Delta Tau 16-AXIS Reference Manual
Contents
1. Acc F 3U DC to DC Converter 10A 30F 603216 OPT Power Supplies AC Input Acc E 3U AC Power Supply 8A 30E 603269 OPT Acc E1 3U AC Power Supply 14A 31E 603269 OPT Acc E2 AC Power Supply 20A 32E 603468 OPT UMAC Chassis 3U Rack 10 1 2 Slot 42T 3U Rack 15 3 4 Slot 63T 3U Rack 21 Slot 84T Assemblies Rack 542 602932 10x 563 602932 10x 584 602932 10x 3U Rack Variable Width per Customer Requirements custom design 500 602932 10x 22 Accessories 16 Axis MACRO CPU Hardware Reference Manual DECLARATION OF CONFORMITY Application of Council Directive 89 336 EEC 72 23 EEC Manufacturers Name Delta Tau Data Systems Inc Manufacturers Address 21314 Lassen Street Chatsworth CA 91311 USA We Delta Tau Data Systems Inc hereby declare that the product Product Name MACRO16 CPU Model Number 603719 And all of its options conforms to the following standards EN61326 1997 Electrical equipment for measurement control and laboratory use EMC requirements EN55011 1998 Limits and methods of measurements of radio disturbance characteristics of information technology equipment EN61010 1 Electrical equipment for measurement control and laboratory use Safety requirements EN61000 3 2 1995 Limits for harmonic current emissions Criteria A A14 1998 EN61000 3 3 1995 Limitation of voltage fluctuations and flicker in low voltage supply systems for equipment with2. g a000 GoOoo Mii Jumper Descriptions E1 Watchdog Timer Disable Jumper Type Description Default 2 Pi Remove jumper to enable Watchdog Timer not jumpered Pin Jump pins 1 and 2 to disable Watchdog Timer for test purposes only E2 CPU Mode Operation Jumper Type Description Default 3 P Jump pins 1 and 2 for firmware download through serial port Pin 2 3 ae Jump pins 2 and 3 for normal operation E3 Serial Port Baud Rate Jumper Type Description Default 2 Pin Jump pins 1 and 2 for 9600 baud serial port operation Remove jumper not jumpered for 38400 Baud E4 Power Supply Loss Control 15Vdc Supply Monitor Jumper Type Description Default Jump pins 1 and 2 to disable servo outputs on loss of 5V 15V or 15V not jumpered power supply 2 Pin Remove this jumper to monitor 5 Vdc power supply only Usually 15V supply monitoring is not required for applications without DACs or A D converters E40 MACRO Input Fiber Wired Selector Jumper Type Description Default gt Pi Remove jumper to select MACRO wired RJ45 input from J14 Jumpered Option A Pin Jump pins 1 and 2 to select MACRO fiber optic input from U73 Not jumpered Option C Jumper and Switch Configurations 16 Axis MACRO CPU Hardware Reference Manual Switch Configurations SW1 MACRO Slave Node Configure SW1 Select T O Nodes Servo Nodes Node Servo IC Nodes Y 1181 188 Enabled Ena
3. 4 HWA1 Also pulse input 5 HWBI1 Also direction input 6 HWBI Also direction input 7 HWA24 Also pulse input 8 HWA2 Also pulse input 9 HWB2 Also direction input 10 Also direction input 11 PULI4 Also PWM bottom output 12 PULI Also PWM bottom output 13 DIRI Also PWM top output DIRI Also PWM top output 15 PUL2 Also PWM bottom output 16 PUL2 Also PWM bottom output 17 DIR2 Also PWM top output 18 DIR2 Also PWM top output 19 20 To power external circuitry The VHW connector provides for two 2 channel encoder inputs and two sets of pulse outputs amp 16 Connector Pinouts 16 Axis MACRO CPU Hardware Reference Manual J4 JRS232 Serial Port Connector DB9 pin Female ee No connection G eee ee al pO DSR Bidirect__ DataSetReady JusttiedtoDTR _ __ _ GND Common MACRO Common J S O N C DSR ND 8 RTS Output RequesttoSend PMAC Ready bit poo Nne Noconnection po Connector Pinouts 17 16 Axis MACRO CPU Hardware Reference Manual 18 Connector Pinouts 16 Axis MACRO CPU Hardware Reference Manual HARDWARE MEMORY MAP The values in this table represent the hardware locations associated with register based transactions that occur in the 16 Axis MACRO CPU Reference ADDR hex Description CS00 FFCO Stack I O select 1 not used with MACRO 16 Axis CPU CS0
