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Delta Tau ACC-14M User's Manual

1. MACRO Fiber Optic Connector U17 MACRO Fiber Optic Connector OPT A B 2 Socket SC Style Front View Pin Symbol Function Description Notes 1 RX Fiber Input MACRO Ring Receiver 2 TX Fiber Qutput 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 Itis possible to adapt wire to fiber operation when using OPT B ACC 14M MACRO Station I O Transfer 7 Accessory 14M Main IO Connectors J4 and J5 J4 50 Pin Header Pin Symbol Function Description 1 MI O23 In out I O at base address bit 23 2 GND Common PMAC common 3 MI O22 In out T O at base address bit 22 4 GND Common PMAC common 5 MI O21 In out T O at base address bit 21 6 GND Common PMAC common 7 MI O20 In out I O at base address bit 20 8 GND Common PMAC common 9 MI O19 In out I O at base address bit 19 10 GND Common PMAC common 11 MI O18 In out I O at base address bit 18 12 GND Common PMAC common 13 MI O17 In out T O at base address bit 17 14 GND Common PMAC common 15 MI O16 In out T O at base address bit 16 16 GND Common PMAC common 17 MI O15 In out I O at base address bit 15
2. DAC CLK Divider 512 ADC_CLK Divider where Encoder SCLK Frequency 39 3216 MHz 2 Encoder SCLK Divider PFM CLK Frequency 39 3216 MHz 2 PFM_CLK Divider DAC CLK Frequency 39 3216 MHz 2 DAC_CLK Divider ADC CLK Frequency 39 3216 MHz 2 ADC_CLK Divider Default 2258 2 8 2 64 3 512 4 Encoder SCLK Frequency 39 3216 MHz 2 2 9 8304 MHz PFM CLK Frequency 39 3216 MHz 2 2 9 8304 MHz DAC CLK Frequency 39 3216 MHz 2 3 4 9152 MHz ADC CLK Frequency 39 3216 MHz 2 4 2 4576 MHz 40 ACC 14M MACRO Station Serial Commands Accessory 14M MI993 controls the frequency of three hardware clock frequencies SCLK PFM CLK DAC CLK and ADC CLK for the handwheel interface channels 1 and 2 It is a 12 bit variable consisting of four independent 3 bit controls one for each of the clocks Each of these clock frequencies can be divided down from a starting 39 3216 MHz frequency by powers of 2 2N from 1 to 128 times N 0 to 7 This means that the possible frequency settings for each of these clocks are Frequency Divide by Divider N in 1 2N 39 3216 MHz 1 0 19 6608 MHz 2 1 9 8304 MHz 4 2 4 9152 MHz 8 3 2 4576 MHz 16 4 1 2288 MHz 32 5 611 44 kHz 64 6 305 72 kHz 128 7 Usually the MI993 setting is not changed from the default value The encoder sample clock signal SCLK controls how often 2 axis board s
3. 117 964 8 kHz 4 MI992 6 Default 6527 MaxPhase Frequency 117 964 8 13057 9 0346 kHz PWM Frequency 117 964 8 26114 4 5173 kHz M1992 controls the maximum phase clock frequency for the ACC 14M MACRO Station and the PWM frequency for the filtered PWMs for supplementary handwheel interface channels 1 and 2 It does this by setting the limits of the PWM up down counter which increments and decrements at the PWMCLK frequency of 117 964 8 kHz 117 9648 MHz The actual phase clock frequency is divided down from the maximum phase clock according to the setting of MI997 The phase clock frequency must be the same as the ring update frequency as set by the ring controller usually a PMAC or PMAC2 If the ring controller is a PMAC2 Ultralite MI992 and M1997 on the ACC 14MMACRO Station should be set to the same values as MI992 and MI997 on the PMAC2 Ultralite To set MI992 for a desired maximum phase clock frequency the following formula can be used MI992 117 964 8 kHz 2 MaxPhase kHz 1 rounded down Examples To set a PWM frequency of 10 kHz and therefore a MaxPhase clock frequency of 20 kHz MI992 117 964 8 kHz 4 10 kHz 1 2948 To set a PWM frequency of 7 5 kHz and therefore a MaxPhase clock frequency of 15 kHz MI992 117 964 8 kHz 4 7 5 kHz 1 3931 MS anynode MI993 Hardware Clock Control Handwheel Channels Range 0 4095 Units MI993 Encoder SCLK Divider 8 PFM_CLK Divider 64
4. 18 GND Common PMAC common 19 MI O14 In out I O at base address bit 14 20 GND Common PMAC common 21 MI O13 In out I O at base address bit 13 22 GND Common PMAC common 23 MI O12 In out T O at base address bit 12 24 GND Common PMAC common 25 MI O11 In out T O at base address bit 11 26 GND Common PMAC common 27 MI O10 In out I O at base address bit 10 28 GND Common PMAC common 29 MI O9 In out I O at base address bit 9 30 GND Common PMAC common 31 MI O8 In out I O at base address bit 8 32 GND Common PMAC common 33 MI O7 In out T O at base address bit 7 34 GND Common PMAC common 35 MI O6 In out T O at base address bit 6 36 GND Common PMAC common 37 MI O5 In out I O at base address bit 5 38 GND Common PMAC common 39 MI O4 In out I O at base address bit 4 40 GND Common PMAC common 41 MI O3 In out I O at base address bit 3 42 GND Common PMAC common 43 MI O2 In out T O at base address bit 2 44 ERRI Input Error signal 45 MI O1 In out T O at base address bit 1 46 ICLK1 Input 47 MI O0 In out I O at base address bit 0 48 OCLK1 Output 49 V Output 5V power 50 GND Common ACC 14M MACRO Station I O Transfer Accessory 14M J5 50 Pin Header Pin Symbol Function Description 1 MI 047 In Out T O at base address bit 47 2 GN
5. MI994 Default 0 PWM Deadtime 0 135 usec 15 2 03 usec PFM Pulse Width 1 9 8304 MHz 15 1 526 usec with default M1993 MI994 controls the dead time period between top and bottom on times in the ACC 14M MACRO Station s automatic PWM generation for machine interface handwheel channels 19 and 2 In conjunction with M1993 it also controls the pulse width for PMAC2 s automatic pulse frequency modulation generation for these machine interface channels The PWM dead time which is the delay between the top signal turning off and the bottom signal turning on and vice versa is specified in units of 16 PWM CLK cycles This means that the dead time can be specified in increments of 0 135 usec The equation for M1994 as a function of PWM dead time is MI994 Deadtime usec 0 135 psec The PFM pulse width is specified in PFM_CLK cycles as defined by MI993 The equation for MI994 as a function of PFM pulse width and PFM CLK frequency is MI994 PFM_CLK Freq MHz PFM pulse width usec In PFM pulse generation the minimum off time between pulses is equal to the pulse width This means that the maximum PFM output frequency is PFM Max Freq MHz PFM CLK Freq 2 MI994 Examples A PWM deadtime of approximately one microsecond is desired MI994 1 usec 0 135 usec 7 With a 2 4576 MHz PFM CLK frequency a pulse width of 0 4 usec is desired MI994 2 4576 MHz 0 4 usec 1 MS anynode MI995 MACRO Ring Con
6. 0 3 Bit length of less significant word portion 1 000 I Onn 4 1 specifies 16 bit lower 8 bit upper conversion 5 23 Not used X SCO8D Not used Y SC08E MACRO Node Enable Control 1996 Bits 0 Node 0 enable control 15 Node 15 enable control O node disable 1 node enable 16 19 Sync packet slave node number control 20 23 Master number control X SCO8E Not used Y SCO8F MACRO Ring Status and Control Bits Data overrun error cleared when read Byte violation error cleared when read Packet parity error cleared when read Data under run error cleared when read Master station enable Synchronizing master station enable Sync packet received cleared when read Sync packet phase lock enable Node 8 master address check disable ode 9 master address check disable ode 10 master address check disable ode 11 master address check disable Node 12 master address check disable Node 13 master address check disable Node 14 master address check disable Node 15 master address check disable OYIAAN UB UN HO pt pt pt ato BABWN HO 2 Z Z Nn ACC 14M MACRO Station Memory and I O Map 61 Accessory 14M X SCO8F DSPGATE2 clock control register Bits Bits 0 11 comprise 1993 0 2 SCLK Frequency Control n f 39 3216MHz 2 n 0 7 3 5 PFM Clock Frequency Control n f 39 3216MHz 2 n 0 7 6 8 DAC Clock Frequency Control n f 39 3216MHz 2 n 0 7 9 11
7. 48 1 Uses two IO nodes 48 0 2 Uses two IO nodes 24 24 3 J4 is Output Port and J5 is Input Port Uses one IO node The key parameter to set this up is MI14 When the user modifies MI14 on the ACC 14M they must issue a SAVE command to the ACC 14M and a command to the ACC 14M to activate the desired mode The default setting for the ACC 14M is MI14 0 and this means that the board is ready to function as a 24 input and 24 output board when received from the factory M114 Mode Setting O or 3 24 inputs and 24 outputs ADD mode 1 and 2 If MI4 is set to 0 then the ACC 14M allow the user to read and write to 24 inputs and 24 outputs If MI14 is set to either 0 or 3 then the ACC 14M will use the 24 bit node register of the activated node to process the inputs and outputs The only difference between the M14 setting of 0 and 3 is the physical location of the inputs and outputs as shown below M114 Input Output Notes 0 J4 Connector J5 Connector Default 3 J5 Connector J4 Connector Using the IO is accomplished by writing to a node register to activate the desired outputs and reading the same node register to read the status of the inputs In other words the one 24 bit node register is used for both inputs and outputs when M114 0 and 3 This is efficient because it allows the 48 bits of information to be processed using one 24 bit word and minimizes the number of nodes needed for the IO data transfers for ea
8. ACC 14M Option 1 is ordered the ACC 14M also allows the user to use two analog inputs two DAC outpts and two relay outputs Using the ACC 14M ADC The MACRO Peripheral Accessories can be ordered with two analog to digital converters These A D converters are 16 bit devices that are ready to be used without any software setup Delta Tau uses the Burr Brown ADS8361E for this circuit This 16 bit option can be ordered on the ACC 14M 603741 101 revision 1 and greater To read the A D data from the MACRO device the user must create the M variable definitions to the node associated with the MACRO device The data received is a signed 16 bit number scaled from 10V to 10V The data is transferred into the upper 16 bits of the MACRO IO node registers For example if the ACC 65M is associated with node 2 then the following M variable assignment can be created M5000 gt X 78421 8 16 S M5001 gt X 78422 8 16 S ADCO upper 16 bits of IO Node 2 wordl ADC1 upper 16 bits of IO Node 2 word2 Example Data Read If you read a value of 20480 in M5000 then that would be approximately 6 25V 16 bit Voltage Conversion Datax 10V 32767 or for this example 6 25V 20480x10V 32767 Earlier revisions of the ACC 14M used the 12 bit Burr Brown ADS7861E for this circuit For proper operation of the 12 bit ADC or if the users application requires 12 bit data reads then they can make the following definitions 12 bit Voltage Conversion Datax10V 2047
9. MACRO Station to report the current value of the specified MM variable MM constant constant Set Station MM Variable Value The MM constant constant command causes the ACC 14M MACRO Station to set the value of the specified MM variable to the specified value MP constant Report Station MP Variable Value The MP constant command causes the ACC 14M MACRO Station to report the current value of the specified MP variable MP constant constant Set Station MP Variable Value The MP constant constant command causes the ACC 14M MACRO Station to set the value of the specified MP variable to the specified value MM constant gt Report Station MM Variable Definition The MM constant gt command causes the ACC 14M MACRO Station to report the current definition of the specified MM variable MM constant gt X Y offset width format Set Station MM Variable Definition The MM constant gt X Y offset width format command causes the ACC 14M MACRO Station to set the value of the specified MM variable memory location to the specified 1 to 24 bit integer signed or unsigned definition R address Read Station Address The R H address count command causes the ACC 14M MACRO Station to report the value stored at the specified address es If H is used the contents of the register s are reported back in hexadecimal otherwise they are reported back in decimal form address consists of a register type X Y L or P and the numer
10. U 03 Y 6 2 U 83 X 3 1 U 04 Y 8 2 U 84 X 4 1 U 05 Y 10 2 U 85 X 5 1 U 06 Y 12 2 U 86 X 6 1 U 07 Y 14 2 U 87 X 7 1 U 08 Y 16 2 U 88 X 8 1 U 09 Y 18 2 U 89 X 9 1 U 0A Y 20 2 U 8A X 10 1 U 0B Y 22 2 U 8B X 11 1 U 0C 8C X 12 1 U 0D 8D X 13 1 U 0E 8E X 14 1 U 0F 8F X 15 1 U 10 Y 0 1 U 90 X 16 1 U 11 Y 1 1 U 91 X 17 1 U 12 Y 2 1 U 92 X 18 1 U 13 Y 3 1 U 93 X 19 1 U 14 Y 4 1 U 94 X 20 1 U 15 Y 5 1 U 95 X 21 1 U 16 Y 6 1 U 96 X 22 1 U 17 Y 7 1 U 97 X 23 1 U 18 Y 8 1 U 98 X 0 4 U 19 Y 9 I U 99 X 0 4 S SIA Y 10 1 U SIA 1B Y 11 1 U SIB 1C Y 12 1 U 9C X 4 4 U SID Y 13 1 U 9D X 4 4 S 1E Y 14 1 U SIE SIF Y 15 1 U SIF 20 Y 16 1 U A0 X 8 4 U 21 Y 17 1 U A1 X 8 4 S 22 Y 18 1 U SA2 23 Y 19 1 U A3 24 Y 20 1 U SA4 x 12 4 U 25 Y 21 1 U A5 X 12 4 S 26 Y 22 1 U A6 27 Y 23 1 U A7 28 Y 0 4 U A8 X 16 4 U 29 Y 0 4 S A9 X 16 4 S 2C Y 4 4 U AC X 20 4 U 2D Y 4 4 S AD X 20 4 S 30 Y 8 4 U B0 X 0 8 U 31 Y 8 4 S B1 X 0 8 S 34 Y 12 4 U B4 X 4 8 U 36 ACC 14M MACRO Station Serial Commands Accessory 14M M1198 Format Digits continued MI198 Address Starting Bit Form
11. be configured as either normally open or normally closed The amplifier enable outputs are memory mapped to the third 16 bit node address or at the base address of the activated node 3 The AENA1 signal is at bit 19 and AENA2 signal is at bit 20 The following M variable definitions can be made for the AENA signals at node 2 assuming node 2 is activated at both the Master and MACRO Device M3003 gt X 78423 8 16 AENA Outputs at bits 19 and 20 M3010 gt X 78423 19 AENA1 M3011 gt X 78423 20 AENA2 5V AE_NO tT AE_COM A AENA AE_NC Isolation The following table lists the AENA output locations for all nodes User Node AENA1 AENA2 X 5078423 19 X 5078423 20 2 l l i 2 20 ACC 14M MACRO Station I O Transfer Accessory 14M USING ACC 14M FOR SERVO FEEDBACK The data ACC 14M can also be used for Servo Loop Feedback when used with a binary style or graycode style feedback device If using Graycode style feed back the ACC 14M can only process the data on the J4 connector port For Binary style feedback devices the ACC 14M can use the inputs on both the J4 connector and J5 connector Delta Tau recommends using the standard IO node data transfer to the Master controller Ultralite and then setup the encoder conversion at the Master controller For example if the user has nodes 2 and 3 activated for fee
12. digital hardware looks at the encoder inputs PMAC2 can take at most one count per SCLK cycle so the SCLK frequency is the absolute maximum encoder count frequency SCLK also controls the signal propagation through the digital delay filters for the encoders and flags the lower the SCLK frequency the greater the noise pulse that can be filtered out Optimally the SCLK frequency should be set to the lowest value that can accept encoder counts at the maximum possible rate The pulse frequency modulation clock PFM CLK controls the PFM circuitry on the 2 axis board that can create pulse and direction outputs The maximum pulse frequency possible is 1 4 of the PFM CLK frequency Optimally the PFM_CLK frequency should be set to the lowest value that can generate pulses at the maximum frequency required The ADC CLK controls the serial data frequency from A D converters either for digital current loop closure or from an ACC 28B A D converter board The DAC CLK controls the serial data frequency to D A converters for the 2 axis board either the on board converters that come with Option A or the external converters on an ACC 8E board To determine the clock frequencies set by a given value of M1993 use the following procedure 1 Divide M1993 by 512 and round down to the nearest integer This value NI is the ADC_CLK divider 2 Multiply NI by 512 and subtract the product from M1993 to get MI993 Divide M1993 by 64 and round down to the nearest
