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Accessory 24E2A

Acc-24E2A DAC Ouputs

Sample diagrams shown below utilize a separate

15V power supply for opto-isolation. E85, E87, and

E88 are removed from Acc-24E2A.

Acc-24E2A DAC-Torque/Velocity Mode

Acc-24E2A DAC - Sinusoidal Commutation Mode

12
11
10

9
8
7
6
5
4
3
2
1

AAGND

AA-15V

AA+15V

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

+/- 15V
Supply

GND

+15V

-15V

+15V

-15V

Logic GND

Amplifier

Amplifer Enable

Shield

Float

Shield

AA-15V

AA+15V

AAGND
AAGND

AA-15V

AA+15V

AFAULT-

AE_NO

AE_COM

AE_NC

DAC1B-

DAC1B+

DAC1A-

DAC1A+

12
11
10

9
8
7
6
5
4
3
2
1

AAGND

AA-15V

AA+15V

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

+/- 15V
Supply

GND

+15V

-15V

+15V

-15V

Logic GND

Amplifier

Amplifer Enable

Shield

Float

Shield

AA-15V

AA+15V

AAGND

AA-15V

AA+15V

AFAULT-

AE_NO

AE_COM

AE_NC

DAC1B-

DAC1B+

DAC1A-

DAC1A+

Acc-24E2A Stepper Motor Outputs (TTL Level)

Stepper

Amplifier

Bus Voltage

Step

Motor

Acc-24E2A PFM-Stepper Output

1
2
3
4
5
6
7
8
9

10
11
12

GND

Dir+

Dir-

Pulse+

Pulse-

BEQU2
BEQU1

GND

B
B/

GND

Dir+

Dir-

Pulse+

Pulse-

Stepper

Amplifier

Bus Voltage

Step

Motor

Channel1: Jumper E1A, E1B, E1C, E1D
Channel2: Jumper E2A, E2B, E2C, E2D

Connections

Содержание 24E2A

Страница 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...

Страница 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...

Страница 3: ...REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 ADDED CE DECLARATION 06 07 06 CP S FIERO...

Страница 4: ......

Страница 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...

Страница 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...

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

Страница 8: ......

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

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

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

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

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