4. an external MACRO compatible device like a PMAC2 Ultralite or a UMAC Turbo system The UMAC MACRO does not support a PC 104 or communication accessories and it is preferred for distributed control over a MACRO ring connection Stack Products Turbo Stack The Turbo stack is composed of a 3U format Turbo PMAC2 CPU board and a set of accessory boards in 3U format plugged to it in a stack configuration The Turbo stack configuration is less expensive than the UMAC Turbo system but it is limited to eight axes of motion control versus 32 axes on a UMAC Turbo system The Turbo Stack is selected over a UMAC Turbo system because is more compact allowing its installation inside already existing cabinets with some space limitations MACRO Stack O The MACRO stack is composed of a MACRO Interface CPU board and a set of accessory boards in 3U format plugged to it in a stack configuration The UMAC MACRO must receive commands from an external MACRO compatible device like a PMAC2 Ultralite or a UMAC Turbo system The MACRO Stack is selected over a UMAC MACRO system because it is more compact allowing its installation inside already existing cabinets with some space limitations Introduction 16 Axis MACRO CPU Hardware Reference Manual Configuration The purchase of the 3U 16 Axis MACRO CPU board provides a 3U format 100mm x 160mm board with a DSP processor MACRO ring circuitry and a backplane connector through which o
5. optical fiber output connections to the MACRO ring With the component side of the board up and the opening facing front the input socket is on the right and the output socket is on the left these are marked on the component RJ45 Electrical Ring Connection The J14 connector is used for the input from the previous station on the MACRO ring if electrical connection is used and the J17 connector is used for the output to the next station on the MACRO ring Backplane UBUS Expansion Port The P2 96 pin DIN header is used to connect to expansion port accessories such as the Acc 9E 10E 11E 12E and 14E I O boards or the Acc 24E2x axis boards through an Acc Ux UBUS backplane board It can be used also to bring in 5V power and optionally 15V power from a backplane or breakout board to the entire MACRO Station Power Terminal Block The TB1 4 point terminal block can be used to bring in 5V power and optionally 15V power to the entire MACRO Station In a UMAC pack configuration usually the power is brought in through the backplane Watchdog Terminal Block The TB2 4 point terminal block can be used to send normally opened or open normally closed circuits in the event of a watchdog failure at the 16 Axis MACRO CPU 6 Hardware Setup 16 Axis MACRO CPU Hardware Reference Manual Hardware Re initialization MACRO hardware re initialization to factory defaults is enabled when the SW1 setting is set to 15 or F hexadecimal and the pow
6. 16 Axis MACRO CPU Preliminary Documentation DELTA TAU Data Systems Inc CE NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2010 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damag
7. 2 FFC8 Stack I O select 2 not used with MACRO 16 Axis CPU CS04 FFDO Stack I O select 3 not used with MACRO 16 Axis CPU CS06 FFD8 Stack I O select 4 not used with MACRO 16 Axis CPU CS0 C000 Stack axis 1 4 select not used with MACRO 16 Axis CPU CS1 C020 Stack axis 5 8 select not used with MACRO 16 Axis CPU CS2 8000 UBUS backplane axis 1 8 select CS3 8040 UBUS backplane axis 5 8 select CS4 C080 On board DSPGATE2 select CS4X COCO UBUS backplane MACROGATE or DSPGATE2 select CS4 on UBUS CS10 8800 9800 UBUS backplane I O select 1 A800 B800 CS12 8840 9840 UBUS backplane I O select 2 A840 B840 CS14 8880 9880 UBUS backplane I O select 3 A880 B880 CS16 88C0 98CO UBUS backplane I O select 4 A8C0 B8C0 MEMCS0 D000 UBUS hardware I O field was DPRCS MEMCS1 E000 UBUS hardware I O field was VMECS The addressing field size is 16 bits in the 3U 16 Axis MACRO CPU The address table above is similar to the PMAC2 product line Hardware Memory Map 19 16 Axis MACRO CPU Hardware Reference Manual 20 Hardware Memory Map 16 Axis MACRO CPU Hardware Reference Manual ACCESSORIES Both the Turbo and the 16 Axis MACRO CPU boards can support either the Stack or the UMAC configuration The systems are configured modularly with the selection of a series of accessory boards some appropriate for the Stack and some appropriate for the UMAC These accessories are list