13. integer This value N2 is the DAC CLK divider not relevant here 3 Multiply N2 by 64 and subtract the product from M1993 to get MI993 Divide MI993 by 8 and round down to the nearest integer This value N3 is the PFM CLK divider 4 Multiply N3 by 8 and subtract the product from M1993 The resulting value N4 is the SCLK divider Examples The maximum encoder count frequency in the application is 800 kHz so the 1 2288 MHz SCLK frequency is chosen A pulse train up to 500 kHz needs to be generated so the 2 4576 MHz PFM CLK frequency is chosen ADCs and DACs are not used so the default DAC CLK frequency of 4 9152 MHz and the default ADC_CLK frequency of 2 4576 MHz are chosen From the table SCLK Divider N 5 PFM_CLK Divider N 4 ACC 14M MACRO Station Serial Commands 41 Accessory 14M DAC CLK Divider N 3 ADC CLK Divider N 4 MI993 5 8 4 64 3 512 4 5 32 192 2048 2277 MI993 has been set to 3429 What clock frequencies does this set NI INT 8429 512 6 ADC_CLK 611 44 kHz MI993 3429 512 6 357 N2 INT 357 64 5 DAC_CLK 1 2288 MHz MI993 357 64 5 37 N3 INT 37 8 4 PFM CLK 2 4576 MHz N4 37 8 4 5 SCLK 1 2288 MHz MS anynode MI994 PWM Deadtime PFM Pulse Width Control for Handwheel Range 0 255 Units PWM Deadtime 16 PWM CLK MHz MI994 0 135 psec MI994 PFM Pulse Width 1 PFM CLK MHz MI994 PFM CLK period usec
14. latch Inputs 0 23 1 2 bits 0 23 OFF passes the ICLK1 5V input from J4 to latch Inputs 0 23 E8 1 2 Error latch signal for ON allows a low ERR input to latch Inputs 0 23 1 2 bits 0 23 OFF allows a high ERR input to latch Inputs 0 23 E9 1 2 Input latch signal for ON passes the ICLK2 OVinput from J5 to latch Inputs 24 47 1 2 bits 24 47 OFF passes the ICLK2 5Vinput from to latch Inputs 24 47 E10 1 2 Error latch signal for ON allows a low ERR2 input to latch the Inputs 24 47 1 2 bits 24 47 OFF allows a high ERR2 input to latch the Inputs 24 47 JP1 1 2 Board Type Reserved for ACC 65M ACC 68M OFF JP2 1 2 Board Type Install jumper for ACC 14M 1 2 JP3 JP6 Reserved OFF JP7 1 2 Re initialization ON for re initialization to factory defaults at power up 1 2 OFF for normal operations The E7 E8 E9 and E10 jumpers are pulled up to 5V if not using ICLK or ERR inputs from the encoder If you are NOT using the ICLK or ERR inputs to the ACC 14M then you will need to jumper E7 and E8 when using J4 connector port for inputs and or E9 and E10 when using the J5 connector port for inputs ACC 14M MACRO Station I O Transfer Accessory 14M CONNECTORS DESCRIPTION USB Universal Serial Bus Port Function N C DATA DATA GND SHIELD SHIELD This connector is only used to change the operational firmware or to perform basic software diagnostic operations The user c
15. period in phase cycles for the ACC 14M MACRO Station to evaluate whether or not there has been a MACRO ring failure Every phase cycle the Station checks the ring communications status In MI8 phase cycles or MACRO ring cycles the Station must receive at least MI10 sync packets and detect fewer than MI9 ring communications errors to conclude that the ring is operating correctly Otherwise it will conclude that the ring is not operating properly set its servo command output values to zero set its amplifier enable outputs to the disable state and force all of its digital outputs to their shutdown state If MI8 is set to O at power on reset the ACC 14MMACRO Station will set it to 8 automatically MS anynode MI9 MACRO Ring Error Shutdown Count Range 0 255 Units none Default 4 MI9 determines the number of MACRO communications errors detected that will cause a shutdown fault of the ACC 14M MACRO Station If the station detects M19 or greater MACRO communications errors in MI8 phase MACRO ring cycles it will shut down on a MACRO communications fault turning off all outputs The station can detect one ring communications error per phase cycle even if more than one error has occurred Setting MI9 greater than MI8 means that the Station will shut down for ring communications error The station can detect four types of communications errors byte violation errors packet checksum errors packet overrun errors and packet under
16. phase clock frequency divided by MI997 1 MI997 has a range of 0 to 15 so the frequency division can be by a factor of 1 to 16 The equation for MI997 is M1997 MaxPhase Freq Phase Clock Freq 1 The ratio of MaxPhase Frequency to Phase Clock Frequency must be an integer Example With a 20 kHz MaxPhase Clock frequency established by MI992 and a desired 6 67 kHz Phase clock frequency the ratio between MaxPhase and Phase is 3 MI997 20 6 67 1 3 1 2 MS anynode MI998 Servo Clock Frequency Control Range 0 15 Units Servo Clock Frequency Phase Clock Frequency MI998 1 Default 0 Phase Clock Frequency 9 0346 kHz 0 1 9 0346 kHz with default values of MI992 and M1997 Note There is currently no software use of the Servo clock on the ACC 14M MACRO Station However it is needed to capture certain encoder values in the DSPGATEx Servo ICs MI998 in conjunction with MI997 and MI992 determines the frequency of the Servo clock on the ACC 14M MACRO Station Specifically MI998 controls how many times the Servo clock frequency is divided down from the Phase clock whose frequency is set by MI992 and MI997 The Servo clock frequency is equal to the Phase clock frequency divided by MI998 1 MI998 has a range of 0 to 15 so the frequency division can be by a factor of 1 to 16 The equation for MI998 is MI998 Phase Clock Frequency Servo Clock Frequency 1 The ratio of Phase Clock Frequency
17. transfer The 48 bit I O transfer occurs on node 15 of the MACRO ring and the 48 bit ASCII transfer occurs on node 14 using the broadcast feature of MACRO The 72 bit node transfer is used to exchange all hardware I O on the card the 48 bit I O transfer for MI variables and the 48 bit ASCII for Ring Order setup of the Station The ACC 14M does not have switches that bind it to a certain Master and Node so it uses Ring Order for initial binding to a Master and Node The Turbo PMAC2 Ultralite and the MACRO Station enable transfer of 72 bits per I O node with the 16841 and MI996 type variables Once the first node number has been established the Turbo Ultralite can control the Acc 14M through a single I O node two consecutive I O nodes or an AXIS node depending on the type of control desired The data exchange format is described in the following table ACC14M MACRO 72 Bit Node 24 Inputs 24 Outputs FORMAT w Outputs high 24 bit word 1 X or Y I O Node MI14 0 0 M114 1 0 One 1 I O Node Default Command to Outputs bits 24 47 DAC 1 DAC 2 Flag Command Acc 14M Station Channel 1 Channel 2 Feedback from Inputs bits 0 23 ADC 1 08 23 bits ADC 2 08 23 bits Flag Status Acc 14M Station Channel 1 Channel 2 ACC14M MACRO 72 Bit Node 48 Outputs FORMAT 1 X or Y I O Node MI14 0 1 MI14 1 0 Two 2 I O Nodes Two consecutive nodes must be enabled in MI996 Command to I O Outputs 0 23 DAC 1 DAC 2 Fl
18. used X SC081 General I O Direction Control Do not change Bits 0 1 024 SELO pin Direction Control 7 1 031 SEL7 pin Direction Control All bits 0 Input 1 Output ACC 14M MACRO Station Memory and I O Map 57 Accessory 14M Y SC082 8 23 Not used Output 08 15 Data Register Note The pins associated with this register are used for other purposes on the ACC 14M MACRO Station Bits X SC082 0 Output 08 Data Value 7 Output 15 Data Value 8 SELO Data Value 15 SEL7 Data Value 16 23 Not used General I O Data Direction Control Register Do not change Note The pins associated with this register are used for other purposes on the ACC 14M MACRO Station Bits 0 DATO Direction Control 7 DAT7 Direction Control 8 SELO Direction Control 15 SEL7 Direction Control All bits 0 Input 1 Output 16 23 Not used Y C083 Output 15 23 Data Register Bits 0 Output 16 Data Value 7 Output 23 Data Value 8 CTRLO Data Value 9 CTRL Data Value Output Enable 10 CTRL2 Data Value AENA 1 11 CTRL3 Data Value AENA 2 12 23 Not used X SC083 General I O Port Data Direction Control Register Do not change Bits 0 DISPO Direction Control 7 DISP7 Direction Control 8 CTRLO Direction Control 11 CTRL3 Direction Control Do not change All bits 0 Input 1 Output 12 23 Not used 58 ACC 14M MACRO Station Memory and I O Map Accessory 14M Y SC084 Bits X SC084 Bits Y SC085 Bits X C085
19. will reset the ACC 14M MACRO Station and restore all station MI variables to their last saved values Station Re initialize The command will reset the ACC 14M MACRO Station and restore all station MI variables to their factory default values CHN Report Channel Number The CHN command causes the ACC 14M MACRO Station to report its present channel number CID Report Card ID Number The CID command causes the ACC 14M MACRO Station CPU to report its part number 603740 CLRF Clear Station Faults The CLRF command will clear all faults on the ACC 14M MACRO Station and prepare it for further operation DATE Report Firmware Date The DATE command causes the ACC 14M MACRO Station to report the date of its firmware Example DATE 12 02 2003 48 ACC 14M MACRO Station Serial Commands Accessory 14M DISABLE PLCC or CNTRL D Disables PLCC The MACRO PLCCs are disabled Example DIS PLCC AD ENABLE PLCC Enables PLCC The MACRO PLCCs are enabled if MI15 1 Example ENA PLCC Ml constant Report Station MI Variable Value The MI constant command causes the ACC 14M MACRO Station to report the current value of the specified MI variable Mi constant constant Set Station Ml Variable Value The MI constant constant command causes the ACC 14M MACRO Station to set the value of the specified MI variable to the specified value MMfconstanty Report Station MM Variable Value The MM constant command causes the ACC 14M
20. with two 10V outputs produced by filtering a PWM signal This technique has been used been for some time now by many of our competitors Although this technique does not contain the same levels of performance as a true Digital to Analog converter for most servo applications it is more than adequate Both the resolution and the frequency of the Filtered PWM outputs are configured in software on the MACRO Peripheral Accessories through the variable M1992 MaxPhase Setting This MI992 variable also effects the phase and servo interrupts On most MACRO systems the M1992 value will be set to the same value as the Turbo Ultrallite or UMAC ACC 5E equivalent MaxPhase I variable 16800 16850 16900 16950 Another key variable to be concerned about at the MACRO Peripheral Device is MI994 MI994 is the PWM dead time specification and it is used to add dead time to the PWM signal as a safety feature for PMAC2 direct PWM commutation For the DAC outputs for the MACRO peripheral this variable MI994 should be set to zero For more details about these variables please refer to the Software reference manuals for the respective hardware devices To write to the DAC devices at MACRO Peripheral Device the user must create the M variable definitions to the node associated with the MACRO device The data received is a signed 16 bit number scaled from 10V to 10V The data is transferred into the upper bits of the MACRO IO node registers For example if the user had t
21. 1 MSfanynode M110 MACRO Sync Packet Shutdown Count cccccccceccesssseeseeseeseeseeeecnseescnseeseneeeeesnseeeenseesenas 32 MSfanynode MI11 Station Order Number cccccccccccececcesesseeseeseesecuseeecuceeseesecseeseesecseeaeeaeeeecneeesenseeaeeaeseeeneeetengs 32 MSfanynode MI12 Card Identification ccccccccccccseccesseseesesseeseeseeseceeeceeceeeecseeseesecseeaecaeeeecneeesenssereeneeeeeneeetents 32 MSfanynode M113 Reserved for Future Use c ccccccccceccecessceseeseesecsseescesseseesetseeaeceeeecneeesenseneeesenseeeeeaeseesneeerenas 32 MSfanynode M114 Input Output Configuration cccccccccccccecccccssecsseesceseeseesetseeecueeeecuseeseeseeseesecieeesneeseeneeereeas 33 MSfanynode MI15 Enable MACRO PLOC uui eccsssssssssseseeseseeseeseeeeseeseseeseesesesseeseeecsesesecseseesecseeeseeeeeeeeeeseneeaees 34 MACRO ICMEVanable8 aaa actA NPA AN ANA TA BANA Na nei as 34 MSfanynode MI1176 MACRO IC Base Address 2 mmmaunanuna naaawa wnnanawwawwauwaawaawnasaawnasnaanaanaawaanassnavaanaosaauna0sonas 34 MSfanynode M1177 MACRO IC Address for Node 14 la nauna ana wnnunawwnwwauwaawaawnasaaunasnaanaanaawaanaosnannscasuwao 34 MSfanynode MI178 MACRO IC Address for Node 15 ccccccccccccsscssssesceessseeecuseeseusesseeaeceeeecneeesenseesensesseeaeentengs 34 MSfanynode MI181 M1158 MACRO Channels 1 8 Address maunnunnwunawanunawwaawaawauwaawaa nauna saaunssnaonsonas 34 MACRO IC I O Transfer MI Variables u s nananana ana
22. 2 The current PLCC Ln gt definitions which access portions of the 24 bit word are still available 46 ACC 14M MACRO Station Serial Commands Accessory 14M Standard MACRO Program Commands 1 OPEN MACPLCC Begins the MACPicc program 2 CLOSE Closes MACPicc the program 3 RETURN Returns from PLCC program 4 IF AND OR ELSE ENDIF WHILE ENDW Valid Math Assignment and Conditional Operators 1 Yo amp and 2 ma l I gt I lt Valid Expressions and Arrays OpenPicc Ln integer variable array expression Example L L2 L3 L3 L4 L7 L5 L3 or L1 L1 L3 L4 L8 Note The index of the array must be an integer and it is limited to the range of the defined Ln array Will be run through preprocessor so labels are allowed define MtrIDAC MM1 Ln Arrays Definition Examples L5 gt X 600 64 L6 gt Y 600 64 MM MMI MP2 MP3 amp MP MP2 MP4 MM5 MP MM1 MP2 MP3 MM MP32 MP4 MMS The following is allowed for the Ln array index L5 L1 L2 L3 amp L6 L4 L2 L4 L5 L5 L1 L2 L3 amp L6 L4 L2 L4 L5 Note MI Int Exp MM Int Exp MP Int Exp and Lnn Int Exp must use integer variable indexes Example Program MM1 gt X 00700 24 MM2 5Y S00700 24 MM3 gt X 00701 24 OPEN MACPLCC MM3 MM1 MM2 CLS MACRO PLCC Code Memory Memory Data Information Location 4000 End of PLC
23. 20 3501 I18001 012018 18 bit 12 from 5078420 base 24 I8002 S00006E filter 110cts cyc 88 57 1 25 1800325678424 extended feedback entry from 5078424 3504 18004 012018 18 bit 12 from 078424 bas 2 I18005 S00006E filter 110cts cyc 88 57 1 25 ACC 14M MACRO Station I O Transfer 21 Accessory 14M 1103 53503 I104 3503 I203 3506 I204 3506 mo EO 1 position feedback for velocity feedback for mo LOT from 53502 1 from 53502 position feedback for mo TCOT 2 from 3504 mo TOOT velocity feedback for Absolute Encoder Setup for ACC 14M 2 from 3504 Add information Rich Graycode Encoder Feedback If using a graycode style encoder with the ACC 14M the user can only use the J4 port as an input The processed data for the graycode encoder will be located in the Y 5C08C register in bits 0 through 23 22 ACC 14M MACRO Station I O Transfer Accessory 14M FEEDBACK DATA LATCHING AND HANDSHAKING When using a parallel word absolute encoder it is important to properly latch the encoder data to prevent PMAC from reading the encoder data during an encoder transition ACC 14M allows several latching and handshaking methods to fit most types of latching schemes Note It is equally important to set up the Encoder Conversio
