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Accessory 24E2S

Motor Parameter Setup for UMAC and MACRO

26

Note:

If Ix30 were set differently than the above calculation, then Ix32 would change
inversely. For instance, if Ix30 were twice the above calculation, then Ix32 would
be half its calculation.

Ix33 Motor x Integral Gain

Typically, this I-variable should be set to 0. The digital electronic loop does not present offsets or
disturbances, which need correction in the PMAC2.

It is possible that Ix33 might be set to force zero steady-state errors, if they are present with electronic
encoder feedback.

Ix34

Motor x Integration Mode

The default value of 1 is sufficient for this since usually Ix33 is set to zero. When Ix33 is set to 0, this I-
variable has no effect.

Ix35

Motor x Acceleration Feedforward Gain

This I-variable is set to 0. Typically, this value does not need to be changed. However, Ix35 might be
adjusted to compensate for the minor delays created by the electronics when accelerating the stepper.

The effect of adjusting Ix35 will be to reduce a slight following error during motor acceleration.

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Содержание ACC-24E2S

Страница 1: ...lity Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com ccUSER MANUAL 2 Accessory 24E2S 3 Axis Expansion Board 4 3Ax 603441 xUxx 5 October 17 2018 DELTA TAU Data Systems Inc NEW IDEAS IN MOTION ...

Страница 2: ...lifiers 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...

Страница 3: ...7 41 04 17 09 CP A OHMORI 3 UPDATED JUMPERS RESISTOR PACK DESCR 07 22 09 CP S SATTARI 4 ADDED UL SEAL TO MANUAL COVER UPDATED AGENCY APPROVAL SAFETY SECTION 09 30 09 CP S FIERRO 5 CORRECTED RESISTOR PACK INFO P 9 02 18 10 CP M YAHYAEI 6 UPDATED POWER REQUIREMENTS 07 21 15 RN R NADDAF 7 ADDED KC CONFORMITY 10 17 18 SM R NADDAF ...

Страница 4: ...rd Logic with UMAC MACRO CPU 10 Position Compare Port Driver IC 10 CONNECTIONS 11 Acc 24E2S Terminal Block Layout Diagram 11 Acc 24E2S DB15 Option Layout Diagram 11 Mating Connectors 11 Terminal Block Connectors 11 5 Connector Option 12 Indicators 12 Sample Wiring Diagrams 12 TTL Level Inputs and Outputs 12 Acc 24E2S Stepper Motor Outputs TTL level 13 Position Limits Home Flag and User Flag 13 UMA...

Страница 5: ... Setup I Variables for Servo IC m 27 Conversion Table Processing I Variables 27 Motor I Variables 28 Pulse Output Frequency 29 PMAC2 Turbo PMAC2 Conversion Table and Motor I Variables 30 MLDT Feedback for UMAC MACRO 30 MLDT Software Setup of the UMAC MACRO 30 Station Hardware Setup I Variables for Servo IC 30 Station Conversion Table Processing I Variables 31 Station Motor Node I Variables 31 Powe...

Страница 6: ...s are provided to allow connection of 12V 24V sensors or limit switches Up to eight Acc 24E2S boards can be connected to one UMAC providing up to 32 additional channels of stepper interface circuitry Because each MACRO Station CPU can service only eight channels of servo data only two Acc 24E2S boards can be connected to the MACRO Station for stepper motor connection The Acc 24E2S is also an ideal...

Страница 7: ...gth 16 256 cm 6 4 in Height 10 cm 3 94 in Width 2 03 cm 0 8 in Weight 210 g Front top and bottom plates included Terminal Block Connectors FRONT MC1 5 12 ST3 81 FRONT MC1 5 5 ST3 81 FRONT MC1 5 3 ST3 81 Terminal Blocks from Phoenix Contact UL 94V0 DB Option Connectors DB15 Female UL 94V0 The width is the width of the front plate The length and height are the dimensions of the PCB Electrical Specif...