8. ACRO CPU for larger up to 16 axes applications 3U Product Configurations General Description UMAC MACRO Station Configuration Assemblies of 3U format boards can be made with either of two CPU processor boards a 3BU MACRO CPU board or a 3U Turbo PMAC2 CPU board Most other 3U format boards labeled Accessory boards can be used with either CPU board e When the 3U 16 Axis MACRO CPU board is used the resulting assemblies are called UMAC MACRO or 3U MACRO Stack e When the 3U Turbo PMAC2 CPU board is used the resulting assemblies are called UMAC Turbo or Turbo Stack Refer to the UMAC Product Guide for more detailed descriptions of how the rack and stack products are integrated UMAC and 3U Stack Products UMAC Products UMAC Turbo Chall di The UMAC Turbo is composed of a 3U format Turbo PMAC2 CPU board and a set of accessory boards in 3U format all plugged in a common UBUS backplane and installed inside a 3U format rack A PC 104 computer and several optional communication accessories including all of the major FieldBuses MACRO and Ethernet can be installed inside the UMAC system providing convenient flexibility and virtually unlimited expandability UMAC MACRO The UMAC MACRO is composed of a MACRO Interface CPU board and a set of accessory boards in 3U format all plugged in a common UBUS backplane and installed inside a 3U format rack The UMAC MACRO must receive commands from
9. C2 even though they may be a great distance away The only interface needed from the PMAC2 is the electrically isolated MACRO ring Typically a PMAC2 Turbo Ultralite board one without any of its own servo interface circuitry is used with the MACRO Station to provide the most cost effective solution 16 Axis MACRO CPU 3U Board 3A0 603719 10x e 100MHz DSP56309 CPU e 512k x 8 flash memory for user backup and firmware e Latest released firmware version e RS 232 serial interface for setup and debugging e UBUS connector for backplane connection to servo and I O accessory boards e JHW H W Pulse Dir port with 20 pin IDC header e JDISP Standard PMAC Display 14 pin header The 16 Axis MACRO CPU can only be configured as a UMAC MACRO configuration The older generation MACRO8 CPU can be used as either a UMAC MACRO or a MACRO Stack Introduction 1 16 Axis MACRO CPU Hardware Reference Manual UMAC MACRO In this configuration once called Pack the 3U format boards are put together to communicate through a backplane bus called the UBUS All boards are installed in a Euro card rack In this configuration all 3U format boards or modules can be installed or withdrawn from the pack individually providing ease of installation debugging and repair The photo at the upper right shows a UMAC rack with power supply and I O boards that are connected through a backplane This system allows for an easier integration of the 3U 16x M
10. GND DAT6 BSO GND 16 BAO1 SEL6 BAOO 17 BAO3 DAT7 BA02 18 BX Y SEL7 BA04 n c 19 CS3 BAO6 n c CS2 20 BAOS CS7 BAO7 n c CS4 CS6 21 CS12 BAO8 n c CS10 22 CS16 BAO9 n c CS14 23 BA13 n c BA1O0 n c BA12 n c 24 BRD BA11 n c BWR 25 BS3 GND MEMCS0 n c BS2 GND 26 n c MEMCSI n c RESET 27 PHASE n c SERVO 28 PHASE n c n c SERVO n c 29 GND n c GND 30 15Vdc PWRGUD n c 15Vdc 31 GND GND GND 32 5Vdc 5Vde 5Vdc 1 Refer to the UBUS Specification for detailed signal descriptions This interface is not VME bus compatible 2 Items shown in parentheses represent pin descriptions for 104 and earlier revision MACRO CPU boards Connector Pinouts 15 16 Axis MACRO CPU Hardware Reference Manual Daughter Board Connections 603720 J2 JDISP Display Connector Pin Symbol Function Description Notes Power supply out TTL signal out Contrast adjust VEE 0 to 5Vdc High is enable TTL signal out 13 14 The JDISP connector is used to drive the 2 line x 24 character Acc 12 2 x 40 Acc 12A LCD or the 2 x 40 vacuum fluorescent ACC 12C display unit The DISPLAY command may be used to send messages and values to the display J3 JHW Handwheel Encoder Connector DlHloJClelrAlA Mm BR w rs Pin Symbol Function Description Notes 1 Reference voltage 2 Supply voltage To power external circuitry 3 HWAI Also pulse input
11. Slot Boards Backplane 300 603462 Backplane Backplane Acc U10 UBUS 10 Slot Backplane 300 603464 10x Acc U16 UBUS 16 Slot Backplane 300 603471 10x 300 603403 10x Acc U12 UBUS 12 Slot Backplane 300 603465 10x Acc U18 UBUS 18 Slot Backplane 300 603491 10x 300 603463 10x Acc U14 UBUS 14 Slot Backplane 300 603466 10x Amplifiers Analog 10VDC Input Brush Motors 4 Axis Analog 10V Input Linear Amplifier 24VDC 0 5 1A 300 603489 10x Backplane Double Analog Amplifier 300 603470 10x 4 Axis Analog 10V Input PWM Amplifier 48VDC 2 4A 300 603443 10x Backplane Single Analog Amplifier 300 603490 10x 4 Axis Analog 10V Input PWM Amplifier 70VDC 8 12A 300 603486 10x Amplifiers Digital PWM Input brushless 2 Axis Digital PWM Amplifier 360VDC 4 8A 400 603391 10x Single Axis Digital PWM Amplifier 360VDC 8 16A 401 603492 10x 2 Axis Digital PWM Macro Amplifier 360VDC 8 16A 400 603392 10x Power Supply for 3U Digital PWM Amplifiers 400 603428 10x Single Axis Digital PWM Macro Amplifier 360VDC 8 16A 401 603391 10x Backplane Digital PWM 300 603435 10x Accessories 21 16 Axis MACRO CPU Hardware Reference Manual 16 Axis MACRO CPU Board Options Board must be ordered with either Option A or Option C Option A fiber optic connectors Option C RJ 45 electrical MACRO connectors Power Supplies DC Input