24. 5 Not used Channel n Control Word 0 1 Encoder Decode Control 00 Pulse and direction decode 01 x1 quadrature decode 10 x2 quadrature decode 11 x4 quadrature decode 2 3 Direction amp Timer Control 00 Standard timer control external signal source no inversion ACC 14M MACRO Station Memory and I O Map 63 Accessory 14M 01 Standard timer control external signal source invert direction 10 Standard timer control internal PFM source no inversion 11 Alternate timer control external signal source 4 5 Position Capture Control 00 Software capture by setting bit 6 01 Use encoder index alone 10 Use capture flag alone 11 Use encoder index and capture flag 6 Index Capture Invert Control O no inversion 1 inversion 7 Flag Capture Invert Control 0 no inversion 1 inversion 8 9 Capture Flag Select Control 00 Home Flag HMFLn 01 Positive Limit PLIMn 10 Negative Limit MLIMn 11 User Flag USERn 10 Encoder Counter Reset Control 1 reset 11 Position Compare Initial State Write Enable 12 Position Compare Initial State Value 13 Position Compare Channel Select 0 use this channel s encoder 1 use first encoder on IC 14 AENAn output value 15 Gated Index Select for Position Capture O ungated index 1 gated index 16 Invert AB for Gated Index 0 Gated Signal A amp B amp C 1 Gated Signal A amp B amp C 17 Index channel demultiplex control O no demux 1 demux 18 Reserved fo
25. 7 Ring Break Received 8 EPROM Saved Variables Checksum Error 9 Spare 10 Spare 11 Spare 12 Ring Active 13 Spare 14 Spare 15 MI14 0 Setup for IO 0 23 16 MI14 0 Setup for IO 24 47 17 Spare 18 Spare 19 Spare 20 Spare 21 Spare 22 Spare 23 Detected CPU MACRO IC 1 C080 Any of the fault bits that are set can be cleared with the MSCLRF anynode clear fault command or the MS anynode Station reset command MS anynode MI5 Ring Error Counter Range 000000 SFFFFFF Units Error Count This variable when queried reports the number of ring communications errors detected by the ACC 14M MACRO Station since the most recent power up or reset Note A value may be written to this variable but this should not be done if using MI6 The ring error counter value can be cleared to zero using the MS anynode command 30 ACC 14M MACRO Station Serial Commands Accessory 14M MS anynode MI6 Maximum Permitted Ring Errors in One Second Range 0000000 FFFFFFF Units Errors per second This variable sets the maximum number of ring errors that can be detected by the ACC I4MMACRO Station in a one second period without causing it to shut down for ring failure MS anynode MI7 Reserved for Future Use Range 0 Units none Default 0 MS anynode MI8 MACRO Ring Check Period Range 0 255 Units Station phase cycles Default 8 MI8 determines the
26. 9x Channel n Encoder Phase Position Capture Register counts 62 ACC 14M MACRO Station Memory and I O Map Accessory 14M Y SCO9x Bits X SCO9x Bits Y SCO9x Bits X SCO9x Y SCO9x Bits X SC094 X CO9C Bits Y SC09x Bits X SCO9x Bits Chan 9 10 Hex SC092 SCO 9A Channel n Output A Command Value 8 23 PWM Command Value 6 23 Serial DAC Command Value 0 5 Not Used Channel n Encoder Servo Position Capture Register 0 Direction of last count O up 1 down 1 23 Position counter units of counts Chan 9 10 Hex 5C093 SC09B Channel n Output B Command Value 8 23 PWM Command Value 6 23 Serial DAC Command Value 0 5 Not used Channel n Flag Position Capture Value 24 bits units of counts Chan 9 10 Hex C094 SCO9C Channel n Output C Command Value 8 23 PWM Command Value 0 23 PFM Command Value Channel 9 10 ADC Strobe Word 24 bits Shifted out MSB first one bit per DAC_CLK cycle starting on rising edge of phase clock Channel 9 10 PWM PFM MaxPhase Control Word 0 7 PWM Dead Time 16 PWM CLK cycles also PFM pulse width PFM CLK cycles 8 23 PWM Max Count Value PWM Frequency 117 96MHz 10 MaxCount 1 MaxPhase Frequency 2 PWM Frequency Chan 9 10 Hex C095 CO9D Supplementary Channel n ADC A Input Value 6 23 Serial ADC Value 0
27. ADC Clock Frequency Control n f 39 3216MHz 2 n 0 7 12 Phase Clock Direction O output 1 input This must be 1 13 Servo Clock Direction O output 1 input This must be 1 14 15 Not used report as zero 16 19 Phase Clock Frequency Control n 1997 E MAXPHASE n 1 n 0 15 20 23 Servo Clock Frequency Control n f PHASE n 1 n 0 15 Chan 9 10 Hex C090 5C098 Y SC09x Channel n Time between last two encoder counts SCLK cycles X C09x Channel n Status Word Bits 0 2 Captured Hall Effect Device UVW State 3 Invalid demultiplex of C U V and W 4 7 Not used reports as 0 8 Encoder Count Error 0 on counter reset 1 on illegal transition 9 Position Compare EQUn output value 10 Position Captured On Gated Index Flag 0 on read of captured position register 1 on trigger capture 11 Position Captured Flag on any trigger 0 on read of captured position register 1 on trigger capture 12 Handwheel 1 Channel A HWAn Input Value 13 Handwheel 1 Channel B HWBn Input Value 14 Handwheel 1 Channel C Index HWCn Input Value ungated 15 Amplifier Fault FAULTn Input Value 16 Home Flag HMFLn Input Value 17 Positive End Limit PLIMn Input Value 18 Negative End Limit MLIMn Input Value 19 User Flag USERn Input Value 20 FlagWn Input Value 21 FlagVn Input Value 22 FlagUn Input Value 23 FlagTn Input Value Chan 9 10 Hex C091 C099 Y SC09x Channel n Encoder Time Since Last Encoder Count SCLK cycles X SCO
28. Bits Y SC086 Bits Data Type Control Register Do not change 0 1 000 Data Type Control O FlagW9 11 000 1 1 O01 Data Type Control 0 Flag V9 1 1 001 2 1 002 Data Type Control O FlagU9 1 1 002 3 1 003 Data Type Control 0O FlagT9 11 003 4 1 004 Data Type Control O USER9 1 1 004 5 1 005 Data Type Control 0 MLIM9 1 I 005 6 1 006 Data Type Control 0 PLIM9 1 1 006 7 1 007 Data Type Control O HMFL9 1 I 007 8 1 008 Data Type Control 0 PWM_B_BOT9 1 1 008 9 1 009 Data Type Control 0 PWM_B_TOP9 1 1 009 10 1 010 Data Type Control 0 PWM_A_BOT9 1 I O10 11 1 011 Data Type Control OH PWM A TOP9 11 011 12 1 012 Data Type Control O PWM B BOT10 11 012 13 1 013 Data Type Control O PWM B TOP10 11 013 14 1 014 Data Type Control J PWM A BOT10 1 014 15 1 015 Data Type Control O PWM_ A TOP10 11 015 16 1 016 Data Type Control O HMFL10 1 I 016 17 1 017 Data Type Control O PLIM10 11 017 18 1 018 Data Type Control O MLIM10 11 018 19 1 019 Data Type Control O USER10 11 019 20 1 020 Data Type Control 0O FlagT10 1 1 020 21 1 021 Data Type Control 0 FlagU 10 11 021 22 1 022 Data Type Control 0 FlagV 10 11 022 23 1 023 Data Type Control O FlagW10 1 1 023 All bits O dedicated hardware I O 1 general I O All bits must be 0 for use with ACC 1E 2 axis piggyback board Data Inversion Control Register when used as general I O see Y C084 0 1 000 Inversion Control 23 1 023 Inversion Con
29. C Program 1 is set to 4005 4001 JMP to location in 4002 4002 Location of start of PLCC is set to 4003 4003 RTS Instruction 4004 Start of PLCC Program set RTS instruction ACC 14M MACRO Station Serial Commands 47 Accessory 14M MAC PLCC Related ASCII Commands Commands Operation SAVE Saves PLCCs from 4000 to 4000 DISable PLCC amp D Sets 4002 4003 ENAble PLCC Sets 4002 4004 Restores 4000 4004 to default Restore from SAVEd 4000 to 4000 end of PLCC If is SAVEd in DISable state will come up ENAbled Download Start of download sends MI15 0 and at end of download sets 4002 4004 MI15 1 Enables the JSR to 4001 Runs MacPLCC ACC 14M MACRO STATION SERIAL COMMANDS The ACC 14M MACRO Station can accept ASCII text commands directly through the USB to serial port at connector on the CPU Interface Board or in auxiliary mode from a Turbo PMAC over the MACRO ring using MACSTASCII commands Serial communications is at 38400 8 bits 1 stop bit no parity These commands are intended for basic setup and troubleshooting Usually this port will not be used instead commands will be sent only through the MACRO ring The following commands can be sent to the ACC 14M MACRO Station through the USB serial port or over the MACRO ring Serial Commands Station Reset The command
30. D Common PMAC common 3 MI O46 In Out T O at base address bit 46 4 GND Common PMAC common 5 MI O45 In Out I O at base address bit 45 6 GND Common PMAC common 7 M1 044 In Out I O at base address bit 44 8 GND Common PMAC common 9 MI 043 In Out I O at base address bit 43 10 GND Common PMAC common 11 MI 042 In Out T O at base address bit 42 12 GND Common PMAC common 13 MI O41 In Out T O at base address bit 41 14 GND Common PMAC common 15 M1 040 In Out I O at base address bit 40 16 GND Common PMAC common 17 MI O39 In Out I O at base address bit 39 18 GND Common PMAC common 19 MI O38 In Out I O at base address bit 38 20 GND Common PMAC common 21 MI 037 In Out T O at base address bit 37 22 GND Common PMAC common 23 MI O36 In Out T O at base address bit 36 24 GND Common PMAC common 25 MI O35 In Out I O at base address bit 35 26 GND Common PMAC common 27 M1 034 In Out I O at base address bit 34 28 GND Common PMAC common 29 MI O33 In Out I O at base address bit 33 30 GND Common PMAC common 31 MI O32 In Out T O at base address bit 32 32 GND Common PMAC common 33 MI O31 In Out T O at base address bit 31 34 GND Common PMAC common 35 M1 030 In Out I O at base address bit 30 36 GND Common PMAC common 37 MI O29 In Out I O at base address bit 29 38 GND Common PMAC common 39 MI O28 In Out I O at base address bit 28 40 GND Common PMAC common 41 MI O27 In Out T O at base address bit 27 42 GND Common PMAC common 43 MI O26 In Out T O at b
31. FIG node constant command This number will be saved to the non volatile memory with the MS SAVE command Subsequently when the system is powered up the station can be polled with the MS CONFIG node command If the expected value is returned it can be assumed that the station has the proper software setup If the expected value is not returned for instance when a replacement station has just been installed then the setup must be transmitted to the station Examples MS 0 Resets ACC 14MMACRO Station which has active node 0 MS SSS 4 Reinitializes ACC 14MMACRO Station which has active node 4 MS CLRF8 Clears fault on Node 8 of ACC 14MMACRO Station MS CONFIG12 Causes ACC 14MMACRO Station to report its configuration number 37 PMAC reports ACC 14MMACRO Station configuration number to host MS CONFIG12 37 Sets ACC 14MMACRO Station configuration number MS DATE 0 Causes ACC 14MMACRO Station to report its firmware date 03 27 97 PMAC reports ACC 14MMACRO Station firmware date to host MS SAVE 4 Causes ACC 14MMACRO Station to save setup variables MS VER 8 Causes ACC 14MMACRO Station to report its firmware version 1 200 PMAC reports ACC 14MMACRO Station firmware version to host 52 ACC 14M MACRO Station Memory and I O Map Accessory 14M MS Variable Read Syntax MACROSLAVE node slave MI MM or MP variable MS node slave MI variable where node is a constant 0 14 representing the number of the n
32. Firmware Version saka aaa naba GINA NAAN GG DUNG EAR AGARAN ALA 50 VID Report Vendor ID Numbers aaa a GG GANG he eee A ale GNG 50 Wfaddressj value Write Value to Station Address c cccccccccecesssesesssesecnseesceseeseeseseeecseesceceeseeaesieeecnseeeenaeeres 50 PMAC TYPE 1 ACC 14M MACRO STATION COMMANDS cssssssssssssscsssenesscsesesesesesesssssnesssenessesseesenseees 52 On Line Commands anG eel einiin Jah ANAN UNGNNA GNG Wael den Amides ap NN NAbahinaan iab 52 MS Command ici sevice na NANG is sae av Ve AEDs BANAS D Aaa NL ea ia aE 52 MS Variable Read nanana ope DANG TAG ha hahaa bas AGA LNG 53 MS Variable Write ics nanana Kai GLAKILIBKA WALI NADA KI BANAAG IKA ka GB AES 53 MS Variable Read Copyi inaasa R IB NBA DINA A aa 0GB naina be 53 MS Variable Write Copy anan aminan Ea e peas INDIR ANLINANABNAAINL An EAO ay 54 Turbo PMAC PLC Commands for Type 1 ACC 14M MACRO Stations 0 cccccccceesseeceeeseeeeeeseeeeeeeeeeeeeeeeneenaees 55 MS Variable Read Copy aaa AA BRAD sa beendeutsbde RE les 55 MS Variable Write Copy aan a Nak EA E aE Eaa TAA E ENE las 55 ACC 14M MACRO STATION MEMORY AND I O MAP sesssseseseseresserorseseeeccerosoesesesceesroroeseseeceeeroroeseeeeoerosoeseee 57 Internal Calculation Registers a sassesesssncssbideacnendgateneesdunes ies iene aana a TE Eai Sea eha EESE igavasbesusalsnuasgrssdedsess 57 Open MEMO iN kd heen ANN NAN BAKING a E O NG E A A a E aE TARA YG 57 DSPGATE2 RegiStetSn an GNGWA NIAN ADAN RIBGALGA
33. I O nodes possibly enabled by M1975 Usually Node 15 should be activated to support the Type 1 auxiliary communications Bits 16 19 specify the slave number of the packet that will generate the sync pulse on the ACC 14M MACRO Station Usually this is set to 15 F on the ACC 14M MACRO Station Bits 20 23 specify the master number 0 15 for the ACC 14M MACRO Station Hex 0 0 Bit 0 0 0 Slave node Enables Sync node Address 0 15 Master Address 0 15 44 ACC 14M MACRO Station Serial Commands Accessory 14M MS anynode MI997 Phase Clock Frequency Control Range 0 15 Units Phase Clock Frequency MaxPhase Frequency MI997 1 Default 0 Phase Clock Frequency 9 0346 kHz 1 9 0346 kHz with default value of MI992 MI997 in conjunction with MI992 determines the frequency of the Phase clock on an ACC 14M MACRO Station Each cycle of the Phase clock a set of MACRO ring information is expected and any data transfers between MACRO nodes and interface circuitry are performed The Phase clock cycle on the ACC 14M MACRO Station should match that of the PMAC commanding it as closely as possible Specifically MI997 controls how many times the Phase clock frequency is divided down from the maximum phase clock whose frequency is set by MI992 The Phase clock frequency is equal to the maximum
34. M5000 5X 578421 12 12 s ADCO upper 12 bits of IO Node 2 wordl These examples also assume that the IO nodes are activated at both the MACRO Peripheral Device Slave and at the Ultralite Master The following table lists the locations of the ADCs if using other node locations User Node ADCO ADC1 2 X 078421 8 16 S X 078422 8 16 S 3 X 078425 8 16 S X 078426 8 16 S 6 X 078429 8 16 S X 07842A 8 16 S 7 X 07842D 8 16 S X 07842E 8 16 S 10 X 07843 1 8 16 S X 078432 8 16 S 11 X 078435 8 16 S X 078436 8 16 S 18 X 079421 8 16 S X 079422 8 16 S 19 X 079425 8 16 S X 079426 8 16 S 22 X 079429 8 16 S X 07942A 8 16 S 23 X 07942D 8 16 S X 07942E 8 16 S 26 X 07943 1 8 16 S X 079432 8 16 S 27 X 079435 8 16 S X 079436 8 16 S 34 X 07A421 8 16 S X 07A422 8 16 S 35 X 07A425 8 16 S X 07A426 8 16 S 38 X 07A429 8 16 S X 07A42A 8 16 S 39 X 07A42D 8 16 S X 07A42E 8 16 S 42 X 07A431 8 16 S X 07A432 8 16 S 43 X 07A435 8 16 S X 07A436 8 16 S 50 X S07B421 8 16 S X 07B422 8 16 S 51 X S07B425 8 16 S X 07B426 8 16 S 18 ACC 14M MACRO Station I O Transfer Accessory 14M 54 X 07B429 8 16 S X 07B42A 8 16 S 55 X 07B42D 8 16 S X 07B42E 8 16 S 58 X 07B431 8 16 S X 07B432 8 16 S 59 X 07B435 8 16 S X 07B436 8 16 S Using the ACC 14M DAC Output The MACRO Peripheral Accessories can be ordered
35. N KUGBANAPDADILG DAN KANDILA KG EE RE Ei 57 Table of Contents iii Accessory 14M INTRODUCTION The ACC 14M can be used with a TURBO PMAC2 Ultralite or UMAC MACRO for either general purpose digital I O direct connection to Opto22 style boards or as high speed latched inputs for servo loop position or velocity feedback The ACC 14M can also run a Delta Tau PLCC program that allows the user to process their IO in real time using its on board processor without adding overhead to the Ring Master controller The ACC 14M can be used as follows INPUTS OUTPUTS MI14 Comments 24 24 0 Default J4 is Input Port and J5 is Output Port Uses one IO Node 0 48 1 Uses two IO nodes 48 0 2 Uses two IO nodes 24 24 3 J4 is Output Port and J5 is Input Port Uses one IO node Whatever your intent this manual is equipped with the necessary examples and descriptions to allow for a rapid setup While setup of the Acc 14M is easy for all its purposes it is a bit easier to setup the board for the purpose of machine I O than it is for the purpose of servo control This is because configuring the board for closed loop servo data requires a few more jumper settings the setup of various I variables in the encoder conversion table and if used for power on position the setup of certain power on position variables The encoder conversion table is setup on the controller side using variables 18000 through 18191 Encode