Страница 8: ...1 File E314517 cUL CAN CSA C22 2 No 1010 1 92 File E314517 Flammability Class UL 94V 0 KC EMI KN 11 EMS KN 61000 6 2 사 용 자 안 내 문 이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정 용 환경에서 사용하는 경우 전파간섭의 우려가 있습니다 한국 EMC적용제품 준수사항 본 제품은 전파법 KC 규정 을 준수합니다 제품을 사용하려면 다음 사항에 유 의하십시오 이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정용 환경에서 사용하는 경우 전파간섭의 우려가 있습니다 입 력에 EMC 필터 서지 보호기 페라이트 코어 또는 1차측의 케이블에 노이즈 필터를 입력으로 사용하십시오 ...

Страница 9: ... 2 to enable AENA2 No Jumper to disable AENA2 Jump 1 2 E13 1 2 Jump 1 2 to enable AENA3 No Jumper to disable AENA3 Jump 1 2 E14 1 2 Jump 1 2 to enable AENA4 No Jumper to disable AENA4 Jump 1 2 E16 1 2 3 Jump 1 2 to receive phase and servo clocks Jump 2 3 to transmit phase and servo clocks Factory set OPT1 1 2 For factory use only No jumper on JP1 JP9 Factory set OPT2 1 2 For factory use only Jumpe...

Страница 10: ... configured on each Acc 24E2S Each system 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 firmware will set the clock settings automatically for the Acc 24E2 cards in the UBUS To enable this feature set jumper E16 from 2 to 3 for all of the Acc 24E2Ss p...

Страница 11: ...tion is desired it is required if complementary open collector drivers are used it is permissible for differential line driver inputs even without encoder loss detection If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket marked by a wide white square solder pin on the front side of the board then the pack is configured as a bank of pull down resistors If the pack...

Страница 12: ...ll allow 12 24V flag inputs If 0 5V flags are used then a 1k resistor pack RP can be placed in either RP38 RP42 RP47 or RP51 refer to the Resistor Pack Configuration section of this manual Connecting Limits Flags to the Acc 24E2 The following diagram illustrates the sinking and sourcing connections to an Acc 24E2 This example uses 12 24V flags Loss of Encoder Circuit The encoder loss detection cir...

Страница 13: ...RP21 Y 07xF09 5 Y 07xF0D 5 QL_2 0 3 RP27 Y 07xF0A 5 Y 07xF0E 5 QL_3 0 4 RP29 Y 07xF0B 5 Y 07xF0F 5 QL_4 0 The x digit in this hex address matches the value 8 9 A or B in the fourth digit from the right in the board s own base address e g 079200 If alternate addressing of Servo ICs is used e g Servo IC 2 add 20 to these addresses Acc 24E2S Discrete On board Logic with UMAC MACRO CPU Channel Resisto...

Страница 14: ...ONT MC1 5 12 ST3 81 Encoder 2 Inputs TB3 Top Phoenix Contact 3 FRONT MC1 5 3 ST3 81 Compare Outputs TB1 Bottom Phoenix Contact 12 FRONT MC1 5 12 ST3 81 Encoder 3 Inputs TB2 Bottom Phoenix Contact 12 FRONT MC1 5 12 ST3 81 Encoder 4 Inputs TB3 Bottom Phoenix Contact 3 FRONT MC1 5 3 ST3 81 Compare Outputs TB1 Front Phoenix Contact 20 FRONT MC1 5 20 ST3 81 Flags J2 11 12 10 9 6 8 7 5 4 BOTTOM 1 J1 1 1...

Страница 15: ...ection has typical wiring diagrams for the TTL level inputs flags and limits PFM outputs TTL Level Inputs and Outputs 1 2 3 4 5 6 7 8 9 10 11 12 A A B B C C 5V GND U V W T BEQU2 BEQU1 GND A A B B C C 5V GND U 1 9 15 8 V W T U V W 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 ...

Страница 16: ...Jumper E2 E12 Channel3 Jumper E3 E13 Channel4 Jumper E4 E14 E11 E12 E13 and E14 are for Amp enable Channel1 Jumper E1 E11 Channel2 Jumper E2 E12 Channel3 Jumper E3 E13 Channel4 Jumper E4 E14 E11 E12 E13 and E14 are for Amp enable Position Limits Home Flag and User Flag 5 4 3 2 1 FLG_RTN_1 HOME1 MLIM1 PLIM1 USER1 Home Neg Pos User 24V Supply 0V 24V ACC 24E2S Sourcing Flags 10 9 8 7 6 15 14 13 12 11...