12. aecsaecsaecaaecaeeaeseaeeeseseeeeeeeseseeeeneenaees 4 Electrical Speciticatons25 cit eect E E e E a eet ened ek ee eee ee 4 EMC and Satetyvs cic cnt ehh beck A oa east see hee epee A ecco e 4 HARD WARE SETU P osoro seoor raoe as opaa aeaeo rosana raoe ee Eae Eo ea Areo SRS sabesesueseacnassetosesucecsusscsctanabcouensscvasestuassace 5 Board Jumper and Switch Summary s ssesesseessseseessesetsreseesessteressestestesttstsstetssesttstestts testets stees testesestestsseetessent eset 5 Boatd Connections ioe es pirates EEEE EEE n EE E Ea aea Se ESTEE EE e RA tants 6 COnnectOr SUMIMALY aE EEE EE RR E EA E E E OEE Go ses es cu 6 Hardware Recinitialt Zati om sicrie iosita i n dee este unthaie cece steesenctdedente sveusentenrsdocsiceofautencdhacenien 7 JUMPER AND SWITCH CONFIGURATIONS csssssscsssssssessssssccssssessesssseseessssesecsesseseessssesecssssesesseseeesseseesees 9 Layout ceneni eieae eE e E EEKE EEE EEEE EE EOE E E EEEE E ET EEE E EEEE EEEE EE EE EEA 9 J mper Descriptions misne sierran R E EEE E ER EE EE ETER EEEE S 9 El Watchdog Timer Disable cccccccccccsecceseeseeseeseeseeseesecseesccesseesecesecaeeesceseeseeseceesecnsseeccecsseeeetevesneeereneeenes 9 E2 CPU MOde Oper Qui On ooc2ais suy s css cons atiexsni se veer dened save e ri i i i iaeei ania 9 E3 Serial Port Baud Rate ccccccccccccccscscsssvssevssesseusseuseeasecaseessesnsesscessessessssesesesusecusecaaecnssensensecasesessenseenessnessaees 9 E4 Power Supply Loss Cont
13. al describes the interfaces and physical hardware that is used on the 3U MACRO CPU The UMAC 16 Axis MACRO CPU provides a remote interface for encoders flags direct PWM digital drives analog drives stepper drives analog I O and digital I O for Delta Tau Data s PMAC products that have a MACRO interface The UMAC 16 Axis MACRO CPU configurations communicate with PMAC2 Ultralites or Turbo PMAC2 Ultralites solely through the MACRO ring interfacing to standard drives encoders flags and T O through on board connectors In almost every case a Turbo Ultralite or UMAC CPU with Acc 5E will be used as the MACRO Master This 16 Axis MACRO CPU integrated packaging and connectivity strategy provides revolutionary flexibility and ease of use A 16 Axis MACRO CPU consists of a set of 3U format Euro cards 100 x 160 mm that can be assembled in a variety of configurations When used in the rack configuration connected through a backplane bus the backplane is UBUS format designed by Delta Tau Data Systems Inc for motion control and I O interfaces When using the fiber optic MACRO interface the 3U MACRO Station can be up to three kilometers two miles away from the PMAC2 Master controller or any other station on the ring When using the RJ 45 copper electrical interface it can be up to 30 meters 100 feet away The 16 Axis MACRO CPU Station allows PMAC2 MACRO controllers to control servo axes and I O just as if they were connected directly to the PMA
14. bled Base Address Enabled 0 0 4 8000 8008 0 1 1181 1182 8010 8018 4 5 1183 1184 1 0 4 8000 8008 8 9 1185 1186 8010 8018 12 13 1187 1188 2 0 2 8000 8008 0 1 1181 1182 3 0 2 8000 8008 4 5 1183 1184 4 0 2 8000 8008 8 9 1185 1186 5 0 2 8000 8008 12 13 1187 1188 6 0 6 8000 8008 0 1 1181 1182 8010 8018 4 5 1183 1184 8040 8048 8 9 1185 1186 7 0 8 8000 8008 0 1 1181 1182 8010 8018 4 5 1183 1184 8040 8058 8 9 1185 1186 8050 8058 12 13 1187 1188 8 2 0 2 3 9 2 0 6 7 10 2 0 10 11 11 4 0 2 3 6 7 12 6 0 2 3 6 7 10 11 13 1 0 11 14 Ring 0 0 8000 8008 None 1181 1182 Order 8010 8018 1183 1184 8040 8058 1185 1186 8050 8058 if 1187 1188 two Servo ICs 15 Equivalent 1 0 11 to a SW2 MACRO IC 0 Master Number Select 0 Commanded from Master IC 0 1 Commanded from Master IC 1 F Commanded from Master IC F 15 10 Jumper and Switch Configurations 16 Axis MACRO CPU Hardware Reference Manual CHARACTER DISPLAY AND LEDS The MACRO Station has a single hexadecimal character display on the CPU Interface Board that provides useful information as to the status of the station The display indicates how many motors are activated and displays certain types of failures that might occur One unique feature on the display is the LED dot in the bottom left corner When this LED is illuminated that means 8 must be added to the nu