36. NAA 34 MSfanynode M1198 Direct Read Write Format and Address unnuunnuna nanana wwnawaawaawaawaasaawnasnaonssnaowsonas 35 MI198 Format Digits 0 AANI BARAN EE E E TRTO 36 MSfanynode M1199 Direct Read Write Variable mmuaunnanawwnwwnawaawnawna naawa naawa anaawaanaanaawaanaasascnaonsonao 38 Global MACRO Status MI Variables u s nanana pana ANA 38 MSfanynode MI203 Phase Period c cccccsccssesssssecssesscusessceseeseesecaeesecseeecsenseesecseesesaeeseesecaeeeeesessecaeseeenaeeneeas 38 MSfanynode MI204 Phase Execution Time cccccccccceseecessceseessesecnseesceseescesesseesecseeeecnseesenseeseesecseeseeseseeeneeeneegs 38 MSfanynode MI205 Background Cycle Time ccccccccscccsssssssseescseesceeeseeseeseeseesecsesecnseeseeseeseeseceeecneseeeneeeneeas 38 MSfanynode MI206 Maximum Background Cycle Time c ccccccecsccesessceseeceeseesecueseeenseesceseeseeseseeesnteeeenseeseets 38 MSfanynode MI208 User Ram Start ccccccccccccccsccesesscesessesscesesseesecssseecssessceseesessecsessecaeeeesaeeseesecaeesecaeseeenaeeneeas 38 MACRO IC MEEV artables cc aan UTANG Reh ects es eee ed a OEE REEE aE EER aas 39 MSfanynode M1942 ADC Strobe Word for ADC1 and ADC2 Inputs occore 39 MACRO IC Setup MI Vartables yi naasa ANA ARAB BRIAN 39 MSfanynode M1970 M1973 Reserved for Future Use cccccccsccecsseescesseseecetseeecneeeecuseesenseeseeseceeaesneeeeeneeatents 39 MSfanynode M11974 Station Display Status Read Only la
37. STATION MI VARIABLE REFERENCE uuu ssssssssesecscssesecsessesccsessescesesseseesesseseeseseeeens 29 Global MEY aria less paaa Nana naan NANG DA NANG amn Gain T AG datin aha 29 MSfanynode MIO Station Firmware Version Read Only mauna annwwnwanawananawwawwaawaawaawaasaaunasnaonscnaonsanao 29 MSfanynode MI1 Station Firmware Date Read Only maan nnannwnnwwnawnwwnawanunawwaawaanaawaawaa nauna cnaonscnasnsonno 29 MSfanynode MI2 Station ID and User Configuration Word cccccccccecsseesesseesesseeeecnseesenseeseeseceeecueseeenseetents 29 MSfanynode MI3 Reserved for Future Use ccccccccccescesssscesessessecsseeeceseeseeseeseeseseeeecnseeseeeeesenseceeeseeseseeeneeeneeas 30 MSfanynode MI4 Station Status Word Read Only d l nna na nana wwnwwnawnawaawnasananasnaawaanacnaonaanaonsanaosaannaonsowao 30 MSfanynode MI5 Ring Error Counter cccccceccecccsseceseescnsesseeseeseesecsseecseescececseesecsessecaseaeesecaeeeeceaeeseceveeeneeenenas 30 MS anynode MI6 Maximum Permitted Ring Errors in One Second naananawanwannwwnnwanaanawas sans sanssaassans 31 MSfanynode MI7 Reserved for Future USC cccccccccccescecessceseeseesecsseeeceseescesecseesecseveecnseeseeeeesensecaeeseeseseeeneeerenas 31 MSfanynode MI8 MACRO Ring Check Period 1 na ununaannawaawaawaawnuwaawaawnasaawnanaanaanaawaanaasaaunacasenscnaensonas 31 MSfanynode MI9 MACRO Ring Error Shutdown Count nananana wawwawwnawna anuna unaanaanaawaanaosnaunscnaonscna0nsonas 3
38. USER MANUAL Accessory 14M 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 Copyright Information 2009 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 causing elec
39. a directory C Macro Firmware 2 Jumper the E2 1 2 and E1 1 2 3 Place the USB cable to the J2 USB connection on the MACRO Device and place the other end to the USB port on the PC 4 Power up the MACRO Device and then launch MacroFWDown exe Choose the com port and select MACRO I O and then press the Download FW button r Macro Serial Firmware Download x Pot p Station Type COM3 C Macro 8 Axis C Macro 16 Axis Macro 1 0 ACCE5M TEST Download Fw Words Downloaded 0 Loader Download 0 After the download is complete power down the system and remove jumper E1 and place jumper E2 from 28 ACC 14M MACRO Station I O Transfer Accessory 14M ACC 14M MACRO STATION MI VARIABLE REFERENCE The ACC 14M is set up through its own set of initialization I variables which are distinct from the I variables on a Turbo PMAC2 Usually they are referenced as MI variables e g MI900 to distinguish them from PMAC s own I variables although they can be referenced just as I variables These MI variables can be accessed through the on line MS node MI variable read and MS node MI variable constant write commands or the MSR node MI variable PMAC variable read copy and MSW node MI variable PMAC variable write copy commands either on line or background PLC where node specifies the MACRO node number 0 to 13 variable specifies the number of the Station MI
40. ag Command el a A a Feedback from MI O Not used ADC 1 08 23 bits ADC 2 08 23 bits Flag Status Cala a lina 2 1 O Node Always the next consecutive X or Y Node Register 0 24 bit 1 16 bit 2 16 bit 3 16 bit a to I O Outputs 24 47 Not used Not used Not used Station Feedback from MI O Not used Not used Not used Not used Station ACC14M MACRO 72 Bit Node 48 Inputs FORMAT 1 X or Y I O Node MI14 0 0 MI14 1 1 Two 2 I O Nodes Two consecutive nodes must be enabled in MI996 a to I O Not used DAC 1 DAC 2 Flag Command tati Station Channel 1 Channel 2 ACC 14M MACRO Station I O Transfer 11 Accessory 14M Feedback from MI O Inputs 0 23 ADC 1 08 23 bits ADC 2 08 23 bits Flag Status Staton Channel 1 Channel 2 2 I O Node Always the next consecutive X or Y Node Register t 0 24 bit 1 16 bit 2 16 bit 3 16 bit Command to I O Not used Not used Not used Not used Station Feedback from MI O Inputs 24 47 Not used Not used Not used Station ACC14M MACRO 72 Bit Node 24 Outputs 24 Inputs FORMAT w Outputs low 24 bit word 1 X or Y I O Node MI14 0 1 MI14 1 1 One 1 I O Node Default Command to I O Outputs 0 23 DAC 1 DAC 2 Flag Command staton Channel 1 Channel 2 Feedback from MI O Input 24 47 ADC 1 08 23 bits ADC 2 08 23 bits Flag Status Station Channel 1 Channel 2 Note the 72 bit I O can be
41. ample Turbo Encoder Conversion Table Setup for ACC 14M w cccceccceecceseceseceecseecaeeseeeeseeeeeeeeeeaeeseeeneeeereeeees 21 ECT Setup for 18 bit Encoder without Filtering manung annawaanawwawwaawaawaawnasaawnaanaanaanaowaanaosaawnecnaonscnaonsonao 21 ECT Setup for 18 bit Encoder with Filterinng cccccccsccssesssssssscesscsecsseeecuseescsessessecaeesecaaeseenaeecesaecseneecaeeeeenaeeneeas 21 Absolute Encoder Setup for ACC 14M oo ccccccccccesscssscesecesecesecaecenecseecaeesaecsaecaeeenesneseesseeeaeeaesaeceaeeaecaeceeeaeeeaes 22 Graycode Encoder Feedback ccccecccessssescesscesecesecesecscecseecseeeseesaeesecesecsecaeceaecaeceaecaaecaeecaeeeaeseaeseeeeeeeeeeeseensenaees 22 FEEDBACK DATA LATCHING AND HANDSHAKING cscssssssssssecesesesesssseserscsssesesssesesssssserssssesserssssersoees 23 Method aan a ANNA BAKA NAN BINAN pide AA eae eh debe bes esate cee 24 Method 2 aaa Aedes co oe eee AALALA ANA pa RANI AN 24 Table of Contents i Accessory 14M NICU OD aah ste ote ateiee cus teste ON maa Dava akan A E muda Na cabs casa paa Doha E visa ueuty A Gand AA suede E Goto 25 L aha ses saaan fates E AEE N E E Kan E aus PATA ONG caencees 25 DICT OGD castes ease E E E EE E NANA T E su tageuie sua evtbtets A E A cute cads 26 MACRO ASCII Communication Reference 0 ecesccsescssesececseesececseesececsevsececsessesecsessececsesseeecseseeseesesaeeecseeaees 27 Firmware Updates nn nna aNG BA AG ARAGON 28 ACC 14M MACRO
42. an user a serial port terminal window such as Microsoft HyperTerminal to communicate to the MACRO Device You should set your serial port communication settings as follows Buad Rate 38400 for E3 not jumpered or 9600 for E3 jumpered Data Bits 8 Parity None Stop Bits 1 Flow Control Xon Xoff If you have installed PEWIN Pro software then the USB device should be recognized by your operating system If the device is not recognized by Windows please contact the factory and we can assist you 24VDC Input Symbol Function 24V RET AGND 124V 124V This connector is used to power the unit with a 25A 24VDC power supply MACRO RJ 45 Copper Connectors Front View Pin Symbol Function _ Description 1 DATA Data Differential MACRO Signal 2 DATA Data Differential MACRO Signal 3 Unused Unused terminated pin 4 Unused Unused terminated pin 5 Unused Unused terminated pin 6 Unused Unused terminated pin 6 ACC 14M MACRO Station I O Transfer Accessory 14M 7 Unused Unused terminated pin 8 Unused Unused terminated pin The cable used for MACRO wired connections is CATS verified straight through 8 conductor The input connector is tied to the MACRO INPUT OUTPUT connector of the previous device on the link The INPUT OUTPUT connector connects to the input MACRO connector of the next device on the link
43. and an ACC 14M that latches strobes the encoder inputs on the falling edge of the ICLK only when the servo clock is low The encoder latched indicator is brought into ACC 14M via the ICLK1 2 inputs see J4 and or J5 pinout If the encoder outputs a rising edge for its latch indicator then E7 E9 should be jumpered so that a rising ICLK latches the data when the servo is low If a falling edge indicator is output E7 E9 should not be jumpered so that a falling ICLK latches the data when the servo is low The control words for the data must be setup for latching to allow the ACC 14M to latch the data Required Signal E5 E6 E7 E9 Latch High ICLK means latched Don t care 2to3 ON Yes Low ICLK means latched Don t care 2t03 OFF Yes The advantages and disadvantages of this method are as follows Advantage Can only read latched encoder data Disadvantage Encoder latch is asynchronous to PMAC s servo cycle Method 4 This method is a combination of methods 1 and 3 above It requires that the encoder outputs be latched on the falling edge of the servo clock and the encoder to signal that it is latched Also ACC 14M must latch strobe the encoder inputs on an edge of the ICLK only when the servo clock is low For latching the encoder outputs the servo clock is accessed through ACC 14M OCLK1 see J4 and or OCLK2 see J5 If the encoder requires a rising edge for its latch then E5 sho
44. anynode MI996 MACRO Node Activate Control Range 000000 to FFFFFF 0 to 8 388 607 Units none Default 0F0000 all nodes de activated Synch packet 15 Master 0 MI996 controls which of the 16 MACRO nodes on the ACC 14M MACRO Station are activated In addition it controls the master station number and the node number of the packet that creates a synchronization signal On a power up or reset of the ACC 14MMACRO Station M1996 is set to the saved value or to the default ACC 14M MACRO Station Serial Commands 43 Accessory 14M The bits of MI996 are arranged as follows Bit SJINA ul AIIN o NO 10 11 12 13 14 15 16 19 20 23 Value Type ode 0 Activate ode 1 Activate ode 2 Activate ode 3 Activate ode 4 Activate ode 5 Activate ode 6 Activate ode 7 Activate ode 8 Activate ode 9 Activate Z Z Z Z Z Z Z Z 1Z Z Z Z Z ode 10 Activate ode 11 Activate ode 12 Activate 8192 2000 Node 13 Activate 16384 4000 Node 14 Activate 32768 8000 Node 15 Activate X0000 Packet Sync Node Slave Address 0 15 Master Station Number 0 15 X00000 Config Function Bits 0 to 15 are individual control bits for the matching node number 0 to 15 If the bit is set to 1 the node is activated if the bit is set to 0 the node is de activated On power up reset these bits are set as defined by the SW1 setting with some motor nodes possibly disabled by M1976 and some
45. ariables therefore they are accessed through their MACRO IC These MI Variables determine the servo channel transfer addresses Most are read only variables and cannot be changed MSfanynode M1176 MACRO IC Base Address Range S000000 SOOFFFF Units ACC 14MMACRO Station Addresses Default SC080 for MACRO IC MSfanynode M1177 MACRO IC Address for Node 14 Range S000000 SOOFFFF Units ACC 14MMACRO Station Addresses Default SC0B8 for MACRO IC MS anynode MI178 MACRO IC Address for Node 15 Range 000000 SOOFFFF Units ACC 14MMACRO Station Addresses Default COBC for MACRO IC MSfanynode M1181 M1188 MACRO Channels 1 8 Address Range 000000000000 OOFFFFOOFFFF Units ACC 14MMACRO Station Addresses Default These are 48 bit read only MI variables The X parts of the MI variable is the MACRO channel address of the Command Status word The Y part is zero MACRO IC I O Transfer MI Variables Each MACRO IC 0 amp 1 has its own set of these variables Therefore they are accessed through their MACRO IC 34 ACC 14M MACRO Station Serial Commands Accessory 14M MS anynode MI198 Direct Read Write Format and Address Range 000000 FFFFFF Units Modified ACC 14MMACRO Station Addresses Default 000000 MI198 controls the address and format of the register to be accessed read from or written to with MI199 Any register on the ACC 14M MACRO Station can be accessed by first as
46. ase address bit 26 44 ERR2 Input Error signal 45 MI O25 In Out I O at base address bit 25 46 ICLK2 Input 47 MI O24 In Out I O at base address bit 24 48 OCLK2 Output 49 V Output 5v 50 GND Common ACC 14M MACRO Station I O Transfer Accessory 14M OPT 1 DB 15 Connector Pin Symbol Function 1 GND COMMON GROUND 2 ANALOG INPUT 1 3 ANALOG INPUT 2 4 ANALOG OUTPUT 1 5 ANALOG OUTPUT 2 6 NORMALLY CLOSE RELAY 1 7 COMMON RELAY 2 8 NORMALLY OPEN RELAY 2 9 ANALOG INPUT 1 10 ANALOG INPUT 2 11 ANALOG OUTPUT 1 12 ANALOG OUTPUT 2 13 COMMON RELAY 1 14 NORMALLY OPEN RELAY 1 15 AE NC 2 NORMALLY CLOSE RELAY 2 When OPT 1 is ordered this connector provides the lines for two relay contact outputs two 12 bit DAC outputs with 0 10 V voltage range and two 16 bit ADC inputs with 0 10 V voltage range 10 ACC 14M MACRO Station I O Transfer Accessory 14M SOFTWARE SETUP Typically the MACRO Slave Device and MACRO Master IC Ultralite can support up to eight AXIS nodes 0 1 4 5 8 9 12 and 13 and up to six I O transfer nodes 2 3 6 7 10 and 11 This data exchange goes through a MACRO IC at both points master and slave on the MACRO Ring There are three types of I O transfers allowed that send information between the Turbo Ultralite and a MACRO Device These are 48 bit I O background data transfer 72 bit phase rate I O node transfer and 48 bit ASCII
47. at MI198 Address Starting Bit Format Digits Space Bit Width Digits Space Bit Width 35 Y 12 4 S B5 X 4 8 S 38 Y 16 4 U B8 X 8 8 U 39 Y 16 4 S B9 X 8 8 S 3C Y 20 4 U BC X 12 8 U 3D Y 20 4 S BD X 12 8 S 40 Y 0 8 U SCO X 16 8 U 41 Y 0 8 S C1 X 16 8 S 44 Y 4 8 U C4 X 0 12 U 45 Y 4 8 S C5 X 0 12 S 48 Y 8 8 U C8 X 4 12 U 49 Y 8 8 S SCI X 4 12 S 4C Y 12 8 U CC X 8 12 U 4D Y 12 8 S CD X 8 12 S 50 Y 16 8 U D0 X 12 12 U 51 Y 16 8 S D1 X 12 12 S 54 Y 0 12 U D4 X 0 16 U 55 Y 0 12 S D5 X 0 16 S 58 Y 4 12 U D8 X 4 16 U 59 Y 4 12 S D9 X 4 16 S 5C Y 8 12 U SDC X 8 16 U 5D Y 8 12 S DD X 8 16 S 60 Y 12 12 U E0 X 0 20 U 61 Y 12 12 S E1 X 0 20 S 64 Y 0 16 U E4 X 4 20 U 65 Y 0 16 S E5 X 4 20 S 68 Y 4 16 U SE8 X 0 24 U 69 Y 4 16 S SE9 X 0 24 S 6C Y 8 16 U EC 6D Y 8 16 S ED 70 Y 0 20 U SF0 X 0 2 J 71 Y 0 20 S F1 X 2 2 U 72 F2 X 4 2 U 73 F3 X 6 2 U 74 Y 4 20 U F4 X 8 2 U 75 Y 4 20 S F5 X 10 2 U 76 F6 X 12 2 U 77 SF7 X 14 2 U 78 Y 0 24 U F8 X 16 2 U 79 Y 0 24 S F9 X 18 2 U 7A FA X 20 2 U 7B FB X 22 2 U ACC 14M MACRO Station Serial Commands 37 Accessory 14M MS anynode MI199 Direct Read Write Variable Range 8 388 608 16 777 215 Units dependent on register addressed Default none MI199 is a variable that can be addressed to any register in the ACC 14M MACRO S
