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 USER MANUAL 

 

 

 

 

 

 

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Accessory 24E2

 

 

 

 

 

 

 

 

 

 

 

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 Axis Expansion Board 

 

 

 

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 3Ax-603397-xUxx 

 

 

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 October 10, 2003 

 

 

 

 

 

 

 

 

 

 

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

 

Summary of Contents for 24E2

Page 1: ...ssory 24E2 3 Axis Expansion Board 4 3Ax 603397 xUxx 5 October 10 2003 Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7...

Page 2: ...ifiers 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...

Page 3: ...rs 12 DB15 Connector Option 12 Indicators 12 Overall Wiring Diagram 13 Sample Wiring Diagrams 14 TTL Level Inputs and Outputs 14 Position Limits Home Flag and User Flag 15 ACC 24E2 Stepper Motor Outpu...

Page 4: ...Feedback Address for PMAC2 Ultralite 30 MACRO Parallel Absolute Position Setup 31 CONNECTOR TERMINAL DESCRIPTION 33 Direct PWM Amplifier Connector 33 J1 PWM AMP1 33 J2 PWM AMP2 34 Terminal Block Opti...

Page 5: ...ds can be connected to the MACRO Station The new MACRO 16 Axis CPU can support four ACC 24E2x cards The ACC 24E2 board contains no processor it has one highly integrated 4 channel PMAC2 style Servo IC...

Page 6: ...following table lists the power requirements for the entire ACC 24E2 family of products for the UMAC Turbo and UMAC MACRO Because of the flexibility of these products the power requirements for all A...

Page 7: ...e No jumper E5 1 2 3 Jump 1 2 for Turbo 3U CPU and MACRO CPU Jump 2 3 for legacy MACRO CPU before 6 00 Jump 1 2 E7 1 2 No jumper to not tie D shell to chassis ground Jump 1 2 to tie J1 D Shell to chas...

Page 8: ...1 2 for DIR4 output in Stepper Mode No jumper E2C 1 2 No Jumper for TTL Level input for CHW4 flag Jumper 1 2 for PUL4 output in Stepper Mode No jumper E2D 1 2 No Jumper for TTL Level input for CHT4 fl...

Page 9: ...elow S1 1 S1 3 S1 4 Board No IC No I Var Range Base Address ON ON ON 1 2 I7200 078200 OFF ON ON 2 3 I7300 078300 ON OFF ON 3 4 I7400 079200 OFF OFF ON 4 5 I7500 079300 ON ON OFF 5 6 I7600 07A200 OFF O...

Page 10: ...either single ended or differential signals in one setting or the detection of lost differential signals in another setting The inputs of each differential pair each have a hard wired 1 k pull up res...

Page 11: ...tion resistor to reduce ringing not installed by default RP45 RP46 1K Install for 5V limits UBUS Specific Resistor Packs Resistor Pack SIP Description RP5 220 Terminator not installed only used for no...

Page 12: ...This technique requires that both signal lines of the pair have pull up resistors Note that this is not the default configuration of a PMAC as it is shipped The complementary lines A and B are pulled...

Page 13: ...Status Bit Name Bit Error State 1 RP22 Y B8C8 5 Y B8CC 5 QL_1 0 2 RP24 Y B8C9 5 Y B8CD 5 QL_2 0 3 RP22 Y B8CA 5 Y B8CE 5 QL_3 0 4 RP24 Y B8CB 5 Y B8CF 5 QL_4 0 First Servo IC has base address C040 se...

Page 14: ...Accessory 24E2 10 Hardware Setup...

Page 15: ...Accessory 24E2 CONNECTIONS This diagram shows the location of connections and jumpers for both the base ACC 24E2 and its Option 1D piggyback board Connections 11...

Page 16: ...ront Phoenix Contact 5 FRONT MC1 5 5 ST3 81 Channel 1 Flags TB2 Front Phoenix Contact 5 FRONT MC1 5 5 ST3 81 Channel 2 Flags DB15 Connector Option Name Manufacturer Pins Type Details J1 Top AMP 15 AMP...

Page 17: ...or LOAD Amplifier TB1 Front TB1 Top T W V U GND 5V C C B B A A 12V to 24V Supply 12 11 10 9 8 7 6 5 4 3 2 1 Float Shield Float Shield 5 4 3 2 1 PLIM MLIM HOME USER y y y Pos Limit Home Flag Neg Limit...

Page 18: ...5 4 6 2 3 1 1 2 3 4 5 6 7 8 9 10 11 12 A A B B C C 5V GND U V W T Shield Shield BEQU2 BEQU1 GND A A B B C C 5V GND U 1 9 15 8 V W T 3 2 1 GND BEQU1 BEQU2 Output Device 1 Output Device 2 0 V 5 V BEQU2...

Page 19: ...24E2 Sinking Flags ACC 24E2 Stepper Motor Outputs TTL level Stepper Amplifier Bus Voltage Step Motor ACC 24E2 PFM Stepper Output 1 2 3 4 5 6 7 8 9 10 11 12 A A B B C C 5V GND Dir Dir Pulse Pulse BEQU2...

Page 20: ...d is configured by variables I7200 I7299 Servo Channel Numbering Each Servo IC has four channels of servo interface circuitry The tens digit n of the I variable configuring the IC represents the chann...