15. ed here Each has its own manual with detailed descriptions The following table shows 3U products by function 16 Axis MACRO Board must be ordered Option A fiber optic Option C RJ 45 CPU Board Options with either Option A or connectors electrical MACRO Option C connectors UMAC Backplane Acc 24E2 2 Axis Digital Option 1D Additional 2 Acc 24E2A 2 Axis Mountable PWM 3x0 603397 10x Axis Digital PWM Analog 3x0 603398 10x Accessory Boards Option 1A Additional 2 3D 1 603397 10x Axis Axis Analog Acc 24E2S 4 Axis Stepper 3A1 603398 10x 3x0 603441 10x UMAC Backplane Acc 65E Acc 66E Acc 9E 48 In Acc 10E Isolated 48 Mountable Acc 67E 3x0 603283 10x Output Board Accessory Boards _ Acc 11 Isolated 24 In 24 Acc 12E Isolated 24 In 24 3x0 603299 10x VO Out Board 3x0 603307 10x High Power Out Board Acc 14E 48 I O 3x0 603277 10x 3x0 603472 10x UMAC Backplane Acc 72E UNET Universal Mountable Field Bus Adapter Network Accessory Boards Card Communication UMAC Backplane Acc 28E 16 Bit A D Acc 36E A D D A Acc 51E X 4096 Mountable 3x0 603404 10x Converter 3x0 603483 10x Interpolator Accessory Boards Acc 53 SSI Acc 56E Extender Card ee Miscellaneous 3x0 603360 10x 300 603401 10x Acc 57E Yaskawa or Acc 58E R D Converter 16 Mitsubishi ABS Encoder Bit 3x0 603482 10x Unit 3x0 603484 10x UBUS Backplane Acc U4 UBUS 4 Slot Acc U6 UBUS 6 Slot Acc U8 UBUS 8
16. egend on the component side on the board or by looking at the solder side of the board where pin has a square solder pad Board Jumper and Switch Summary The MACRO Station has two 16 way rotary switches on the 16 Axis MACRO CPU board that establish the station s basic configuration on the MACRO ring SWI Rotary Switch Setting SW1 establishes how many servo nodes and which servo nodes will be used on the MACRO station MACRO IC 0 It also establishes the mapping of MACRO node numbers to MACRO Station channel numbers This mapping information will be important in establishing the software setup More detailed information on the SW1 settings is presented in the Jumper Switch description in the back of this manual SW2 Rotary Switch Setting SW2 establishes the number of the master IC to which the MACRO station will respond The values of 0 to 15 correspond to Master numbers 0 to 15 respectively For a non Turbo PMAC2 master this value must match the master number value in the first hexadecimal digit of PMAC2 s 1996 For a Turbo PMAC2 this value must match the master number value in the first hexadecimal digit of the Turbo PMAC2 s 16840 16890 16940 or 16990 for MACRO ICs 0 1 2 or 3 respectively on the Turbo PMAC2 The default switch setting is 0 so the station will respond to Master 0 Watchdog Timer Enable Jumper For normal operation of the Compact MACRO Station jumper E1 should be OFF to enable the watchdog timer an im
17. er is cycled at the MACRO Station The only time to use a hardware re initialization to factory defaults with the MACRO Station would be if the MACRO Station always powers up with a watchdog typically if the ring clock at the Ultralite is different from the ring clock at the MACRO Station Node 11 will be the only MACRO Station node enabled Therefore enable node 11 of the MACRO IC at the Ultralite to communicate to the MACRO Station Ultralite Example Servo nodes 0 1 4 5 enabled at Ultralite I996 0F8033 1 Enable node 11 1996 0F8833 2 Then reestablish communications with MS11 MIvar commands 3 IssueMS 11 command to ensure re initialization 4 Issue MSSAVE11 command to save the factory defaults to the Station Turbo Ultralite Example Servo nodes 0 1 4 5 enabled at Ultralite 16841 0F8033 1 Enable node 11 1996 0F8833 2 Then reestablish communications with MS11 MIvar commands 3 Issue MS 11 command to ensure re initialization 4 Issue MSSAVE11 command to save the factory defaults to the Station Hardware Setup 7 16 Axis MACRO CPU Hardware Reference Manual 8 Hardware Setup 16 Axis MACRO CPU Hardware Reference Manual JUMPER AND SWITCH CONFIGURATIONS Layout H J2 J3 J4 U12 J17 P1 J14 U73 TB1 TB2 aa swi sw2