48. ation Memory and I O Map 55 Accessory 14M The variable on the PMAC or PMAC2 can be any of the I P Q or M Variables on the card If this command is issued to a PMAC while no PLC buffer is open it will be executed as an on line command not stored in the buffer as a PLC command Examples MSWO MI910 P35 Copies value of PMAC P35 into ACC 14M MACRO Station node 0 variable MI910 MSW4 C4 P0 Causes ACC 14M MACRO Station with active node 4 to save its MI variable values to non volatile memory PO is a dummy variable here 56 ACC 14M MACRO Station Memory and I O Map Accessory 14M ACC 14M MACRO STATION MEMORY AND I O MAP Internal Calculation Registers X Y S0000 SO6FF Open Memory X 00700 SOO7FF Open Memory Y S00700 SOO7FF Open Memory DSPGATE2 Registers Y C080 Input 00 23 Data Register Note The pins associated with this register are used for Input 00 23 on the ACC 14M MACRO Station Bits 0 Input 00 Input Data Value 23 Input 23 Input Data Value X C080 General I O Data Direction Control Do not change Note The pins associated with this register are used for other purposes on the ACC 14M MACRO Station Bits 0 1 000 Direction Control 23 1 023 Direction Control All bits 0 Input 1 Output Y C081 Output 00 07 Data Register Bits 0 Output 00Data Value 7 Output 07 Data Value 8 1 024 Latched Data Value 15 1 031 Latched Data Value 16 23 Not
49. background cycle time MS anynode MI208 User Ram Start Range 0 Units N A Default 700 This area is available for scratch pad use in the MACRO PLCCs 38 ACC 14M MACRO Station Serial Commands Accessory 14M MACRO IC MI Variables Each MACRO IC has a set of these variables and they are used to set up each MACRO IC MS anynode MI942 ADC Strobe Word for ADC1 and ADC2 Inputs Range 000000 FFFFFF Units Individual Bits Default SFFFFFE For DSPGAT 02C MI942 specifies the strobe word for the serial A Ds ADC_1 and ADC_2 The bits of the strobe word are shifted out one bit per ADC_CLK cycle MSB first starting on the rising edge of the phase clock MACRO IC Setup MI Variables Each MACRO IC 0 amp 1 has its own set of these variables and is accessed from each MACRO IC MS anynode MI970 MI973 Reserved for Future Use MS anynode MI1974 Station Display Status Read Only Range 0 F Units none This variable when queried reports the hexadecimal digit displayed on the ACC 14MMACRO Station s 7 segment display The meaning of each digit is 0 Ring Active with no errors 1 9 NA NA Ring break fault Configuration change fault Ring data error fault NA Momentary ring fault THYQWE Note If the display itself is blank this indicates that ring communications are not active which means that this value cannot be reported back to the controller MS anynode MI977 M
50. ch MACRO Device The only drawback to this technique is that the user will have to keep track of the status of their outputs see example Example If the user has MI14 0 and has node 2 activated at both the Master and MACRO Device they can make the following definitions to read and write to the inputs and INPUT OUTPUTs M3000 gt X 78420 0 24 M4000 gt X 10F0 0 24 M4001 gt X 10F1 0 24 Open PLC1 Clear M4000 M3000 Actual Input INPUT OUTPUT Word Input Image Word Output Image word Input Image Word equals Actual Input Word Process Inputs and Build image output word M4001 16 ACC 14M MACRO Station I O Transfer Accessory 14M M3000 M4001 Set Actual output word to output Image word Close If the user is using another node they can be accessed at the following locations Table la Table 1b User Node IO Word Address User Node IO Word Address 2 X 5078420 0 24 34 X 07A420 0 24 3 X 078424 0 24 35 X 07A424 0 24 6 X 078428 0 24 38 X 07A428 0 24 7 X 07842C 0 24 39 X 07A42C 0 24 10 X 078430 0 24 42 X 07A430 0 24 11 X 5078434 0 24 43 X 07A434 0 24 18 X 079420 0 24 50 X 07B420 0 24 19 X 5079424 0 24 51 X 507B424 0 24 22 X 5079428 0 24 54 X 507B428 0 24 23 X 507942C 0 24 55 X 507B42C 0 24 26 X 5079430 0 24 58 X 507B430 0 24 27 X 5079434 0 24 59 X 507B434 0 24 ACC 14M MACRO Station I O Transfer Accessory 14M USING OPTION 1 ADC S DAC S RELAY S If the
51. control to allow ACC 14M to latch strobe its inputs with the falling edge of the servo clock The control words for the data must be set up for latching to allow the ACC 14M to latch the data Required Signal E5 E6 E7 E9 Latch Latch at Falling Edge Don t care 2 to 3 ON Yes Latch at Rising Edge Don t care 1 to2 ON Yes The advantages and disadvantages of this method are as follows Advantage Easy to configure and set up Disadvantage The encoder data may be latched into ACC 14M at an encoder transition causing bad encoder data for that servo cycle Must set up the Encoder Conversion Table Filter 26 ACC 14M MACRO Station I O Transfer Accessory 14M MACRO ASCII Communication Reference 1 VID Vendor ID Delta Tau 1 Range 1 65535 2 CID Vendor Card ID Part Number Range 1 4 294 967 295 32 bit unsigned a Delta Tau TURBO PMAC 2 VME 602413 MACRO Master b Delta Tau TURBO PMAC 2 Ultra lite 603182 MACRO Master c Delta Tau UMAC TURBO 603382 MACRO Master d Delta Tau UMAC MACRO 8 602804 MACRO Slave e Delta Tau UMAC MACRO 16 602 MACRO Slave 3 SID Serial ID Range 64 bit unsigned 0 Serial ID not available 4 Station to reset to default parameter with no station number and ready for Ring location identification Note not 5 SAVe Save station number and initialization pa
52. dback data then they would be receiving the data in locations X 78420 node2 and X 78424 node3 as shown in Table la and 1b Now that we know where the data is coming from we can then process this information like any other parallel word Example Turbo Encoder Conversion Table Setup for ACC 14M Two 18 bit encoders are used in an application with 10000 cts in and a maximum velocity of 20 in sec is specified Accessory 14M port A will be used for the first encoder and port B will be used for the second encoder The servo update rate is set at the factory default of 2258 Hz For this example setup an encoder with filtering without filtering and with 24 bit resolution First calculate the maximum velocity per servo cycle _ 10000cts B 20in Se 88 57cts in sec 2258cyc cyc ECT Setup for 18 bit Encoder without Filtering I8000 678420 extended feedback entry from 5078420 3501 I18001 012018 18 bit 12 from 078420 base 24 3502 1800225678424 extended feedback entry from 5078424 53503 I18003 5012018 18 bit 12 from 5078424 bas 2 3504 I103 3502 position feedback for motor 1 from 3502 110453502 velocity feedback for motor 1 from 3502 1203253504 position feedback for motor 2 from 3504 I204 3504 velocity feedback for motor 2 from 3504 ECT Setup for 18 bit Encoder with Filtering I18000 678420 extended feedback entry from 50784
53. de 0 variable MI910 into PMAC variable P1 MS1 MM9 M10 Copies value of ACC 14M MACRO Station global variable MM9 into PMAC variable M10 MS Variable Write Copy Syntax MACROSLVWRITE node slave variable PMAC variable MSW node slave MI MM or MP variable PMAC variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the variable is not node specific the number of any active node on the station may be used slave variable is the name of the MI MM MP variable or C command on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMAC into which the value of the slave station variable is to be copied This command copies the value of the specified variable on PMAC into the specified MI MM or MP variable on the MACRO slave station or if a slave station C command number is specified it executes that command in which case the PMAC variable value is not used The valid C commands are C1 Clear station faults C2 Reset station loading saved station MI variables C3 Re initialize station loading default station MI variables C4 Save station MI variables to non volatile memory The MI variable on the MACRO slave station can be global to the station or node specific The variable on the PMAC or PMAC2 can be any of the I P Q or M variables on the card If this command is issued to a PMAC while a PLC buffer is open i
54. done on a Y Axis or X IO Node FLAG s Command Register B09 Reserved for future ring protocol control B10 Reserved for future ring protocol control B11 Reserved B12 Reserved B13 The Slave detected a MACRO Ring Break MRB amp became a Ring master Note 3 B14 Reserved B15 When B13 1 then B15 1 is a Station Fault B16 Reserved for future ring protocol control B17 Reserved for future ring protocol control B18 Reserved for future ring protocol control B19 Fast User Defined Command Flag UserCmd1 AENA 1 INPUT OUTPUT B20 Fast User Defined Command Flag UserCmd2 AENA_2 INPUT OUTPUT B21 Fast User Defined Command Flag UserCmd3 B22 Fast User Defined Command Flag UserCmd4 B23 Fast User Defined Command Flag UserCmd5 12 ACC 14M MACRO Station I O Transfer Accessory 14M FLAG 5s Status Register B08 Reserved for future ring protocol status B09 Reserved for future ring protocol status B10 Reserved for future ring protocol status B11 Reserved B12 Reserved B13 This Node detected a MACRO Ring Break MRB Note 3 B14 Reserved B15 Station or Real Time Data Node Fault B16 Reserved for future ring protocol status B17 Reserved for future ring protocol status B18 Reserved for future ring protocol status B19 Fast User Defined Status Flag UserSatus1 AENA 1 INPUT OUTPUT B20 Fast User Defined Status Flag UserSatus2 AENA 2 INPUT OUTPUT B21 Fast User Defined S
55. e 000000 SFFFFFF Units none Default 0 With this variable a station identification number can be written to the ACC 14M MACRO Station Typically when the software setup of a station is complete a unique value is written to this MI variable in the station and saved with the other MI variables On power up reset the controller can query MI2 as a quick test to see if the station has been set up properly for the application If it does not report back the expected value the controller can download and save the setup values ACC 14M MACRO Station Serial Commands 29 Accessory 14M MS anynode MI3 Reserved for Future Use Range 00 Units none Default 0 MSfanynode M14 Station Status Word Read Only Range 000000 FFFFFF Units Bits This variable when queried reports the value of the current status word bits for the ACC 14M MACRO Station The value reported should be broken into bits Each bit reports the presence or absence of a particular fault on the Station If the bit is O the fault has not occurred since station faults were last cleared If the bit is 1 the fault has occurred since station faults were last cleared BITn Fault Description 0 CPU Fault No MACRO IC 1 detected 1 Ring Error Temporary 2 Ring Break 3 Station Fault Station Shutdown 4 Ring Fault Any permanent Ring fault 5 Spare 6 Spare
56. e 15 SF because this node is always active for MACRO Type 1 auxiliary communications The station checks each phase cycle to see whether a sync packet has been received or not Setting MI10 to 0 means the station will not shut down for lack of sync packets Setting MI10 greater than MI8 means that the Station will shut down for lack of sync packets If MI10 is set to 0 at power on reset the ACC 14M MACRO Station will set it to 4 automatically MS anynode MI11 Station Order Number Range 0 254 Units none Default 0 MI11 contains the station order number of the ACC 14M MACRO Station on the ring This permits it to respond to auxiliary MACROSTASCIIn commands from a Turbo PMAC ring controller from a power on default state The station ordering scheme permits the ring controller to isolate each master or slave station on the ring in sequence and communicate with it without knowing in advance how the ring is configured or whether there are any conflicts in the regular addressing scheme This is useful for the initial setup and debugging of the ring configuration Normally station order numbers of devices on the ring are assigned in numerical order with the station downstream of the ring controller getting station order number 1 This does not have to be the case however Unordered stations have the station order number 0 When the ring controller executes a MACROSTASCII255 command the first unordered station in the ring will
57. eecaeecaeeeseseessesesecesecnaeceaecaaecaaecaaecaeesaeseaeseneseneseseeeeeeeasenaees 47 MAC PLCC Related ASCI Commands 0 eeeeceseescsseesesseeseesecaeesecaeeseceavenesaecatesecaesseenaeeeceaecaeseecaeeaesaaeeaesateeeeaeens 48 ACC 14M MACRO STATION SERIAL COMMANDS csssssssssssssssssccsssesesesesserssesesscessesesssessesssssesseeseesesesesoes 48 Seral COmUMans 62sec ceca ne 5 acre ace etek canst es lewssstaatelsvesdcesses saan taste tev Sactetea tay tesustegente sees bsan Pe ea teeter 48 BES Station RESEL ieccccescsocacscescestsccstsnascoatentscencenesceatecescvaterisceateptscuacenanceadentsceatenancuatantscuacenesceatecescestecdscestentsceacenes 48 BESE Station Re iitiQlize ccccccccccccccsscscsscsccscssesesscssscseesessesesesecsevsesscsessesscsessesecsessesessesesessesseessecsesessesaeeeeaes 48 CHN Report Channel NUMber cccccccecesscesesseesessseseenseeecaceescsecseescesecseesecseeeecassescacecseeaeceeseceeeseeseeaeenteeesnaeereegs 48 CID Report Card ID Number w cccccccccecceseesceseseeseceeecnseeecceescsecseesesseeecasseseaecseeaecaeeeecaeeesceeeseesecseeaeeteeesneeereegs 48 CLRF Clear Station Faults cc cccccccccccceccecsceesseseeeseeceesceeseeeseeesesceseceseesseeseeeseceaeceaecaaecaeeeseeeseeeeeeaeeeaeenaeeeaeenseenes 48 DATE Report Firmware Date c ccccccccccccccceceeeceteceseceseeuseeeeeseseseseseeecesecssecseceecseecseeeeeeseserseeseaeeeasesaeesaeenaeeats 48 DISABLE PLCC or CNTRL D Disables PLCC eceecccsscssscssesessesees
58. eeeeseseseeseeceseeseecesecseesesecsesesecseeseeeeteeeeeneeeeeaees 49 ENABLE PLEC Enables PLC erer e ra E A RE RETE RET OO REE EOR ET 49 MI constant Report Station MI Variable Vale cececcecescceseessseecsseesceseeseesecseesecseeeecnseesenseeseesceseeseeseseeeneeeteeas 49 MI constant constant Set Station MI Variable Value ccccceceseeccessseesesseeseeneeeecuseesenseeseeseeeeeeeneeeeenseetenas 49 MM constant Report Station MM Variable Value i eccccceccscceceeceeeesseescuseeseuseeseeseceeeecuseesseeceeeseeseeseeseseeneeenenas 49 MM f constant constant Set Station MM Variable Value c cccecceccecceceeseesetseeeeeneesecuseescuseeseeseceeaesueeeeenseeseens 49 MPfconstant Report Station MP Variable Value c cccccecccccssecceesecsseesceseesceseeseeseceeeecuseesenseeseesecseeaeceseeenseesenas 49 MPfconstant constant Set Station MP Variable Value ccceccececceseeseeseeseesecneeeecnseescnseesenseceesecueseeensentente 49 MM f constant gt Report Station MM Variable Definition c ccceccccceceeceesceseeseeseeneeeecuseeecnseeseesecseeeceseeensensents 49 MM f constant gt X Y offset width format Set Station MM Variable Definition 49 R address Read Station Address 01 233 NADAGANAN AGANG PG GAB a 49 SAVE Save Station MI Variables 11201700naaana oire i ie N ESTEE E eE EEEE ESENE aasa 50 SID Reports Serial Identification Number eeeeeeeerisisisririeererrsrsrisisrsresisterietsesesierrtissresrsetent 50 VERS Report
59. f Contents Accessory 14M ACC 14M MACRO STATION MACPLCCS csssssssssssssssessssscssssssessssecssesoscssssersnensssccssesosssessssssssessseseesosssesoes 46 NA AA ker eaves 46 Arithmetic Data Types missies a NGANGA an KATAGANG AG BLAIR AG 46 MACRO MI Integer Variables n 0 1099 o oo cecceccceeesceeseeseeeseceecesecesecaecaeceaecaeecaecsaecaeecaeecaeseneeseeneeneenaees 46 MACRO MM and MP Integer Variables n 0 S11 oe eeececeecescceeeceeeceseceaecaecseecaeecaeeeaeeeaeeeeeseeesesnseeeeeaees 46 MACROPlcc Ln Integer Variables n 0 511 wee ee ce eeceseesseseceeeseceseeecaecesssceaeceessecaeeeeceaveeesaecaeeaecaeveeenaeeneeaeeneenes 46 Direct Memory Addressing for Integer Ln amp Ln Variable Definitions 46 Standard MACRO Program Commands cesccssesssesseeeseeseeeseeeseeeecesecnaecaaecaeecaeeeseseceseeeeeseeeeseseseaeecneesneeeaeeenes 47 Valid Math Assignment and Conditional Operators eceseecseseeseeseesesseesecaeeseceaeeeceaeceessecaeeseceaeenesaeeeeeaesateaeeneees 47 Valid Expressions and ArrayS cccccccesssssscesseeeeesecsecscecaeecseeesessaesseseseseseceseseeeseseecaecaeesaecaaeseneseeeeeeseeseseesenaees 47 Ln Arrays Definition Examples ccscesceeecssesscesecsseecesecaeesecseesnceaeencsaecseesecaesarcnasnceaecatssesaeeaecaavenesaeeateaesateaeeneens 47 Example OGIO keras AAAA EAE E tag te deen tea d EE A tae scien E Suse EEN TE 47 MACRO PLCC Code Memory ccccceessesscessceeeeseeesees
