Delta Tau Acc-51E, User Manual

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Accessory 51E
iv Table of Contents
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
Features.......................................................................................................................................................................... 1
Limitations when Used With Original UMAC MACRO CPU (602804) ...................................................................... 1
Board Configuration ...................................................................................................................................................... 2
Base Configuration ................................................................................................................................................... 2
Options ...................................................................................................................................................................... 2
Indicators .................................................................................................................................................................. 2
SPECIFICATIONS ..................................................................................................................................................... 3
Environmental Specifications ........................................................................................................................................ 3
Physical Specifications .................................................................................................................................................. 3
Electrical Specifications ................................................................................................................................................ 3
Agency Approval and Safety ......................................................................................................................................... 4
LAYOUT OF ACC-51E, UBUS INTERPOLATOR ................................................................................................ 5
Dipswitch and E1 Jumper Configuration ....................................................................................................................... 6
Acc-51E Mappings when Used with UMAC Turbo CPU .......................................................................................... 7
Acc-51E Mappings when Used with UMAC MACRO Station CPU .......................................................................... 7
Jumper Configurations .................................................................................................................................................. 8
Table of Jumpers for rev 104 and below ................................................................................................................... 8
E1 - MACRO Station/Turbo Select ............................................................................................................................ 8
E2, E3, E4, E5, E6, E7 - Encoder Input Select Channel 1 and 2 .............................................................................. 8
E8, E9, E10 - Index Capture Select for Channel 1 .................................................................................................... 9
E11, E12, E13, E14, E15, E16 - Encoder Input Select (Option 1- Additional Two Channels) ................................. 9
E17, E18, E19 - Index Capture Select for Channel 3 (Option 1- Additional Two Channels) ................................... 9
Table of Jumpers for rev 105 .................................................................................................................................. 10
E1 - MACRO Station/Turbo Select .......................................................................................................................... 10
E2, E3, E4, E5, E6, E7 – SIN/COS Encoder Input Select Channel 1 and 2 ............................................................ 10
E21, E22, E23, E24 – Hyperface/ENDAT Input Select Channel 1 and 2 ................................................................ 10
E11, E12, E13, E14, E15, E16 – SIN/COS Encoder Input Select (Option 1- Additional Two Channels) ............... 11
E25, E26, E27, E28 – Hyperface/ENDAT Input Select (Option 1- Additional Two Channels) ............................... 11
ENCODER CONNECTIONS ................................................................................................................................... 12
Sinusoidal Encoder Wiring .......................................................................................................................................... 12
Differential Format ................................................................................................................................................. 12
Single-Ended Format .............................................................................................................................................. 12
Type of Cable for Encoder Wiring .......................................................................................................................... 14
PRINCIPLE OF OPERATION ................................................................................................................................ 16
TURBO UMAC AND THE UMAC INTERPOLATOR ........................................................................................ 18
I-Variables for Turbo UMAC Processor ..................................................................................................................... 18
Encoder Decode Control I-Variables (I7mn0) ........................................................................................................ 18
Motor xx Counts per N Commutation Cycles (Ixx71) ............................................................................................. 18
Motor xx Number of Commutation Cycles (N) (Ixx70) ........................................................................................... 18
Commutation Position I-Variables (Ixx83) ............................................................................................................. 18
Encoder Conversion Table .......................................................................................................................................... 19
Using the PMAC Executive ..................................................................................................................................... 21
Example: Turbo PMAC with Acc-51E for two Encoders ....................................................................................... 22
Motor xx Homing and Hardware Capture in Triggered Moves .............................................................................. 22
Motor xx Homing and Software Capture in Triggered Moves ................................................................................ 22
Encoder Servo Feedback I- Variables ..................................................................................................................... 23
UMAC MACRO STATION PROCESSOR AND THE UMAC INTERPOLATOR ........................................... 24
Method 1: Assign Acc-51E into Four Axes ................................................................................................................ 24
I-Variables for UMAC MACRO Station Processor ................................................................................................. 24