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Accessory 24E2A 

Connector TB1 Front - Limits 3 

Pin# Symbol  Function 

Description 

Notes 

1 

USER3 

Input 

General Capture Flag 

Sinking or sourcing 

2 PLIM3  Input 

Positive 

Limit Flag 

Sinking or sourcing 

3 

MLIM3 

Input 

Negative Limit Flag 

Sinking or sourcing 

4 

HOME3 

Input 

Home Flag 

Sinking or sourcing 

5 

FLG_3_RET 

Input 

Return for All Flags 

+V (12 to 24V) or 0V 

Connector TB2 Front - Limits 4 

Pin# Symbol  Function 

Description 

Notes 

1 

USER4 

Input 

General Capture Flag 

Sinking or sourcing 

2 PLIM4  Input 

Positive 

Limit Flag 

Sinking or sourcing 

3 

MLIM4 

Input 

Negative Limit Flag 

Sinking or sourcing 

4 

HOME4 

Input 

Home Flag 

Sinking or sourcing 

5 

FLG_4_RET 

Input 

Return for All Flags 

+V (12 to 24V) or 0V 

 

Acc-24E2 Option 1A Terminal Block Description 

45 

Summary of Contents for 24E2A

Page 1: ...essory 24E2A 3 Axis Expansion Board 4 4Ax 603398 xUxx 5 June 7 2006 1 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: ...REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 ADDED CE DECLARATION 06 07 06 CP S FIERO...

Page 4: ......

Page 5: ...Connecting Limits Flags to the Acc 24E2 10 Amplifier Fault Circuit 11 Amplifier Enable Circuit 11 Loss of Encoder Circuit 11 Acc 24E2A Encoder Loss Detection with UMAC Turbo CPU 12 Acc 24E2A Encoder...

Page 6: ...I Variables 35 Station Motor Node I Variables 36 Power On Feedback Address for PMAC2 Ultralite 36 MACRO Parallel Absolute Position Setup 37 ACC 24E2A TERMINAL BLOCK DESCRIPTION 39 Connector TB1 TOP E...

Page 7: ...Accessory 24E2A DECLARATION OF CONFORMITY 52 SCHEMATICS 54 Table of Contents iii...

Page 8: ......

Page 9: ...e referred to in this manual as Acc 24E2 Up to eight Acc 24E2x boards can be connected to one UMAC providing up to 32 additional channels of servo interface circuitry Because each MACRO Station CPU ca...

Page 10: ...put output connectors are provided for the third and fourth channels associated with the Servo IC on the main Acc 24E2A The command signals for this option are 10V Option 1D If Option 1D is ordered th...

Page 11: ...cm 3 94 in Width 2 03 cm 0 8 in Dimensions with Option 1A Length 16 256 cm 6 4 in Height 10 cm 3 94 in Width 4 06 cm 1 6 in Weight w o Option 1A 192 g Front Plate included Weight with Option 1A 370 g...

Page 12: ...enough 15V power Delta Tau recommends using an external 15V power supply for systems with more than four ACC 24E2A boards The external power supply should be connected to the unit from the terminal b...

Page 13: ...PUL2 output in Stepper Mode No jumper E2D 1 2 No Jumper for TTL Level input for CHT2 flag Jumper 1 2 for PUL2 output in Stepper Mode No jumper E5 1 2 3 Jump 1 2 for Turbo 3U CPU and MACRO CPU Jump 2 3...

Page 14: ...2A 1 2 No Jumper for TTL Level input for CHU4 flag Jumper 1 2 for DIR4 output in Stepper Mode No jumper E2B 1 2 No Jumper for TTL Level input for CHV4 flag Jumper 1 2 for DIR4 output in Stepper Mode N...

Page 15: ...tem can have only one source for the servo and phase clocks and jumpers must be set appropriately to avoid a timing conflict or a watchdog condition Starting in UMAC Turbo firmware version 1 937 the f...

Page 16: ...in the absence of an external signal This configuration is required if encoder loss detection is desired it is required if complementary open collector drivers are used it is permissible for different...

Page 17: ...urbo and MACRO OPTO Isolation Considerations As shipped from the factory the Acc 24E2A obtains its power from the UMAC Backplane or UBUS Using this type of setup will defeat opto isolation since the a...

Page 18: ...sitive limit circuit is shown below The 4 7K resistor packs used will allow 12 24V flag inputs If 0 5V flags are used then a 1K resistor pack RP can be placed in either RP45 or RP46 refer to the Resis...

Page 19: ...ss of the voltage of the command signal The Acc 24E2A AENA line is meant for this purpose The amplifier enable signals of the Acc 24E2A is controlled by a relay with normal opened and normal closed dr...