18. ference Manual SPECIFICATIONS Environmental Specifications Description Specification Notes Operating Temperature 0 C to 45 C Storage Temperature 25 C to 70 C Humidity 10 to 95 non condensing Physical Specifications Description Specification Notes Dimensions Length 16 256 cm 6 4 in Height 10 cm 3 94 in Width 2 03 cm 0 8 in Weight 188 g Front Plate included The width is the width of the front plate The length and height are the dimensions of the PCB Electrical Specifications Description Specification Notes Power Requirements 5V 2 5A 410 EMC and Safety Item Description CE Mark ull Compliance EMC N55011 Class A Group 1 N61000 3 2 Class A N61000 3 3 N61000 4 2 N61000 4 4 N61000 4 5 N61000 4 6 N61000 4 11 Safety F E E E E EN61000 4 3 E E E E E N 61010 1 Flammability Class UL 94V 0 Specifications 16 Axis MACRO CPU Hardware Reference Manual HARDWARE SETUP The hardware setup of the 3U 16 Axis MACRO CPU Board consists of the setting of two rotary switches the setting of several E point jumpers on each board followed by power supply and signal connections Note E Point Jumper numbers are shown in white ink on the legend of each board Pin numbers for each jumper can be determined either from the l
19. ing components or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 ADDED CE DECLARATION OF CONFORMITY 08 23 06 CP S FIERRO 2 ADDED INDICATOR LEDs PP 11 12 04 21 10 CP S MILICI 16 Axis MACRO CPU Hardware Reference Manual Table of Contents INTRODUCTION woniyusscsvtsussosnsssenovushassessdonspoencsuaynonss seposuosevuseusnosusnussoskes sevvenonusessuseussussteusussuoussscssounsessnsenessesesusanesssnos 1 3U Product Configurations General Description eecsceeceseeecesecseesecseeeeneeseceaeceeeaecseesecnevseenaeeeesaecateaeeneeerenes 2 COMMA BUA OM soca ss cays E cases eee E cd ncze E caeae E E E E 3 SPECIFICATIONS oira ar T osesveasocsnvonsedesusassassvensoassusnssusnnodesusseeseavenvensosssnsansusnnen 4 Environmental Specifications c cccccesccesecesesscecseecsecscecseecaeeeneeeeeeeeeeseseseceeceaeceaecaaecaeecaeesaeseaeseneseeeeeeseeseeeeesenaees 4 Physical Specifications ccccccssesssesssesseeesceeceecesecaecseecseecseeeseseneseeeseeesecaece
20. ly Subtle differences may exist between the circuits shown here and the actual hardware used The connectors on the 16 Axis MACRO CPU are found on both the main 603719 10x board and on an I O daughter card 603720 10x that plugs into the main board Main Board Connectors 603719 J14 J17 MACRO Copper I O OPT C ee E Front View Pin Symbol Function Description Notes 1 DATA Data Differential MACRO Signal J17 DATA input J14 DATA output 2 DATA Data Differential MACRO Signal J17 DATA input J14 DATA output 3 Unused Unused terminated pin See schematic below 4 Unused Unused terminated pin See schematic below 5 Unused Unused terminated pin See schematic below 6 Unused Unused terminated pin See schematic below 7 Unused Unused terminated pin See schematic below 8 Unused Unused terminated pin See schematic below The cable used for MACRO wired connections is CATS verified straight through 8 conductor 77 J14 rj45 da WIRED OUTPUT WIRED INPUT Circuitry for J14 and J17 Copper MACRO I O U73 MACRO Fiber Optic Connector OPT A 2 Socket SC Style ofo Front View Pin Symbol Function Description Notes 1 RX Fiber Input MACRO Ring Receiver 2 TX Fiber Output MACRO Ring Transmitter 1 The fiber optic version of MACRO uses 62 5 125 multi mode glass fiber optic cable terminated in a
21. mber being displayed For example if the display reads 4 and the LED dot is illuminated that would mean that there are 12 axes enabled at the 16 Axis MACRO CPU The display can show the following values Value Meaning Blank Ring not active 0 8 Operation OK value is of motors enabled 9 Reserved for future use A Amplifier fault B Ring break fault C CPU failure fault D Ring data error E Loss of encoder fault F Other failure Dot Add 8 to the number of enabled Axes Activated Axes Sh Activated Axes 8 lpo N Note The display can be read at the Ultralite with MI974 This is useful especially for user interface programs and for systems that are in inconvenient locations to read the display Character Display AND ledS Il 16 Axis MACRO CPU Hardware Reference Manual There are also three LEDs on the front panel left adjacent to the seven segment LED display indicating the following D7 PW Green Power LED indicating the 5V is on and OK D8 WD Red WATCHDOG LED indicating a watchdog condition D12 LINK Dual Color MACRO Link Activity Indicator Green Link OK Red Link FAULT 16 AXIS MACRO CPU W m F lt N 12 Character Display AND ledS 16 Axis MACRO CPU Hardware Reference Manual CONNECTOR PINOUTS The schematic circuits shown in this section are for interface reference on
