nn nn n nn nn nn 10 General Purpose VO Connection Iii lia 12 Athar CONCORD iia 14 DESDE TOWER SUPP O de MACRO CONICO a sec ie sitet le O e 18 Thumbwheel Multiplexer Port JTHW Port IO e do Ed 18 SOFTWARE SETUP 20d ideas 21 Host Communications a AS 21 Fewms Zl ROZ E ONMNUNICAT ONS CTI sketches dad dias 21 TABLE OF CONTENTS 1 Turbo PMAC2 Eth Ultralite Manual Introduction Overview The Turbo PMAC2 Eth Ultralite is a member of the Turbo PMAC family of boards optimized for interface to the system through the MACRO ring and therefore does not contain on board axis interface circuitry which is what makes it Ultralite It can command up to 32 axes through the MACRO ring The Turbo PMAC2 Eth Ultralite is a stand alone unit which can be communicated with via RS 232 USB or Ethernet connections However the dual ported RAM can only be accessed over USB or Ethernet for high speed communication with the controller This controller is also capable of Fieldbus communications when the appropriate option is ordered The pin out of this connection is dependent on which Fieldbus protocol is being utilized and it supports the following protocols e ProfiBus Master Opt G1 e ProfiBus Slave Opt G2 e DeviceNet Master Opt G3 e DeviceNet Slave Opt G4 e CANopen Master Opt G5 e CANopen Slave Opt G6 e CC Link Slave Opt GB The protocol is dependent upon
25. s on the I O connector which can be used in sinking or sourcing mode Since these outputs share some circuitry you can only use one type sinking or sourcing at a time The maximum current these outputs can supply is 900mA on each output 2 4VDC GND O00000 0000000 QOOOOGODOO0O00 Sourcing Outputs HARDWARE SETUP OO OOOOO0OO0OO00 O O OJ O O O O OOO 2 2AVDC GND Sinking Outputs 13 Turbo PMAC2 Eth Ultralite Manual To write to the outputs you need to define these M variables M52 gt Y 5078402 2 DAT2 Line J2 Pin 6 or 19 M53 gt Y p078402 3 DAT3 Line J2 Pin 7 or 20 M54 gt Y 078402 4 DAT4 Line J2 Pin 8 or 21 M55 gt Y 6078402 5 DAT5 Line J2 Pin 9 or 22 M60 gt X S078402 0 8 Direction control for DATO to DAT M61 gt Y 078406 0 8 Data type control DATO to DAT M62 gt X 5078406 0 8 Data inversion control M60 SFF Setting the Direction control to 1 meaning outputs M61 SFF Setting data type to DATA on DATO to DAT M62 S0 Data inversion control for DATO to DAT Watchdog Relay wiring In addition to the I O points and the E stop on the General Purpose I O connector users can monitor the status of the controller by accessing the watchdog relay As long as the controller is powered up and in the watchdog hasn t tripped indicating a functional controller the relay is energized As soon as the watchdog trips the relay will be de energized Both normally closed and
26. so there is airflow at both the top and bottom areas of the controller at least three inches Caution Units must be installed in an enclosure that meets the environmental IP rating of the end product ventilation or cooling may be necessary to prevent enclosure ambient from exceeding 45 C 113 F Mechanical Drawing The figures below show the mounting dimensions of the controller 10 1253 10 30 HARDWARE SETUP Turbo PMAC2 Eth Ultralite Manual System Wiring 8 Inputs 8 Outputs TIL Level 8 Sinking S ourcing Digital Inputs Handwheel typically used to 4 Sourcing Sinking Digital Outputs DAC output create multiplexed O Watchdog relay contacts ADC Input with accessory boards 1 Sinking S ourcing Input Pulse and Direction 0000000000000 0000000000000 00000000 0000000000000 000000000000 0000000 J10 JTHW J5 Generall O J8 AUX OUT The Macro Connector will be used to form a ring between all the MACRO components of the system For RJ 45 connector standard CAT 5 or CAT 6 cables with standard RJ 45 connection can be used to form the ring For FIBER option fiber cable with SC style connectors is used as communication medium between the MACRO stations Ethemet connection can be used either for communication between the unit anda PC as user interface or with MODBUS option it can be configured as MODBUS MASTER or ETHERNET SLAVE for expanding the control solution USB connection can b