Страница 17: ...1 4 Second Acc 24E2 with option 1 Servo IC 3 channels 5 8 Third Acc 24E2 with option 1 Servo IC 4 channels 9 12 Fourth Acc 24E2 with option 1 Servo IC 5 channels 13 16 Fifth Acc 24E2 with option 1 Servo IC 6 channels 17 20 Sixth Acc 24E2 with option 1Servo IC 7 channels 21 24 Seventh Acc 24E2 with option 1 Servo IC 8 channels 25 28 Eighth Acc 24E2 with option 1 Servo IC 9 channels 29 32 The Standa...

Страница 18: ... 01 m 7 I Turbo PMAC2 Ultralite If I7m00 is the same as I7000 or I6800 I7m01 will be the same as I7001 or I6801 If the Acc 24E2 is interfaced to a Turbo PMAC board it should be set by calculation to obtain the same phase clock frequency as that set by the jumpers on the Turbo PMAC I7m02 Servo IC m Servo Clock Frequency Control Even though the IC is receiving an external servo clock see I7m07 above...

Страница 19: ... occasionally an A D converter feedback from an Acc 28B board connected through the Acc 24E2 The ECT entries for Acc 24E2 incremental encoder channels are shown in the following table Servo IC Chan 1 Chan 2 Chan 3 Chan 4 Notes 2 m78200 m78208 m78210 m78218 First Acc 24E2x Channel n Encoder Set 3 m78300 m78308 m78310 m78318 Second Acc 24E2x Channel n Encoder Set 4 m79200 m79208 m79210 m79218 Third ...

Страница 20: ...ister is if the position is obtained from an A D converter on an Acc 28B connected through the Acc 24E2 or if it is obtained from an MLDT e g TemposonicsTM sensor excited directly from an Acc 24E2 The following table shows the possible values of Ixx10 for MLDT timer registers Ixx10 for Acc 24E2 MLDT Timer Registers Ixx95 170000 Servo IC Chan 1 Chan 2 Chan 3 Chan 4 Notes 2 078200 078208 078210 0782...

Страница 21: ...ncoder Register Settings Ix91 480000 580000 Servo IC Chan 1 Chan 2 Chan 3 Chan 4 Notes 2 078201 078209 078211 078219 1st Acc 24E2x Channel n Encoder Reg 3 078301 078309 078311 078319 2nd Acc 24E2x Channel n Encoder Reg 4 079201 079209 079211 079219 3rd Acc 24E2x Channel n Encoder Reg 5 079301 079309 079311 079319 4th Acc 24E2x Channel n Encoder Reg 6 07A201 07A209 07A211 07A219 5th Acc 24E2x Chann...

Страница 22: ...x24 Example 4 axis PFM from base address 078200 servo IC2 Jumpers E1 through E4 must be set to 1 2 on Acc 24E2S for PFM outputs and E11 through E14 must be jumpered for amplifier enable outputs Assume that not all stepper motors have encoders for feedback For this type of system make sure I7mn6 is set for DAC and PFM output mode I7216 3 CH1A and CH1B ouputs will be DAC and CH1C output will be PFM ...

Страница 23: ...3804 105 and above E16 Jumper 1 2 for Clock Settings SW1 SW1 1 and SW1 2 both on for C040 both off for C060 SW1 3 through SW1 6 set to off Node Specific Gate Array MI variables MI variables MI910 through MI919 on the MACRO station control the hardware setup of the hardware interface channel on the station associated a MACRO node The matching of hardware interface channels to MACRO nodes is determi...

Страница 24: ...oop stepper system No jumpers or cables are needed to do this the connection is entirely within the ASIC The counter polarity matches the PFM output polarity automatically If MI910 is set to 12 the timer circuitry is set up to read magnetostrictive linear displacement transducers MLDTs such as TemposonicsTM In this mode the timer is cleared when the PFM circuitry sends out the excitation pulse to ...

Страница 25: ... is read After this as soon as the Compact MACRO Station sees that the specified input lines are in the specified states the trigger will occur it is level trigger not edge triggered MI913 parameter determines which of the Flag inputs will be used for position capture if one is used see MI912 0 HMFLn Home Flag n 1 PLIMn Positive End Limit Flag n 2 MLIMn Negative End Limit Flag n 3 USERn User Flag ...