Page 21: ...een ICs There is seldom a reason to change this value from the default Single Channel I Variables The single channel setup I variables for Channel n of Servo IC m work the same on an ACC 24E2 as they...

Page 22: ...ncoder Motor Addressing I Variables For a Turbo PMAC motor to use the servo interface circuitry of the ACC 24E2 several of the addressing I variables for the motor must contain the addresses of regist...

Page 23: ...er specified by Ixx25 Ixx24 is a set of independent control bits There are two bits that must be set correctly to use a flag set on an ACC 24E2 Bit 0 of Ixx24 must be set to 1 to tell the Turbo PMAC t...

Page 24: ...Ixx82 for ACC 24E2 ADC register pairs Turbo PMAC Ixx82 ACC 24E2 ADC Register Settings ADC Register Channel 1st ACC 24E2 2nd ACC 24E2 3rd ACC 24E2 4th ACC 24E2 Channel 1 078206 079206 07A206 07B206 Cha...

Page 25: ...SW1 2 OFF for C060 SW1 SW1 3 through SW1 6 set to off The Delta Tau Setup software for either the standard PMAC2 Ultralite or Turbo PMAC2 Ultralite will setup all of the important MI Variables at the...

Page 26: ...frequency modulator PFM output circuitry This permits the Compact MACRO Station to create a phantom closed loop when driving an open loop stepper system No jumpers or cables are needed to do this the...

Page 27: ...dex low AND Flag high 8 Capture under software control armed 9 Capture on Index CHCn high 10 Capture on Flag low 11 Capture on Index high AND Flag low 12 Capture under software control latched 13 Capt...

Page 28: ...is PFM Stepper Systems 3 A and B are DAC C is PFM 10V Outputs with MLDT Feedback The default output at the MACRO Station is PWM MSn I916 0 MACRO Station Encoder Conversion Table MSn MI120 MI151 At po...

Page 29: ...s a single long echo pulse with the delay to the trailing edge measuring the position the output from the MLDT should be connected to the CHA input on the ACC 24E2 and the output should be connected t...

Page 30: ...he maximum true velocity ever expected expressed in timer LSBs per servo cycle With a typical MLDT the 117 96 MHz timer LSB represents 0 024 mm 0 00094 inches the default servo cycle is 0 442 msec The...

Page 31: ...p reset The suggested M variable for the Motor xx using this register is Mxx07 Y address 8 16 S where address is specified according to the following table Mxx07 for ACC 24E2A MLDT Pulse Output Regist...

Page 32: ...should be set to 000100 256 decimal Ixx95 should be set to 740000 to specify parallel data through a MACRO node If the MLDT is used for absolute power on phase position for commutation the proper var...

Page 33: ...or 3 for the C sub channel to be used for PFM format output On an ACC 24E2A I7mn6 must then be set to 3 for the A and B sub channels to be used for DAC format output MS node MI910 MLDT Feedback Select...

Page 34: ...d to this node so the PFM circuit will create a pulse train at this frequency To compute the output frequency as a function of MI16x the following formula can be used kHz Freq _ PFMCLK 216 777 16 x 16...

Page 35: ...verter 740000 F40000 ACC 28B Analog Digital Converter 740000 F40000 MACRO Station Option 1C ACC 6E A D Converter 740000 F40000 MACRO Station Parallel Input MLDT SSI 740000 F40000 When PMAC or PMAC2 ha...

Page 36: ...ss 0011 Y address 0 X address 1 control bit Unsigned 0 signed 1 format bit X Y Address Bit If bit 22 of Ix10 is 0 the PMAC looks for the parallel sensor in its Y address space This is the standard cho...

Page 37: ...D 18 RESERVED 19 FC1 Feedback 1 of 4 Fault Code Bits Optional 20 FC3 Feedback 1 of 4 Fault Code Bits Optional 21 ADC_CLK1 Command A D Converter Clock 22 ADC_STB1 Command A D Converter Strobe 23 CURREN...

Page 38: ...of 4 Fault Code Bits Optional 20 FC3 Feedback 1 of 4 Fault Code Bits Optional 21 ADC_CLK2 Command A D Converter Clock 22 ADC_STB2 Command A D Converter Strobe 23 CURRENTA Feedback Phase A Actual Curr...

Page 39: ...se Output 1 Also pulse output Connector TB2 Top Encoder 2 Pin Symbol Function Description Notes 1 CHA2 Input Encoder 1 Positive A Channel 2 CHA2 Input Encoder 1 Negative A Channel 3 CHB2 Input Encoder...

Page 40: ...wer for encoder 12 CHC1 Input Encoder 1 Positive C Channel Index channel 13 CHB1 Input Encoder 1 Positive B Channel 14 CHA1 Input Encoder 1 Positive A Channel 15 BEQU1 Output Compare output1 Connector...

Page 41: ...ourcing 4 HOME1 Input Home Flag Sinking or sourcing 5 FLG_1_RET Input Return For All Flags V 12 to 24V or 0V Connector TB2 Front Limits 2 Pin Symbol Function Description Notes 1 USER2 Input General Ca...

Page 42: ...Accessory 24E2 38 Connector and Terminal Description...

Page 43: ...Accessory 24E2 SCHEMATICS Schematics 39...

Page 44: ...Accessory 24E2 40 Schematics...

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