60. figuration Status Range 0000 FFFF 0 65 535 Units none Default 4080 MI995 contains configuration and status bits for MACRO ring operation of the ACC 14M MACRO Station There are 11 configuration bits and 5 status bits as follows 42 ACC 14M MACRO Station Serial Commands Accessory 14M Bit Value Type Function 0 1 1 Data Overrun Error cleared when read Byte Violation Error cleared when read Packet Parity Error cleared when read Packet Under run Error cleared when read Master Station Enable Synchronizing Master Station Enable Sync Node Packet Received cleared when read Sync Node Phase Lock Enable Node 8 Master Address Check Disable 9 Node 9 Master Address Check Disable 10 Node 10 Master Address Check Disable 11 Node 11 Master Address Check Disable 12 Node 12 Master Address Check Disable 13 Node 13 Master Address Check Disable 14 Node 14 Master Address Check Disable 15 32768 8000 Config Node 15 Master Address Check Disable Of I P M B YIN m An ACC 14M MACRO Station is a slave on the ring in all normal operation so configuration bits 4 and 5 are set to 0 It should synchronize itself to the sync node so configuration bit 7 should be set to 1 In most applications it will accept packets only from its own master so bits 8 to 15 are set to 0 All other bits are status bits that are normally 0 This makes the usual setting of MI995 equal to 0080 MS
61. ge of OCLK 2 t03 Don tcare Don t care No The advantages and disadvantages of this method are as follows Advantage Easy to configure and set up Disadvantage Encoder s output latch must typically happen within 2 usec Method 2 This method requires the encoder outputs to be latched on the rising edge of the servo clock and ACC 14M to latch strobe the encoder inputs on the falling edge of the servo clock For latching the encoder outputs the servo clock is accessed through ACC 14M OCLK1 see J4 pinout and or OCLK2 see J5 pinout If the encoder requires a rising edge for its latch then E5 should be jumpered to 2 for OCLK1 OCLK2 respectively If a falling edge is required E5 should be jumpered 2 to 3 The control words for the data must be setup for latching to allow the ACC 14M latch the data Required Signal E5 E6 E7 E9 Latch Rising edge of OCLK 1 to 2 2 to 3 ON Yes Falling edge of OCLK 2 to 3 1 to 2 ON Yes The advantages and disadvantages of this method are as follows Advantage Encoder latch time is not very critical have almost 1 servo cycle to latch Disadvantage Almost a I servo cycle delay between encoder output latch and ACC 14M encoder read 24 ACC 14M MACRO Station I O Transfer Accessory 14M Method 3 This method requires a self latching encoder that outputs a signal that indicates it is latched
62. gned MACRO MI Integer Variables n 0 1099 1 MACRO MIn Variable Converted to 1 to 24 bit signed unsigned integer variable A function of MI variable 2 MACRO MI Index Exp Array of MI Variables 3 Indexes into MIn arrays are limited to 0 1999 On a read of the index value outside this range the returned value is zero On a write of the index value outside this range no value is written MACRO MM and MP Integer Variables n 0 511 MACRO MMn Variable Assumed to be defined as MMn gt lt X Y Addr offset width SignType gt MACRO MPn Variable 24 bit signed integer variable MACRO MM Index Exp Array to MM Pointer Variables MACRO MP Index Exp Array of 24 bit signed Integer MP Variables Index expression into the MMn and MPn arrays are forced to a modulo 512 MACROPIcc Ln Integer Variables n 0 511 i fa BO Pan 1 PLCC Ln Variable Address must be defined Accessed with inline code 2 PLCC Ln Index Exp Array 24 bit signed integer data Address must be defined 3 Index expressions into the Ln arrays are forced to a modulo of the size of the array Abi Memory Addressing for Integer Ln 8 Ln Variable Definitions MACROPlec Ln gt xX Y Address size Accesses entire 24 bit integer data value The array size range is 2 8192 and must be a power of two If the definition is put after the OPEN MACPlcc the size range is limited to 2 512 This is the recommended limitation
63. he ACC 65M associated with node 2 then we could make the following M variable assignment M5000 gt X 78421 8 16 S DACO bits of IO Node 2 wordl M5001 gt X 78422 8 16 S DAC1 bits of IO Node 2 word2 M52 MI992 6527 76527 is default MS2 MI994 0 set dead time to zero This example also assumes that the IO node number 2 is activated at both the MACRO Peripheral Device Slave and at the Ultralite Master To scale the outputs the user will have to know the relationship between MI992 and the DAC outputs If the user sets MI994 0 then they can assume that the maximum voltage output will be scaled relative to MI992 For example if M1992 6527 default value and if the user sets M5000 6527 then they will measure 10V on DAC1 relative to AGND or 20V relative to DAC1 Likewise if they set M5000 652 7 they will measure 1V on DAC1 relative to AGND or 2V relative to DAC1 The following table list the locations of the DAC s if using other node locations User Node DACO DAC1 2 X 5078421 8 16 S X 5078422 8 16 S X 078431 8 16 S X 078432 8 16 S X 078435 8 16 S X 078436 8 16 S 8 16 8 16 8 16 8 16 8 16 8 16 8 16 8 16 ACC 14M MACRO Station I O Transfer 19 Accessory 14M Using the ACC 14M Amplifier Enable Outputs The MACRO Peripheral amplifier enable outputs are very similar to the amplifier enable circuits used on other Delta Tau products These outputs allow the user to send outputs that can
64. ical address of the register The optional count value specifies the number of registers to be reported starting at the specified address and counting up If no count value is specified in the command one register value is reported Examples ACC 14M MACRO Station Serial Commands 49 Accessory 14M RX 520 Read X register 20 64 CMS responds in decimal RHX 20 Read X register 20 in hex 40 CMS responds in hex RHY SFFCO 3 Read Y registers FFCO FFC1 FFC2 FFFFA4 FFFF01 FFFFC7 CMS responds in hex SAVE Save Station MI Variables The SAVE command causes the ACC 14M MACRO Station to copy its MI variable values from volatile active memory to the non volatile flash memory On the next power up or reset these values will be copied back from flash memory to active memory SID Reports Serial Identification Number Reports the SID of the Dallas ID chip VERS Report Firmware Version The VERS command causes the ACC 14M MACRO Station to report its firmware version number Example VERS 1 201 VID Report Vendor ID Number The VID command causes the ACC 14M MACRO Station to report its vendor identification number For Delta Tau this number is 1 W address value Write Value to Station Address The W address value command causes the ACC 14M MACRO Station to write the value to the specified address es address consists of a register type X Y L or P and the numerical address of the register The
65. ing power or by ussuing the following commands mssav2 save settings to Macro station which has node 2 activated ms 2 reset Macro station which has node 2 activated Establishing Communications with the ACC 14M Station After hooking up the Ring and 24VDC power the user can try to read and write to the IO Device 1 Ring Order at the Ring Controller enter MACSTA255 Now you can assign it a Station number by entering STN n where n is the Station number If a Macro I O error is received make sure 16840 16841 and 179 are set correctly Also make sure that the Unit has not been already assigned a Station number If the Station has already been assigned a Station number there are two options a Find out the station number n and enter MACSTA lt n gt where n is the station number to initiate MACRO ASCII communication with the Station b Reset the station number of all the stations by entering MACSTAO and then enter STN c Note 14 ACC 14M MACRO Station I O Transfer Accessory 14M This will NOT reset all the parameters in the MACRO Stations or Note This will reset all the parameters in the MACRO Stations Next enter T to exit MACRO ASCII communications Then enter MACSTA255 to access the first Station Now you can assign it a Station number by entering STN n where n is the Station number Enter T to exit MACRO ASCII Communications Enter MACSTA255 again to access the next station and repea
66. l Register when used as general I O see Y 5C086 0 DATO Inversion Control 7 DAT 7 Inversion Control 8 SELO Inversion Control 15 SEL7 Inversion Control All bits O Non inverting 1 Inverting All bits must be 0 to use standard port accessories 16 23 Not used Data Type Control Register Do not change 0 DISPO Data Type Control 7 DISP7 Data Type Control 8 CTRLO Data Type Control 11 CTRL3 Data Type Control These bits are always 1 there is no alternate mode for these pins 12 23 Not used Data Inversion Control Register 0 DISPO Inversion Control 7 DISP7 Inversion Control 8 CTRLO Inversion Control 9 CTRL Inversion Control 10 CTRL2 Inversion Control AENA 1 Relay 11 CTRL3 Inversion Control AENA 2 Relay All bits O Non inverting 1 Inverting All bits must be 0 to use standard port accessories 12 23 Not used Y SCO88 SCO8B Not used 60 ACC 14M MACRO Station Memory and I O Map Accessory 14M X C088 SC08B Not used Y CO8C Pure binary conversion from gray code input on I O00 to 1 023 Note The pins associated with this register are used for other purposes on the ACC 14M MACRO Station X SCO8C DAC Strobe Word 24 bits Shifted out MSB first one bit per DACCLK cycle starting on rising edge of phase clock Y CO8D Gray to binary conversion bit length control Note The pins associated with this register are used for other purposes on the ACC 14M MACRO Station Bits
67. laan wnnwnnwwnwwna anuna wwaanaanaawaunaanaunanaasnannasasanas 39 MSfanynode M1977 Motor Nodes Reporting Ring Break mauununna naaawa sanan wwaanaanauwaawasnawnasnasaannacasuwas 39 MSfanynode M1978 MI989 Reserved for Future Use ccccccccsccecsseescessescecetseesecneeeecuseesceseeseeseceeesneseeeneetents 40 MACRO IC MI V arable in nad KABABAAN NAB e EE EEO K EESE EEE Raa EE aE nected 40 MSfanynode MI992 MaxPhase Frequency Contr 0l cccccccccccsecsssessseescesseseeseeseeseceeeecuseesceseeseesecseeaeeneeseeeeeseeas 40 MSfanynode M1993 Hardware Clock Control Handwheel Channels 40 MS anynode MI994 PWM Deadtime PFM Pulse Width Control for Handwheel 7 072002000na sans saas 42 MSfanynode M1995 MACRO Ring Configuration Status mana nawnnwwnawna naaawa anuna unaanaanauwaanaosnannscasenssnaonsonas 42 MSfanynode M1996 MACRO Node Activate Control maana wwnwwnawnawawanawanunaunaanaanaawaawaasaaunasnonannesasawas 43 MSfanynode MI997 Phase Clock Frequency Control c cccccccscscsssssseecsseesensesseeecueeeecnseesenseeseeseeeeecnesseeaesetenas 45 MSfanynode MI998 Servo Clock Frequency Control 2 nauna awnnwwnawnawnawnasanunaanaanaanaowaanaosnaunscnovnannscwsowao 45 MS anynode MI999 Handwheel DAC Strobe Word Not Used 22 000 nnna nana wanawanwannwanawanuwanawasawassaassanssnas 46 Other ACC 14M MACRO Station Mm amp MP Variables sensonenononenenononinininiseminsininiiiimisis 46 Table o
68. mand not stored in the buffer as a PLC command Examples MSO MI910 P1 Copies value of ACC 14M MACRO Station Node 0 variable MI910 into PMAC variable P1 MS1 MI997 M10 Copies value of ACC 14M MACRO Station global variable M1997 into PMAC variable M10 MS Variable Write Copy Syntax MACROSLVWRITE node slave variable PMAC variable MSW node slave MI MM or MP variable PMAC variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the variable is not node specific the number of any active node on the station may be used slave variable is the name of the MI MM MP variable or C command on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMAC into which the value of the slave station variable is to be copied This command copies the value of the specified variable on PMAC into the specified MI Variables on the MACRO slave station or if a slave station C command number is specified it executes that command in which case the PMAC variable value is not really used The valid C commands are C1 Clear station faults C2 Reset station loading saved station MI variables C3 Re initialize station loading default station MI variables C4 Save station MI variables to non volatile memory TheMI MM or MP variable on the MACRO slave station can be global to the station or node specific ACC 14M MACRO St
69. n Table Filter Word as a software protection against bad encoder data PMAC reads the encoder data when it processes the Encoder Conversion Tables This happens shortly approximately 2 usec after the falling edge of the servo clock the phase calculations are performed first Therefore most of the following latching methods will be synchronized to the falling edge of the servo clock The error signal inputs ERR1 and ERR2 allow the feedback device to send a signal to the latch circuit to interrupt the latch Jumpers E8 and E10 are used to set the polarity for the error inputs signals If the feedback device does not have an error signal output then set the jumpers E8 and E10 from 1 2 to allow the latch circuit to work properly See the Jumper Descriptions section of this manual for details on E8 and E10 ACC 14M MACRO Station I O Transfer 23 Accessory 14M Method 1 This method requires the encoder inputs to be latched on the falling edge of the servo clock and no latching to be done on ACC 14M For latching the encoder inputs the servo clock is accessed through ACC 14M OCLK 1 see J4 pinout and or OCLK2 see J5 pinout If the encoder requires a rising edge for its latch then E5 should be jumpered 1 to 2 for OCLK1 OCLK2 respectively If a falling edge is required E5 should be jumpered 2 to 3 Required Signal E5 E6 E7 E9 Latch Rising edge of OCLK 1 to2 Don tcare Don t care No Falling ed
70. ode whose variable is to be read if the variable is not node specific the number of any active node on the station may be used slave MI MM or MP variable is the name of the MI MM or MP variable on the slave station whose value is to be reported This command causes PMAC to query the MACRO slave station at the specified node and report the value of the specified slave station MI variable to the host computer Examples MSO MI910 Causes ACC 14M MACRO Station to report value of Node 0 variable MI910 7 PMAC reports this value back to host MS1 MI997 Causes ACC 14M MACRO Station to report value global variable M1997 6258 PMAC reports this value back to host MS Variable Write Syntax MACROSLAVE node slave variable constant MS node slave variable constant where node isa constant 0 14 representing the number of the node whose variable is to be written to if the variable is not node specific the number of any active node on the station may be used slave MI MM or MP variable is the name ofthe MI MM MP or C variable on the slave station whose value is to be reported constant is a number representing the value to be written to the specified MI MM or MP variable This command causes PMAC to write the specified constant value to the MACRO slave station MI MM MP variable or if a C command is specified it causes the station to execute the specified command number in which case the constant value doe