Страница 26: ...040 output at X 0010 at MACRO Station encoder 1 MS0 MI121 00C048 output at X 0011 at MACRO Station encoder 2 MS0 MI122 00C050 output at X 0012 at MACRO Station encoder 3 MS0 MI123 00C058 output at X 0013 at MACRO Station encoder 4 MS0 MI120 00C060 output at X 0014 at MACRO Station encoder 5 MS0 MI121 00C068 output at X 0015 at MACRO Station encoder 6 MS0 MI122 00C070 output at X 0016 at MACRO Stat...

Страница 27: ...5 28 07943A 12 21 07942E 16 29 07943E PMAC2 Turbo Ultralite MACRO IC2 Motor Node Address Motor Node Address 17 32 07A422 21 40 07A432 18 33 07A426 22 41 07A436 19 36 07A42A 23 44 07A43A 20 37 07A42E 24 45 07A43E PMAC2 Turbo Ultralite MACRO IC3 Motor Node Address Motor Node Address 25 48 07B422 29 56 07B432 26 49 07B426 30 57 07B436 27 52 07B42A 31 60 07B43A 28 53 07B42E 32 61 07B43E ...

Страница 28: ...or Servo Gain I Variables for Stepper Motors The PMAC2 applies its gain formulas for stepper motor systems the same way it does for a classic servo system The basic difference with a stepper system is that the typical encoder feedback interface is handled using electronic circuitry rather than a physical encoder The PMAC2 Stepper interface allows the use of both an electronic encoder feedback and ...

Страница 29: ...t is possible that Ix33 might be set to force zero steady state errors if they are present with electronic encoder feedback Ix34 Motor x Integration Mode The default value of 1 is sufficient for this since usually Ix33 is set to zero When Ix33 is set to 0 this I variable has no effect Ix35 Motor x Acceleration Feedforward Gain This I variable is set to 0 Typically this value does not need to be ch...

Страница 30: ...e connected to the CHA input on the Acc 24E2S and the output should be connected to the CHA input MLDT Software Setup of the UMAC Turbo When the Acc 24E2S is used for MLDT feedback in a UMAC Turbo system a few I variables must be set up properly Hardware Setup I Variables for Servo IC m I7m03 PFM Clock Frequency In almost all cases the clock frequency driving the pulse generation circuitry for all...

Страница 31: ...s register For example if this were the first entry in the table which starts at 003501 the result would be in X 003503 Motor I Variables Ixx03 Position Loop Feedback Address To use the result of the conversion table for position loop feedback for Motor xx Ixx03 should contain the address of the result register in the conversion table 003503 in the above example Ixx04 Velocity Loop Feedback Addres...

Страница 32: ...C 3A 6 07A204 07A20C 07A214 07A21C 3B 7 07A304 07A30C 07A314 07A31C 4A 8 07B204 07B20C 07B214 07B21C 4B 9 07B304 07B30C 07B314 07B31C The frequency of the pulse output should produce a period just slightly longer than the longest expected response time for the echo pulse For MLDTs the response time is approximately 0 35 sec mm 9 sec inch On an MLDT 1500 mm 60 in long the longest response time is a...

Страница 33: ...0 to 63 decimal Ixx81 should be set to n in hex format 0000nn where nn is the hexadecimal representation of the node number nn 00 to 3F hex If node 0 is used Ixx81 should be set to 000100 256 decimal Ixx91 should be set to 740000 to specify parallel data through a MACRO node MLDT Feedback for UMAC MACRO The data from the MLDT is processed as a parallel word input at the MACRO Station and then tran...

Страница 34: ...ue 6 hex digits should begin with a 3 filtered parallel data followed by the address of the timer register The possible values for this line are shown in the following table Encoder Conversion Table Parallel Filtered Data Format First Line for Acc 24E2A Boards Acc 24 Channel 1 Channel 2 Channel 3 Channel 4 1 30C040 30C048 30C050 30C058 2 30C060 30C068 30C070 30C078 Line 2 Bits Used Mask This 24 bi...

Страница 35: ...f an absolute position sensor at power on reset If Ix10 is set to 0 the power on reset position for the motor will be considered to be 0 regardless of the type of sensor used There are specific settings of PMAC s PMAC2 s Ix10 for each type of MACRO interface If a Turbo Ultralite is used Ixx95 must also be set appropriately The Compact MACRO Station has a corresponding variable I11x for each node t...