22. n SC style connector The optical wavelength is 1 300nm It is possible to adapt wire to fiber operation when using OPT A and C on the same MACRO CPU board Connector Pinouts 13 16 Axis MACRO CPU Hardware Reference Manual TB1 JPWR 4 Pin Terminal Block Location B 4 OID Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 5V Input Positive Supply Voltage Supplies all PMAC digital circuits 3 15V Input Positive Supply Voltage 12V to 15V used for on board analog 4 15V Input Negative Supply Voltage 12 to 15V used for on board analog TB2 JWD 4 Pin Terminal Block Pin Symbol Function Description Notes 1 NC Output Normally Closed 2 COM Input Common Input 3 NO Output Normally Open 4 COM Input Common Input 14 Connector Pinouts 16 Axis MACRO CPU Hardware Reference Manual P1 UBUS Interface Connector 96 pin Euro Connector at F 1 2 3 4 sas Front View on MACRO CPU Card Pin Row A Row B Row C 1 5Vdc 5Vde 5Vdc 2 GND GND GND 3 BDO1 DATO BDOO 4 BD03 SELO BD02 5 BD05 DATI BD04 6 BDO7 SEL1 BD06 7 BD09 DAT2 BD08 8 BD11 SEL2 BD10 9 BD13 DAT3 BD12 10 BD15 SEL3 BD14 11 BD17 DAT4 BD16 12 BD19 SEL4 BD18 13 BD21 DATS BD20 14 BD23 SEL5 BD22 15 BS1
23. or of the Compact MACRO Station to the input connector of the next station and by connecting the output connector of the previous station to the input connector of the Compact MACRO Station There must be a completely connected ring with all stations powered up for any communications to occur on the ring Connector Summary The connectors on the 16 Axis MACRO CPU are found on both the main 603719 10x board and on an T O daughter card 603720 10x that plugs into the main board Main Board Connections 603719 J4 JISP For Factory use only J14 J17 RJ45 MACRO Copper I O OPT C P1 JEXP Backplane Expansion Port Connector TBI JPWR 4 Pin Terminal Block TB2 JWD Watchdog Relay Terminal block U73 MACRO Fiber Optic Connector OPT A Typically these connectors are not designated as end user interfaces The pinouts are not included in this hardware reference manual Consult the factory if pinout information is needed VO Daughter Board Connections 603720 J2 JDISP 40x2 Segment Display Connector J3 JHW Two channel handwheel encoder Two Channel Pulse Direction Outputs J4 JRS232 RS232 Serial Communication port Typically these connectors are not designated as end user interfaces The pinouts are not included in this hardware reference manual Consult the factory if pinout information is needed Optical Fiber Ring Connection The U73 integrated fiber optic transceiver is used for both the optical fiber input and the
24. portant safety feature Operational Mode Jumper Jumper E2 should connect pins 2 and 3 to tell the CPU it is in normal operational mode not in bootstrap mode To load new firmware into the flash IC through the serial port it should only connect pins 1 and 2 Baud Rate Jumper Jumper E3 must be ON if connecting an Acc 8D Option 9 Yaskawa absolute encoder converter to the J7 serial port most will connect it to the JTHW port instead This sets the baud rate to 9600 If E3 is OFF the baud rate is 38400 Power Supply Check Jumper Remove jumper E4 if not bringing a 12V to 15V supply into the Compact MACRO Station itself 5V only If bringing these analog circuit supplies into the Compact MACRO Station have jumper E4 on so that the servo outputs are disabled if either of the analog supplies is lost MACRO Input Select Jumper Because the 16 Axis MACRO CPU board can accept MACRO ring input from either the RJ 45 electrical input or the fiber input select which input is used even if only one of the ring interface options is present Jumper E40 must be ON to use the fiber input it must be OFF to use the electrical input If both interface options A and C are present either ring output may be used regardless of the setting of E40 Hardware Setup 5 16 Axis MACRO CPU Hardware Reference Manual Board Connections The connection of Compact MACRO Station to other stations on the MACRO ring is achieved by connecting the output connect
25. rated current lt 16A Criteria B EN61000 4 2 1995 Electro Static Discharge immunity test Criteria B Al 1998 EN61000 4 3 1995 Radiated radio frequency electromagnetic field immunity test Criteria A Al 1998 EN61000 4 4 1995 Electrical fast transients burst immunity test Criteria B EN61000 4 5 1995 Surge Test Criteria B EN61000 4 6 1996 Conducted immunity test Criteria A EN61000 4 11 1994 Voltage dips test Criteria B and C Date Issued 11 May 2006 Place Issued Chatsworth California USA Ylingle Bnd ger Mark of Compliance CE Declaration of Conformity 23