71. onnector When OPT 1 is ordered this connector provides the lines for two relay contact outputs two 16 bit DAC outputs with 0 10 V voltage range and two 16 bit ADC inputs with 0 10 V voltage range Relay Status LED Indictors RLY1 When lit this indicates that the first amplifier enable relay is activated 4 ACC 14M MACRO Station I O Transfer Accessory 14M RLY2 When lit this indicates that the second amplifier enable relay is activated Inputs and Outputs Terminal Blocks J4 and J5 Allows for the 48 bit Inputs Qutputs connections their clocking and errors Each connector is a 50 pin IDE header that allows for direct connection to Opto22 style boards E Point Jumper Description Refer to the layout diagram of ACC 14M for the location of the jumpers on the board Table 1 E Point Jumper configuration and settings Jumper Config Description Settings Default El 1 2 Watchdog Disable ON to disable watchdog OFF OFF for normal operation E2 1 2 3 BootStrap 1 2 for bootstrap mode 2 3 2 3 for normal operation E3 1 2 Buadrate ON for 9600 Baud for USB to Serial Coverter OFF OFF for 38400 Baud for USB to Serial Coverter E5 1 2 3 Output clock polarity 1 2 OCLK is sample clock 1 2 2 3 OCLK is sample clock E6 1 2 3 Latch clock polarity 1 2 ENA CLK is sample clock 1 2 2 3 ENA CLK is sample clock E7 1 2 Input latch signal for ON passes the ICLK1 OV input from J4 to
72. optional value specifies the value to be written to the address Examples WXx S520 5 Write X register 520 5 50 ACC 14M MACRO Station Serial Commands Accessory 14M ACC 14M MACRO Station Serial Commands 51 Accessory 14M PMAC TYPE 1 ACC 14M MACRO STATION COMMANDS The following commands from the Turbo PMAC controllers can be used for Type 1 auxiliary communication with the ACC 14M MACRO Station On Line Commands MS Command Syntax MS command node where command is one of the following text strings SSS normal station reset sssxxx station reset and re initialize CLRF station fault clear for CONFIG report station configuration value DATE report station firmware date SAVE save station setup VER report station firmware version node isa constant representing the number of the node to be commanded if the command affects the entire station the number of any active node on the station may be used This PMAC command causes PMAC to issue the specified command to a Type 1 MACRO slave station The MS CONFIG command allows the setting and reporting of a specified configuration value This provides an easy way to see if the ACC 14M MACRO Station has been configured already to the specifications The factory default configuration value is 0 It is recommended that after the software configuration of the station is finished a special number be given to the configuration value with the MS CON
73. otor Nodes Reporting Ring Break Range 0000 SFFFF Units none individual bits Default SO MI977 permits the ACC 14M MACRO Station to enable additional motor nodes if it detects a ring break immediately upstream from it and send out the ring break bit Bit 13 in the flag word for these nodes When the station detects a ring break it turns itself into a ring master and sets the ring break bit on all active nodes In this manner other stations downstream of the break can be notified directly of the ring break so they can shut down properly MI977 is a 16 bit value bits 0 to 15 with bit n controlling the enabling of MACRO node n on a ring break If the bit is set to 0 the node will not be enabled on a ring break if the bit is set to 1 the node will be enabled on a ring break Only bits 0 13 of MI975 should be set to 1 Examples MSO MI977 53300 Enable Motor Nodes 8 9 12 amp 13 on ring break MS8 MI977 50033 Enable Motor Nodes 0 1 4 amp 5 on ring break ACC 14M MACRO Station Serial Commands 39 Accessory 14M MSfanynode M1978 M1989 Reserved for Future Use MACRO IC MI Variables MI Variables are numbered in the M1990s control hardware aspects of the MACRO IC and the handwheel channels 1 and 2 Each MACRO IC has its own set of these variables MS anynode MI992 MaxPhase Frequency Control Range 0 32767 Units MaxPhase Frequency 117 964 8 kHz 2 MI992 3 PWM Frequency
74. r conversion types are 2 and 3 for the ACC 14M and are described in the Turbo PMAC Software Reference Manual If option 1 is ordered a set of analog inputs analog outputs and relay contacts are installed These can be used to control for example one or two inverter drives through the MACRO link This accessory works only with a Turbo PMAC2 controller either in Ultralite or UMAC format Features e Two 24 bit IO ports configured as Inputs or Outputs OPTO 22 compatible e One 24 bit Gray Code to Binary Conversion for J4 port only e Latching inputs e Output Clock for Binary or Gray code encoder synchronization Introduction 1 Accessory 14M Options OPT A 30A 603740 OPT Fiber Optic MACRO connectors OPT C 30C 603740 OPT RJ45 MACRO connectors OPT 1 301 603740 OPT This option includes o Two relay contact outputs o Two 12 bit DAC outputs with 0 10 V voltage range o Two 16 bit ADC inputs with 0 10 V voltage range 2 Introduction Accessory 14M HARDWARE REFERENCE SUMMARY Mechanical Layout 6 500 165 1 625 15 88 9 750 247 7 500 12 7 9 375 238 13 31 75 ACC 14M MACRO Station I O Transfer Accessory 14M Board Layout Connectors and Indicators Inputs and Outputs LED Indicators Each of the 24 input and 24 INPUT OUTPUT lines has an associated LED that displays its state either active or inactive in the front panel of the uni
75. r future use reports as 0 19 Invert PFM Direction Control 0 no inversion 1 invert 20 Invert A amp B Output Control 0 no inversion 1 invert 21 Invert C Output Control 0 no inversion 1 invert 22 Output A amp B Mode Select O PWM 1 DAC 23 Output C Mode Select O PWM 1 PFM Chan 9 10 Hex SC096 SCO 9E Y SC09Ix Supplementary Channel n ADC B Input Value uses SEL3 in dedicated mode Bits 6 23 Serial ADC Value 0 5 Not used X SCO09x Channel n Encoder Compare Auto increment value 24 bits units of counts Chan 9 10 Hex 097 SCO9F 64 ACC 14M MACRO Station Memory and I O Map
76. rameters 6 SSS Reset Station to SAVed station number and initialization parameters 7 STN n lt n 0 254 gt Assigns the MACRO station number Normally this would be its order in the Ring A STN 0 resets the station number and is reserved for the Ring Controller Master 8 Commands with STN 0 is a broadcast to all stations in Ring 9 Commands with STN 255 is a request for communication with the 1 station in Ring with its STN 0 10 Commands with STN 1 254 is a request for communication with the station in Ring with STN 1 254 11 STN The addressed MACRO Station responds with its station number n 12 STN n where n 0 254 Set the addressed MACRO Station s STN to n Note The station will stop responding to you ACC 14M MACRO Station I O Transfer 27 Accessory 14M Firmware Updates Downloading new firmware to the MACRO IO Device is a simple process once the MACRO board is set up properly To download new firmware to the MACRO IO Device obtain the following items e Two jumpers e USB Cable e Install drivers for MACRO IO USB Device from http www fidichip com Usually PEWIN Pro will install the driver and the board should automatically be seen by the operating system e MACRO Firmware Download Software MacroFWDown exe e New firmware file MACROIO bin To download the software to the MACRO Device do the following 1 Copy the firmware into
77. respond In addition MI11 can be set with the ASCII command STN constant and the value of MI11 can be queried with the ASCII command STN MS anynode MI12 Card Identification Range 0 FFFFFF Units none Default 9365D 603741 This returns the card part number This is the same as the CID ASCII command MS anynode MI13 Reserved for Future Use Range 0 Units none Default 0 32 ACC 14M MACRO Station Serial Commands Accessory 14M MS anynode MI14 Input Output Configuration Range 0 3 Units none Default 0 This MI variable must be set SAVEd and then before it is activated MI4 status bits 15 16 give the setup state of the 48 I O bits determined by MI14 The following table provides the four possible configuration states ACC14M MACRO 72 Bit Node 24 Input 24 INPUT OUTPUT FORMAT MI14 0 1 X IO or Y Axis Node MI14 0 0 MI14 1 0 1 Node amp Default Command to I O INPUT OUTPUT 24 DAC 1 DAC 2 Flag Command tati 4 Station d Channel 1 Channel 2 Feedback from MI O Input 0 23 ADC 1 08 23 bits ADC 2 08 23 bits Flag Status Stati oa Channel 1 Channel 2 ACC14M MACRO 72 Bit Node 48 INPUT OUTPUT FORMAT MI14 1 1 X IO or Y Axis MI14 0 1 MI14 1 0 x Nodes Two consecutive ssa must be ahha in aba Command to I O INPUT OUTPUT 0 DAC 1 DAC 2 Flag Command Ga cd al Feedback from MI O Not used ADC 1 08 23 bits ADC 2 08 23 bits Flag Statu
78. run errors If MI9 errors have occurred in the MI8 check period and at least half of these errors are byte violation errors the station will conclude that there is a ring break immediately upstream of it if there are no ring input communications to the station there will be continual byte violation errors In this case not only will it set its servo command output values to zero set its amplifier enable outputs to the disable state and force all of its digital outputs to zero also it will turn itself into a master so it can report to other devices downstream on the ring If MI9 is set to O at power on reset the ACC 14MMACRO Station will set it to 4 automatically ACC 14M MACRO Station Serial Commands 31 Accessory 14M MS anynode MI10 MACRO Sync Packet Shutdown Count Range 0 65 535 Units none Default 4 MI10 determines the number of MACRO ring sync packets that must be received during a check period for the station to consider the ring to be working properly If the station detects fewer than MI10 sync packets in MI8 phase MACRO ring cycles it will shut down on a MACRO communications fault setting its servo command output values to zero setting its amplifier enable outputs to the disable state and forcing all of its digital outputs to their shutdown state as defined by 172 189 The node number 0 15 of the sync packet is determined by bits 16 19 of station variable MI996 On the ACC 14M MACRO Station this is nod
79. s pena 02 30 bell 2 X IO or Y Axis Always the next consecutive X or Y Node Ea 0 24 a 1 16 bit 2 16 bit 3 16 EC a to I O asi 24 Not used Not used Not e Station 47 Feedback from MI O Not used Not used Not used Not used Station ACC14M MACRO 72 Bit Node 48 Input FORMAT MI14 2 1 X IO or Y Axis MI14 0 0 MI 14 1 1 3 Nodes Two consecutive kia must 2 enabled in MI1996 Command to I O Not used DAC 1 DAC 2 Flag Command ee DO a me Feedback from MI O Input 0 23 ADC 1 08 23 bits ADC 2 08 23 bits Flag Status Ed il li nel 2 X IO or Y Axis Always the next consecutive X or Y Node Register 0 24 bit 1 16 bit 2 16 bit 3 16 bit Command to I O Not used Not used Not used Not used Station ACC 14M MACRO Station Serial Commands 33 Accessory 14M a a ACC14 MACRO 72 Bit Node 24 INPUT OUTPUT 24 Input FORMAT MI14 3 1 X IO or Y Axis MI14 0 1 MI14 1 1 1 Node eae to I O INPUT OUTPUT 0 DAC 1 DAC 2 Flag Command 23 araon Channel 1 Channel 2 Feedback from MI O Input 24 47 ADC 1 08 23 bits ADC 2 08 23 bits Flag Status bi Channel 1 Channel 2 Note the 72 bit I O can be done on a Y Axis or X IO Node MSfanynode M115 Enable MACRO PLCC Range 0 1 Units none Default 0 MI15 enables and disables the PLCCs running in the ACC 14M MACRO CPU MACRO IC MI Variables Each MACRO IC 0 amp 1 has its own set of these v
80. s M1996 It is now setup for the normal 72 bit and 48 bit I O exchange between the Master and Slave Station the ACC 14M To come back and communicate with this Station in the ASCII data exchange its station number STN is set normally to its order on the Ring Once this is done the Ring Order attempts to find the next station on the Ring that has not been setup for Ring Order STN 0 Control T is entered It terminates the ASCII communication transfer between the Ring Controller and the Station and returns to normal communication with the Ring Controller At a minimum the user must set the following I variables to enable MACRO ASCII mode communications 16840 4030 sto enable MACRO ICO as sync master and node 14 for auxiliary communications I16841 S0FCxxx to enable node 15 and 14 If activating nodes 0 1 4 5 we would set 16841 0FC033 179 32 Timeout value for Node 14 Auxiliary communications If the customer is using more than one MACRO IC then they will setup 16890 16891 16940 16941 16990 and 16991 appropriately Once the communication variables are modified they must be saved to the memory of the controller with the save command and then reset the controller with either a SSS command or power cycle the controller Note The PMAC Controller will be able to communicate to the MACRO Device in MACRO ASCII communication mode after the unit has been reset with the changes saved to its memory This can be done by cycl
81. s not matter The valid C commands are C1 Clear station faults C2 Reset station loading saved station MI variables C3 Re initialize station loading default station MI variables C4 Save station MI variables to non volatile memory Examples MSO MI910 7 sets Node 0 variable MI910 to 7 MS8 C4 0 Clears faults on ACC 14MMACRO Station with active node 8 MS Variable Read Copy Syntax MACROSLVREAD node slave MI variable PMAC variable MSR node slave MI MM or MP variable PMAC variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the variable is not node specific the number of any active node on the station may be used ACC 14M MACRO Station Memory and I O Map 53 Accessory 14M slave MI MM or MP variable is the name oftheMI MM or MP variable on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMAC into which the value of the slave station variable is to be copied This command copies the value of the specified MI MM or MP variable on the MACRO slave station into the specified variable on PMAC The variable on the PMAC or PMAC2 can be any of the I P Q or M variable on the card If this command is issued to a PMAC while a PLC buffer is open it will be stored in the buffer as a PLC command not executed as an on line command Examples MSO MI910 P1 Copies value of ACC 14M MACRO Station No
82. s pleats NG NA E AA A cabs sapien NAA AN AE 4 MACRO Link Connectors amin bas BANGGI INN E E KG PN BABUBARUD ANDA GLAREGTAN 4 DB 15 Option 1 CONNCCIOP msama a anG BNG BANANA ashe NANALANGIN suasuagioes ian 4 Relay Status LED Indichors sis NANGGAD ANAND NINA I DID DATING ANAND NAGANA 4 Inputs and Outputs Terminal Blocks J4 and I5 ccccccccsccecssscesesseeseeseeeecuseesceseeseeseceeecseeecnseeseeseeseeseseeseeeeneneens 3 E Point Jumper Description isc c sceache cess esetcs es ssecescedzedenesascesacoaseusstestecatevscetuedsasevedseaesteazidaecedietdsccaussdedsacevtceucungeesiictses 5 CONNECTORS DESCRIPTION iscsscssssasoasssoussnesvonssuesuonsensensusondsnoussusevondenessousensssonsonsenousenssvonseuessousensssonsevessonasvorvenns 6 USB Universal Serial Bus POND RED MADAIG sa suns SNEP Eee OEA P aE iaip aeni ERER ASEE R 6 SANDO pU kpa AINA E E O E E E a TANG E E cases 6 MACRO RJ 45 Copper Connectors aan GANA ioiii Ee eenn EAE EKOE SEE E EEEE NE EEE EEEn 6 MACRO Fiber Optic Connector neiseis riisi eea eer NUNG KANING 7 U17 MACRO Fiber Optic Connector OPT A B 1201 10m aanaa napana pan NANANA NAA 7 Main IO Connectors J4 and TI ARN ANA TINGAN NGA 8 JA 50 Pin Header na veh cawesniuy sions EE EEE EEE E aE ANAN AD AA enn EESE peau 8 JD 30 Pin Header nasa akan NANANA cocsichaevess a EOS ONE ND ADA DAANG AA 9 OPT 1 DB 15 COMNECtOk oc 020028 10 SOFTWARE SETUP AG GANA Na NAGTANGKA 11 ACC14M MACRO 72 Bit Node 24 Inputs 24 Outputs FORMAT w Outpu