27. ur host computer use any of the provided communication ports The choice only affects the speed at which you will be talking to the controller You can communicate with the controller over the Serial communication or Ethernet ports without any special software A standard communications program such as HyperTerminal may be used on these ports but the PMAC Executive PRO 2 Suite is recommended for development For Serial RS 232 communications please check the J7 pin outs for proper serial communication For Ethernet communication the default IP address is 192 6 94 5 You can use any terminal program to talk to the controller over these ports In order to get the most out of the controller we recommend Delta Tau s PMAC Executive Pro2 Suite for communication The PMAC Executive Pro2 Suite is designed for communication with all Delta Tau products Although the suite includes all types of setup software programs for different types of controllers you won t be using all of them The PEWIN32PRO2 is the main program used to setup your system and also for your application development and troubleshooting You can also use the powerful functionality of the PMAC Plot Pro2 to gather information on the controller Pewin32PRO2 Communication Setup First connect the controller to your PC You don t need any driver to get connected to the controller using the Serial or Ethernet port Once you plug in the USB port Windows will detect the controller a
28. urcing As a batch it is useful to have an extra input which you can decide to use as sinking or sourcing independent of the other inputs This input can be read at Y 70801 4 OOVOVOVO000000 OOODOOOOO0O00 2 4AVDC GND Sourcing Input HARDWARE SETUP OOOO OOOOOO000 OOODADDODOODOGOOO 2 4AVDC GND Sinking Input 12 Turbo PMAC2 Eth Ultralite Manual Inputs wiring There are eight inputs on the I O connector which can be used as sinking or sourcing inputs O00000 0000000 OOOOOOD O O OJO O Sourcing Input IN1 IN2 IN3 IN4 INS ING IN7 IN8 O00000 00000000 90600000 OOOO 2 44VDC GND P 44VDC Sinking Inputs To read the inputs assign the following M variables MO gt Y 578401 0 Ml gt Y p 78401 1 M2 gt Y 578401 2 i M3 gt Y tS 78401 3 M4 gt Y 578401 4 M5 gt Y2572e401 5 E M6 gt Y 5 78401 6 Ml gt Y1 S 18401 7 E Me gt X 5781401 0 8 M8 S0 M9 gt Y S78405 0 8 M9 SFF r always set to one M10 gt X S78405 0 8 M10 SFF Outputs wiring Lic Input Input Input Input input Input Input I O set I O set O SEE L 14 2 15 3 16 4 17 Pin Pin Pin Pin Pin Pin Pin Pin Ly a Oy Jo Ay do 6 Ja Sy Un la Ja 4 JD Sp JI Direction Control them as inputs Data Type Control them as I O Not necessary since they are Inversion Control represents 1 for high and 0 for low input There are four output
29. ver with Windows XP Click the Continue Anyway button install the driver on your computer You should then be able to see the device in Windows Device Manager E Device Manager File Action View Help amp R RA gt Keyboards gt Mice and other pointing devices Monitors 8 Motion Controllers B Network adapters A Ports COM amp LPT SB Processors 0 Sound video and game controllers System devices e Universal Serial Bus controllers Intel R 82801EB USB Universal Host Controller 24D2 Intel R 82801EB USB Universal Host Controller 24D4 Intel R 82801EB USB Universal Host Controller 24D7 Intel R 82801EB USB Universal Host Controller 24DE Intel R 82801EB USB2 Enhanced Host Controller 24DD USB Root Hub USB Root Hub USB Root Hub USB Root Hub USB Root Hub Once you have established connection between the controller and the computer start your software by clicking on the Pewin32PRO2 icon either from your desktop or from the Start menu SOFTWARE SETUP JE Pemind2PROZ 22 Turbo PMAC2 Eth Ultralite Manual From the Setup drop down menu click on Force All Windows to Device Number PEWIN32PRO2 C PROGRAM FILESWELTA TAU PMAC EXECUTIVE PRO2 SUITE File Configure View PMACResources Backup Feil Tools Window Help General Setup and Options Force All Windows to Device Number v Show Message Window Show Project Manager F2 PMAC Devices Pcomm Version
30. vided with the newest released firmware version The response to the VERSION query command shows which firmware revision is presently installed Option 10 provides for a user specified firmware version Option 12 Analog to Digital and Digital to Analog Converters Option 12 permits the installation of 2 channels of on board analog to digital converters and one channel of on board digital to analog converter The analog inputs are not optically isolated and each can have a 10V input range or a 5V input range if differential signal 1s used individually selectable with a 12 bit resolution The analog output is a 12 bit DAC have 10V output range INTRODUCTION 3 Turbo PMAC2 Eth Ultralite Manual Part Number Definition Based on the different options available for the Turbo PMAC 2 Eth Ultralite there will be a single line part number used for ordering and identification The assigned part number is based on the following chart Turbo PMAC2 ETH Ultralite OO OOOO 00O bei tT PT tet det plo O 0 Q CO Opt 5C0 80MHz 2 PMAC2 Standard 2 Opt A 2 Opt 1A 8 servo 6 I O 0 No Options DSP 563xx CPU MACRO ring and 2 communic Nodes 256Kx24 SRAM fiber optic interface Standard 1 Opt G1 1 Mx8 flash o 3 Opt C 3 Opt 1B 16 servo 12 1 0 Profibus Master Standard MACRO ring and 4 communic nodes Prone C3 Opt 5C
Download Pdf Manuals
Related Search