Page 20: ...ng of Servo ICs is used e g Servo IC 2 add 20 to these addresses These resistor packs are on the Option 1A piggyback board if present of the module not on the baseboard Acc 24E2A Encoder Loss Detectio...

Page 21: ...ams show the location of connections and jumpers for both the base Acc 24E2A and its Option 1D piggyback board Acc 24E2A Board Layout Terminal Block Option Acc 24E2A Board Layout DB15 Option J1 P1 J2...

Page 22: ...81 External Power Inputs TB1 Front 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...

Page 23: ...1 AAGND AA 15V Float Shield Float Shield Shield Float Shield 5 4 3 2 1 PLIM MLIM HOME USER y y y Pos Limit Home Flag Neg Limit GND 15V 15V Shield Remove E85 E87 and E88 for External Power Supply Acc 2...

Page 24: ...8 9 10 11 12 A A B B C C 5V GND U V W T Shield BEQU2 BEQU1 GND A A B B C C 5V GND U 1 9 15 8 V W T TTL Hall Effect Sensors Hall Sensor Float Shield Shield Hall Sensor Float Shield U W 3 2 1 GND BEQU1...

Page 25: ...DAC1A 12 11 10 9 8 7 6 5 4 3 2 1 AAGND AA 15V AA 15V AFAULT AFAULT AE_NO AE_COM AE_NC DAC1B DAC1B DAC1A DAC1A 15V Supply GND 15V 15V 15V 15V Logic GND Amplifier Amplifer Enable Shield Float Shield 15...

Page 26: ...T AFAULT AE_NO AE_COM AE_NC DAC1B 1 9 15 8 DAC1B DAC1A DAC1A 15V 15V Logic GND 15V Supply GND 15V 15V 12 11 10 9 8 7 6 5 4 3 2 1 AAGND AA 15V AA 15V AFAULT AFAULT AE_NO AE_COM AE_NC DAC1B DAC1B DAC1A...

Page 27: ...AFAULT AE_NO AE_COM AE_NC DAC1B 1 9 15 8 DAC1B DAC1A DAC1A 15V 15V Logic GND 15V Supply GND 15V 15V Amplifier 15V Supply GND 15V 15V Amplifier Amplifer Enable Amplifer Enable 12 11 10 9 8 7 6 5 4 3 2...

Page 28: ...Accessory 24E2A 20 Connections...

Page 29: ...c 24E2 occupies Channels 3 4 on the board using connectors associated with channels 3 and 4 Example The Standard Servo IC on the first Acc 24E2 is Servo IC 2 to Turbo PMAC and is configured by variabl...

Page 30: ...clock frequencies for the Servo IC should be set according to the devices attached to it There is no reason that these frequencies have to be the same between ICs There is seldom a reason to change t...

Page 31: ...an incremental encoder 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 add...

Page 32: ...c 24E2x Channel n Timer 9 07B300 07B308 07B310 07B318 Eighth Acc 24E2x Channel n Timer Ixx24 Motor xx Flag Mode Ixx24 defines how to read and use the flags for Motor xx that are in the register specif...

Page 33: ...owing table shows the possible values of Ixx83 for Acc 24E2 encoder phase position registers Turbo PMAC Ixx83 Acc 24E2 Encoder Register Settings Servo IC Chan 1 Chan 2 Chan 3 Chan 4 Notes 2 078201 078...

Page 34: ...uts will be DAC and CH1C output will be PFM I7226 3 CH2A and CH2B ouputs will be DAC and CH2C output will be PFM I7236 3 CH3A and CH3B ouputs will be DAC and CH3C output will be PFM I7246 3 CH4A and C...

Page 35: ...with MSn MI992 The Acc 24E2A will have its MaxPhase Clock Frequency variables MSn MI900 and MSn MI906 set to the same value as MSn MI992 to ensure synchronous data exchange The Delta Tau Setup softwar...

Page 36: ...rection sense simply change to the other option e g from 7 to 3 or vice versa Warning If the direction sense of an encoder with a properly working servo is changed without also changing the direction...

Page 37: ...oder mapped to the specified node If a flag input home limit or user is used MI913 for the node determines which flag Proper setup of this variable is essential for a successful home search which depe...

Page 38: ...MACRO Station is PWM MSn I916 0 DAC Output Mode Example for Acc 24E2A at MACRO Station MS0 MI916 3 DAC output for Channel 1 MS1 MI916 3 DAC output for Channel 2 MS4 MI916 3 DAC output for Channel 3 MS...

Page 39: ...E2A and the output should be connected to the CHA input MLDT Software Setup of the UMAC Turbo When the Acc 24E2A is used for MLDT feedback in a UMAC Turbo system a few I variables must be set up prope...