83. signing a value to MI198 then either reading M1199 or writing to it MI198 is a 24 bit variable that can be expressed as six hexadecimal digits The low 16 bits represented by the last four hex digits represent the ACC 14M MACRO Station address of the register The high eight bits represented by the first two hex digits represent the format of that address The following table shows the legal entries for the first two digits and the format each represents For example for the host computer to read the contents of the DACIA register as a signed quantity the high 16 bits of Y C002 of the ACC 14M MACRO Station through a PMAC board M1198 would be set to 6DC002 then MI199 would be read For a ACC 14M MACRO Station with an active node 0 this could be done with the on line commands MSO MI198 6DC002 MSO MI199 16384 In another example to read the state of Channel 2 s encoder A input bit 12 of X C008 through a PMAC board MI198 would be set to 8CC008 then MI99 would be read ACC 14M MACRO Station Serial Commands 35 Accessory 14M M1198 Format Digits MI198 Address Starting Bit Format MI198 Address Starting Bit Format Digits Space Bit Width Digits Space Bit Width S00 Y 0 2 U S80 X 0 1 U 01 Y 2 2 U 81 X 1 1 U 02 Y 4 2 U 82 X 2 1
84. t Status LED Indicators 24V When lit this LED indicates that 24V is applied to the unit PWR When lit this LED indicates that proper power is applied to the logic circuits WD When lit this LED indicates that the watchdog safety circuit is activated indicating a failure condition 7 Segment LED Indicator This indicator reports the status of the unit with respect to the MACRO link These are the possible status codes 0 Ring Active with no errors 1 9 NA a NA b Ring break fault C Configuration change fault d Ring data error fault e NA f Momentary ring fault USB Connector This connector is used to perform some software diagnostic procedures or to download the operational firmware This connector is used in conjunction with the PEWIN32 Pro or equivalent software package 24V Input Connector Power is applied to the unit through this connector The power requirement for logic is 300mA 24VDC The power requirement for the outputs is 50mA per each 2 4A if all 48 are used MACRO Link Connectors The unit can be ordered to use either RJ45 connectors with twisted pair copper wires or a fiber optic connection In either case there will be an input and an output connector and both are used to connect to the MACRO link The input connector is tied to the MACRO output connector of the previous device on the link The output connector connects to the input MACRO connector of the next device on the link DB 15 Option 1 C
85. t this process until you get a MACRO I O error telling you that there are no further unassigned stations 2 Enter MACSTA lt n gt where n is the Station number Enter 1996 F 4004 Binds to Ring Controller 0 amp Node2 Noa Km Do MO gt X 78420 24 M1 gt X 78421 8 16 S M2 gt X 78422 8 16 S M3 gt X 78423 0 24 M4 gt X 78421 8 16 S M5 gt X 78422 8 16 S Enter T Control T terminates MACRO ASCII Communications Enter MSCLRE2 Clears any faults Enter 16841 16841 0FC004 Enable Node 2 Set up M Variables for I O as follows 24 bit I O 7 DAC 1 output r d r F DAC 2 output AENA 1 2 output command ADC 1 Input ADC 2 Input 7 Test with the I O if I O is powered properly and not connected to machine devices PUT OUTPUT LEDs in the 55 pattern PUT OUTPUT LEDs in the AA pattern The AENA 1 The AENA 2 M0 555555 MO SAAAAAA M3 80000 M3 100000 M1 653 M2 653 M4 amp M5 DAC DAC_ 7 ADC _ The IN The IN LED on and the relay closed LED on and the relay closed 1 outputs at 1V 2 outputs at 1V 1 2 inputs ACC 14M MACRO Station I O Transfer 15 Accessory 14M USING ACC 14M FOR INPUTS AND OUTPUTS For general purpose inputs and outputs the ACC 14M can be used as follows INPUTS OUTPUTS M114 Comments 24 24 0 Default J4 is Input Port and J5 is Output Port Uses one IO Node 0
86. t will be stored in the buffer as a PLC command not executed as an on line command Examples MSWO MI910 P35 Copies value of PMAC P35 into ACC 14MMACRO Station node 0 variable MI910 MSW4 C4 PO Causes ACC 14MMACRO Station with active node 4 to save its MI variable values to non volatile memory PO is a dummy variable here 54 ACC 14M MACRO Station Memory and I O Map Accessory 14M Turbo PMAC PLC Commands for Type 1 ACC 14M MACRO Stations MS Variable Read Copy Syntax MACROSLVREAD node slave MI variable PMAC variable MSR node slave MI MM or MP variable PMAC variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the variable is not node specific the number of any active node on the station may be used slave MI MM or MP variable is the name of the MI variable on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMAC into which the value of the slave station variable is to be copied This command copies the value of the specified MI variable on the MACRO slave station into the specified variable on PMAC The MI variable on the MACRO slave station can be global to the station or node specific The variable on the PMAC or PMAC2 can be any of the I P Q or M variables on the card If this command is issued to a PMAC while no PLC buffer is open it will be executed as an on line com
87. tation s memory and I O map in order to read a value directly from that register or write a value directly to that register This permits easy access to any register on the ACC 14M MACRO Station The address of the register to be accessed which part of the register and how the data is to be interpreted is set by MI198 The value of MI198 must be set properly before MI199 can be used to access the register For repeated access of the same register with MI199 MI198 needs to be set once only Example MSO MI198 79C03C Set to Y C03C 0 24 S PFM8 command value MSO MI199 Request value of this register 0 PMAC reports this value MSO MI199 65536 Set to new value through PMAC Global MACRO Status MI Variables These variables are used to help identify the MACRO Servo and I O boards located in the UBUS rack They are similar to the Turbo PMAC 14900 type variables They are global to the CPU and not a function of the MACRO IC MS anynode MI203 Phase Period Range 0 Units Clock units 2 Default 1540 9KHZ MS anynode MI204 Phase Execution Time Range 0 Units Clock units 2 Normal S4D EO Phase duty cycle MI1204 M1203 100 It should be lt 50 Yo MS anynode MI205 Background Cycle Time Range 0 Units Clock units 2 Default 0 The last background cycle time MS anynode MI206 Maximum Background Cycle Time Range 0 Units Clock units 2 Default 0 The maximum
88. tatus Flag UserSatus3 B22 Fast User Defined Status Flag UserSatus4 B23 Fast User Status Flag UserSatus5 To use this card the user will have to establish communications using the ring order method to activate the nodes at MACRO Slave Device ACC 14M The user must also activate the nodes at the MACRO Master Device typically an Ultralite to allow communications from the Master to the Slave Once communications is working properly the user can then setup the inputs and outputs or feedback devices The following sections will show the user how to setup e Ring Order Method of Communications e General Purpose Inputs and outputs on ACC 14M e Setting up Feedback Devices on ACC 14M ACC 14M MACRO Station I O Transfer 13 Accessory 14M ASCII Ring Order Initial Binding of the ACC 14M Station To initially bind the ACC 14M to a MACRO Master the Ring Order method is used When this is used the Ring Controller sends a command out on the Ring in the ASCII communication protocol It is asking to talk to the first MACRO Station that does not have a Station Number MI1 1 0 or STN 0 When this communication state is entered the Ring Controller is now talking to the MACRO Station in an ASCII data exchange mode That Station can be either another Turbo PMAC MACRO Station or Slave Station like the ACC 14M Once communication is established the developer at the Ring Controller binds the Station to a Master and Node It sets the Slave Station
89. to Servo Clock Frequency must be an integer On the ACC 14M MACRO Station MI998 should always be set to 0 so the servo clock frequency is equal to the phase clock frequency ACC 14M MACRO Station Serial Commands 45 Accessory 14M MS anynode MI999 Handwheel DAC Strobe Word Not Used Range 5000000 SFFFFFF Units Serial Data Stream MSB first starting on rising edge of phase clock Default 7FFFCO for 18 bit DAC data Other ACC 14M MACRO Station Mm amp MP Variables The ACC 14M MACRO CPU has 512 MM and 512 MP variables The MM variables are similar to the PMAC X Y types which are to 24 bit integer data types The MP variables are general purpose 24 bit integer data types ACC 14M MACRO STATION MACPLCCS The Open MACPLCC compiler in PewinPro is used to compile the MACRO PLCC program that runs in the ACC 14M MACRO CPU It is designed to handle a limited version of the standard PMAC PLCC programming commands and it will include some new ones The MACPLCC code is run in the background process of the ACC 14M MACRO CPU The additions and limitations to the standard PMAC PLC commands are defined below Requirements Turbo PMAC CPU with version 1 939 and greater and the ACC 14M MACRO station restricted to 8K of PLCC memory and from X Y 700 13FF of data memory Arithmetic Data Types 1 Integer 24 bit signed integer unsigned is not available 2 Integer 1 4 8 12 16 20 bit unsigned or si
90. trical 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 REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 NEW MANUAL 07 21 09 C PERRY S SATTARI 2 UPDATED 16 BIT ADC OPTION 12 08 09 C PERRY S FIERRO Accessory 14M TABLE OF CONTENTS INTRODUCTION pna aa KRING E E TE EE GIG I HAL GANSA 1 AE 2 HARDWARE REFERENCE SUMMARY csssssssssssssessssscssssssecsesseseesesseseesessesecsessenesseseeessesessessesecsessesecseesessesess 3 Mechanical Dayout naaa ADAN AA A E 3 Board Wt 410 a a AA AA Ea an eee eer nce NA reir 4 Connectors and IidiCatOns es aT aa naaa uses ets ise aala ana hanna 4 Inputs and Outputs LED Indicators ccccccccceecceseeseesetseesecseeecnseescuceeseesenseescesecseeaecseeeceeesesseeaeeaesieeeeneserenaeeseeaees 4 Status LED INdiCQtOMS amain pana tens BAKUBA subs cues E tabvanedacdsdvess cdsenesteagetentavsi vata ver ESES Eo SESS 4 7 Segment LED Indicator oireena aa suai BANAT NANA GRADE ANA GANAN 4 EN AGO saa sbansabea guadebeasinsdneadnsasbae Sen saeiasandas cagens EEEE EENES 4 24V Input Connector eera less tue ob
91. trol All bits O Non inverting 1 Inverting General I O Data Type Control Register Do not change 0 1 024 Data Type Control 7 1 031 Data Type Control These bits are always 1 there is no alternate mode for these lines 8 23 Not used General I O Data Inversion Control 0 1 024 Inversion Control 7 1 031 Inversion Control All bits O Non inverting 1 Inverting 8 23 Not used Data Type Control Register Do not change 0 DATO Data Type Control O ENCC9 1 DATO 1 DATI Data Type Control O ENCC10 1 DAT1 2 DAT2 Data Type Control 0 Fault9 1 DAT2 ACC 14M MACRO Station Memory and I O Map 59 Accessory 14M X C086 Bits Y SC087 Bits X SC087 Bits 3 DAT3 Data Type Control 0 Fault10 1 DAT3 4 DAT4 Data Type Control O EQU9 1 DAT4 5 DATS Data Type Control O EQU10 1 DATS 6 DAT6 Data Type Control O AENA9 1 DAT6 7 DAT 7 Data Type Control O AENA10 1 DAT7 8 SELO Data Type Control 0 ADC_STROB 1 SEL0 9 SEL1 Data Type Control O ADC_CLK 1 SEL1 10 SEL2 Data Type Control O ADC A9 1 SEL2 11 SEL3 Data Type Control ADC B9 1 SEL3 12 SEL4 Data Type Control O ADC A10 1 SEL4 13 SEL5 Data Type Control N ADC B10 1 SEL5 14 SEL6 Data Type Control O SCLK 1 SEL6 15 SEL7 Data Type Control O SCLK DIR 1 SEL7 All bits O dedicated hardware I O 1 general I O All bits must be 0 for use with ACC 1E 2 axis piggyback board 16 23 Not used JTHW Port Data Inversion Contro
92. ts high 24 bit word eee 11 ACC14M MACRO 72 Bit Node 48 Outputs FORMAT oc eeeeceecceseeceesecneeeeceeeeeceaeeeceaecaeseeeneeseceaeeeeeaesaeeeeeneeeres 11 ACC14M MACRO 72 Bit Node 48 Inputs FORMAT ceeeceeceesceseeeeesecseeseceeeeceaeeeeeaecaeeeeeaeeseceaeeneeaesaeeeeeneretes 11 ACC14M MACRO 72 Bit Node 24 Outputs 24 Inputs FORMAT w Outputs low 24 bit Word 7200 mssas 12 ASCII Ring Order Initial Binding of the ACC 14M Station cccccccscssecsceesseeseeeeeeeeeeseceeenseeeaeceaeeeeneenteeeaeeeaes 14 Establishing Communications with the ACC 14M Station ccccccccscsscesesscescesesseenecnessecuseesenseeseesecaeeaeseseeensentents 14 USING ACC 14M FOR INPUTS AND OUTPUTS csscssssssssssssssssccssssesssesssessssesscsseesessssseesesssesnsssssesseeserseees 16 MI14 Mode Setting 0 or 3 24 inputs and 24 outputs ADD mode 1 and 2 noes 16 USING OPTION 1 ADC S DAC S RELAY S cssssssscssesessssscssrscssesesssesseessesessseseesoessesesssessesssesesseeseesossoees 18 Using the ACC LAME ADC ama ans JA LA naan 18 Using the ACC 14M DAC Output ccccccecceeseessesseeeseeeeesecesecnsecnaecsaecaaecaeecaeeeaesneseesseseseseeeseesaeceaecaecneeeaeeeaes 19 Using the ACC 14M Amplifier Enable Outputs 0 cc cecccccscsssceseeeseceseceecseecseeeneeseeeeeceeeeseensecaecaeeaecaecneeeaeeenes 20 USING ACC 14M FOR SERVO FEEDBACK 1 cscsssscssssssssscessscsseesssesscsssseseessssessesesesecsessesecsessesecesseseeessesees 21 Ex
93. uld be jumpered 1 to 2 for OCLK1 OCLK2 respectively If a falling edge is required E5 should be jumpered 2 to 3 The encoder latched indicator is brought into ACC 14M via the ICLK1 2 inputs see J4 amp J5 pinouts If the encoder outputs a rising edge for its latch indicator then E7 E9 should be jumpered so that a rising ICLK latches the data when the servo is low Ifa falling edge indicator is output E7 E9 should not be jumpered so that a falling ICLK latches the data when the servo is low The control words for the data must be setup for latching to allow the ACC 14M to latch the data Required Signal High OCLK means latch High ICLK means latched Low OCLK means latch High ICLK means latched High OCLK means latch Low ICLK means latched Low OCLK means latch Low ICLK means latched The advantages and disadvantages of this method are as follows Advantage Can only read latched encoder data Have full handshaking between PMAC and encoder Disadvantage Typically encoder s output latch must happen within 2 usec More complex wiring and timing ACC 14M MACRO Station I O Transfer 25 Accessory 14M Method 5 This method requires no latching on the encoder outputs and latching on the ACC 14M inputs at the falling edge of the servo clock For the encoder no signals are used so the state of the OCLK does not matter E7 E9 must be jumpered and latching must be enabled from the
94. variable 0 1023 constant represents the numerical value to be written to the Station MI variable or PMAC variable specifies the value to be copied to or from the Station MI variable For most Station MI variables the node specifier can take the number of any active node on the station usually the lowest numbered active node These variables have MS anynode jin the header of their descriptions below Global MI Variables MS anynode MIO Station Firmware Version Read Only Range 1 200 1 999 Units Revision numbers This variable when queried reports the version of the firmware on the ACC 14M MACRO Station Example MSO MIO 1 200 MS anynode MI1 Station Firmware Date Read Only Range 01 01 00 12 31 99 Units MM DD YY This variable when queried reports the date of implementation of the firmware on the ACC 14M MACRO Station The date is reported in the North American style of month day year with two decimal digits for each Since the year is reported with only two digits it rolls over at the turn of a century If the software makes any date comparisons based on this year value care must be taken to avoid a Y2K error The earliest firmware date for the ACC 14M MACRO Station is in year 2003 The PMAC command MSDATE which polls this value turns the year into a 4 digit value before reporting the value to the host computer MS anynode MI2 Station ID and User Configuration Word Rang

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