26. rol 15 Vdc Supply Monitor ossessi 9 E40 MACRO Input Fiber Wired Selector ccccccsccscsssceseesceseeseesecseseecuseescesenseesecseeecaeeeeceaeeaeeaeesensecaaseeenaeenes 9 Switch Configurations sesinin eei aeniea ERE ETEEN TEETE REEERE cessed ated eatin an dees 10 SW1 MACRO Slave Node Configure ccccccccccscccsssessssescesseseesecseeecseeecscecseeseeseeseseeeeceesesseaeeseeaeeaeeeecnaeerenaeenteas 10 SW2 MACRO IC 0 Master Number Select c ccccceccscscssssesesseseescseeseseesesecseesesecseecesecseaeseesenaeseeaeeceseeaeeeaeeaeeaeas 10 CHARACTER DISPLAY AND LEDS ccsssssssessssccssesosssesescesenersscnsesosesesesssssnesssenersesssssersosssesonssssoessoesosssssoes 11 CONNECTOR BINOUTS E E A E T 13 Main Board Contiectors 603719 ssori eiaeiiai iienaa cis is vida ed ade ches Seea EEEE EEEE AEE EE ae ASEE iai Ee ERES Eaei 13 Jl IIT MACRO Gopper 1 0 ORT C erisrein iiiki eE A EE E 13 U73 MACRO Fiber Optic Connector OPT A ccccccsccsssescesesseesesneesecnseescceescesecsesseceeecaeescesesieeseeaeeeceaseneeas 13 TB1 JPWR 4 Pin Terminal Block ccccccccccccecsceesceecsceseesessesssesesuceseeeseessesecsessecasessssseeseaecseeaecseseeseeesseaeeneeas 14 TB2 JWD 4 Pin Terminal Block 2 ccccceccceccceveevececeeceescecseeeseecseesseeseeesecusecesesaecaaeeaeeeaeeeseeeseseseeeeeeeeeneesesnaeenes 14 PIS UBUS Interface Connector 325 i sivssicn va vate de susheze cate anaysezokcadesnsaed3_su andesneveteeaastentele svaidieasnerdude
27. ther 3U format boards can be connected by means of a UBUS passive backplane board The 3U 16 Axis MACRO CPU can be purchased in two physical configurations distinguished by part number prefix e 300 603719 10x provides the 16 Axis MACRO CPU board without a front plate This configuration is recommended for stack assemblies e 3A0 603719 10x provides the 16 Axis MACRO CPU board with a front plate This configuration is recommended for UMAC rack assemblies The top and bottom plates are provided with the Acc Px rack There are a few options available for the 16 Axis MACRO CPU board One of the Options A or C must be present on a 16 Axis MACRO CPU board to provide the actual MACRO ring interface circuitry both may be present Option A provides an SC style fiber optic transceiver to connect into the MACRO ring Its main component is the U73 transceiver Option C provides RJ 45 electrical input and output connectors for the MACRO ring Its main components are J14 and J17 Option 10 permits a specified revision of the MACRO Station firmware to be installed in the flash memory in the card Without this option the latest released revision is installed A label on the flash memory IC indicates the firmware revision installed at the factory but not necessarily which revision is presently installed in the IC The presently installed revision can be ascertained by using the MSVER node command Introduction 3 16 Axis MACRO CPU Hardware Re
28. vbendecosbartalactoase 15 Daughter Board Connections 603720 sescseecsseseceeceesecseesecsseenessecaeesecaesseenaeeneeaecatsecaeeateeaeenenaecatenecaeeerenes 16 J2 JDISP Display CONMGCIOM sisi 555 sees uian penaa AE S E A EEEa aE Silos AA EEEE 16 J3 JHW Handwheel Encoder Connector c cccccccsssssssssescsseesceeeseesecseseecseescesecseeseceeecssesesenseeseceeseenteeeenaees 16 J4 JRS232 Serial Port ConneCto rererere i R EN E RE E EEE EEEREN TEATRENE ER 17 HARDWARE MEMORY MAP u c ccscstscccesescoassensseseossesesessasseseassasenesissonsocsabsoceiseubesssseacosecsenecsesusd sasesssbseosesanaciosens 19 ACCESSORIES wiicisscssczectichastsscssiscassstesesssatasossecteceassucasssscsuessisasesubsbusbassesbasoasub scesessuceassetascsevnssssuasnssubascescsseseantotesens 21 DECLARATION OF CONFORMITY s ssscsssssssscscssccssesossscescssssncrsccscrsesssesoossnencssscssrsossscsosssseserssesorsesssesosees 23 Table of Contents i 16 Axis MACRO CPU Hardware Reference Manual ii Table of Contents 16 Axis MACRO CPU Hardware Reference Manual INTRODUCTION The 16 Axis MACRO CPU board is the processor and MACRO interface board used in a 3U MACRO Station in either UMAC MACRO or MACRO Stack configuration Note There are three documents that describe the operation of 3U MACRO Station products e UMAC System Manual General Product Overview e MACRO 16 Station User s Manual e MACRO 16 Station Software Reference This manu
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