Page 40: ...ault servo cycle is 0 442 msec The result of this conversion is in the X register of the third line Any functions using this value should address this register For example if this were the first entry...

Page 41: ...power up 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 Outpu...

Page 42: ...re is the hexadecimal representation of the node number n 0 to F hex Turbo PMAC2 Ixx10 Ixx95 Power On Position Address and Format To get the absolute position for Motor xx through MACRO node n n 0 to...

Page 43: ...MI907 which also controls other clock signals from its default value of 2258 MS anynode MI904 MI908 PFM Pulse Width The pulse width set by MI904 MI908 in units of PFM clock cycles must be set long eno...

Page 44: ...xth Motor Node Absolute Position Acc 24 Channel 1 Channel 2 Channel 3 Channel 4 1 30C042 30C04A 30C052 30C05A 2 30C062 30C06A 30C072 30C07A MS anynode MI16x xth Motor Node MLDT Frequency Control This...

Page 45: ...Absolute Encoder Converter 720000 F20000 Acc 8D Opt 10 Sanyo Absolute Encoder Converter 740000 F40000 Acc 28B Analog Digital Converter 740000 F40000 MACRO Station Option 1C Acc 6E A D Converter 740000...

Page 46: ...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 choice since all I O ports map into the Y addre...

Page 47: ...Also Direction Output 11 I O Supplemental Flag W or Pulse Output 1 Also Pulse Output 12 CHT1 PUL_1 I O Supplemental Flag T or Pulse Output 1 Also Pulse Output CHW1 PUL_1 Connector TB2 Top Encoder 2 Pi...

Page 48: ...tput Phase A Analog Out 10V ref to AGND 3 DAC2B Output Phase B Analog Out 10V ref to AGND 4 DAC2B Output Phase B Analog Out 10V ref to AGND 5 AE_NC_2 Output Amplifier Enable Normally closed 6 AE_COM_2...

Page 49: ...t 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 Capture Flag Sinking o...

Page 50: ...Accessory 24E2A 42 Acc 24E2 Terminal Block Description...

Page 51: ..._3 I O Supplemental Flag V or Direction 3 Also direction output 11 CHW3 PUL_3 I O Supplemental Flag W or Pulse Output 3 Also pulse output 12 CHT3 PUL_3 I O Supplemental Flag T or Pulse Output 3 Also p...

Page 52: ...Phase A Analog out 10V ref to AGND 3 DAC4B Output Phase B Analog out 10V ref to AGND 4 DAC4B Output Phase B Analog out 10V ref to AGND 5 AE_NC_4 Output Amplifier Enable Normally closed 6 AE_COM_4 Outp...

Page 53: ...e Flag Sinking or sourcing 5 FLG_3_RET Input Return for All Flags V 12 to 24V or 0V Connector TB2 Front Limits 4 Pin Symbol Function Description Notes 1 USER4 Input General Capture Flag Sinking or sou...

Page 54: ...Accessory 24E2A 46 Acc 24E2 Option 1A Terminal Block Description...

Page 55: ...dex channel 13 CHB1 Input Enc 1 Pos B Chan 14 CHA1 Input Enc 1 Pos A Chan 15 BEQU1 Output Compare Output 1 DB15 Style Connector J2 Top Encoder 2 EQU Pin Symbol Function Description Notes 1 CHT2 PUL_2...

Page 56: ...ternal power External power supply inputs for opto isolation from the digital ground plane DB15 Style Connector J2 Bottom Amp Out 2 Analog Power Pin Symbol Function Description Notes 1 DAC2A Output Ph...

Page 57: ...put 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 Capture Flag Sinking...

Page 58: ...Accessory 24E2A 50 Acc 24E2A DB15 Connector Option...

Page 59: ...D19 SEL4 BD18 13 BD21 DAT5 BD20 14 BD23 SEL5 BD22 15 BS1 DAT6 BS0 16 BA01 SEL6 BA00 17 BA03 DAT7 BA02 18 BX Y SEL7 BA04 19 CS3 BA06 CS2 20 BA05 BA07 CS4 21 CS12 BA08 CS10 22 CS16 BA09 CS14 23 BA13 BA1...

Page 60: ...for measurement control and laboratory use Safety requirements EN61000 3 2 1995 A14 1998 EN61000 3 3 1995 EN61000 4 2 1995 A1 1998 EN61000 4 3 1995 A1 1998 EN61000 4 4 1995 EN61000 4 5 1995 EN61000 4...

Page 61: ...Accessory 24E2A Declaration of Conformity 53...

Page 62: ...Accessory 24E2A SCHEMATICS 54 Schematics...

Page 63: ...Accessory 24E2A Schematics 55 55...

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