Страница 36: ... 0 then when the PMAC requests the absolute position because its Ix10 and or Ix81 values are set to obtain absolute position through MACRO sending an auxiliary MS node MI920 command the Compact MACRO Station will use MI11x to determine how to read the absolute position and report that position back to PMAC as an auxiliary response For an MLDT take the output from the encoder conversion table ECT a...

Страница 37: ...the value read from the sensor is treated as a signed twos complement quantity MS0 MI111 D80010 read signed 24 bit absolute power on position from X 0010 Example MLDT Setup for UMAC MACRO MS0 i161 3825 15 255 Ms0 i903 2258 default MS0 I904 25 might need to increase from factory default MS0 I910 12 MS0 I916 3 MS0 i120 30C040 MS0 I121 FFFFFF 24 bit MS0 I122 32 output at 12 MS0 i101 12 Ms0 i111 D8001...

Страница 38: ...Supplemental Flag V or Direction 1 Also Direction Output 11 CHW1 PUL_1 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 Connector TB2 Top Output2 Encoder 2 Pin Symbol Function Description Notes 1 CHA2 Input Enc 2 Pos A Chan 2 CHA2 Input Enc 2 Neg A Chan 3 CHB2 Input Enc 2 Pos B Chan 4 CHB2 Input Enc 2 Neg B Chan 5...

Страница 39: ... Flag T or Pulse Output 3 Also Pulse Output Connector TB2 Bottom Encoder 4 Pin Symbol Function Description Notes 1 CHA4 Input Enc 4 Pos A Chan 2 CHA4 Input Enc 4 Neg A Chan 3 CHB4 Input Enc 4 Pos B Chan 4 CHB4 Input Enc 4 Neg B Chan 5 CHC4 AENA4 Input Enc 4 Pos C Chan or AENA4 Also AENA4 6 CHC4 AENA4 Input Enc 4 Neg C Chan or AENA4 Also AENA4 7 ENCPWR Input Power for encoder 8 GND Common Digital R...

Страница 40: ...For All Flags 3 V 12 To 24v Or 0v 16 USER4 Input General Capture Flag 4 Sinking Or Sourcing 17 PLIM4 Input Positive Limit Flag 4 Sinking Or Sourcing 18 MLIM4 Input Negative Limit Flag 4 Sinking Or Sourcing 19 HOME4 Input Home Flag 4 Sinking Or Sourcing 20 FLG_4_RET Input Return For All Flags 4 V 12 To 24v Or 0v DB15 Style Connector J1 Top Encoder 1 EQU Pin Symbol Function Description Notes 1 CHT1 ...

Страница 41: ...n or AENA2 Also Amplifier Enable 13 CHB2 Input Enc 2 Pos B Chan 14 CHA2 Input Enc 2 Pos A Chan 15 BEQU1 Output Compare output1 DB15 Style Connector J1 Bottom Encoder 3 EQU Pin Symbol Function Description Notes 1 CHT3 PUL_3 I O Supplemental Flag T or Pulse Output 3 Also Pulse Output 2 CHV3 DIR_3 I O Supplemental Flag V or Direction 3 Also Direction Output 3 GND Common Digital Reference 4 CHC3 AENA3...

Страница 42: ...I O Enc 4 Neg C Chan or AENA4 Also Amplifier Enable 5 CHB4 Input Enc 4 Neg B Chan 6 CHA4 Input Enc 4 Neg A Chan 7 GND Common Digital Reference 8 BEQU4 Output Compare output4 9 CHW4 PUL_4 I O Supplemental Flag W or Pulse Output 4 Also Pulse Output 10 CHU4 DIR_4 I O Supplemental Flag U or Direction 4 Also Direction Output 11 ENCPWR Output Digital Supply Power for encoder 12 CHC4 AENA4 I O Enc 4 Pos ...

Страница 43: ...17 DAT4 BD16 12 BD19 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 BA10 BA12 24 BRD BA11 BWR 25 BS3 MEMCS0 BS2 26 WAIT MEMCS1 RESET 27 PHASE IREQ1 SERVO 28 PHASE IREQ2 SERVO 29 ANALOG GND IREQ3 ANALOG GND 30 15Vdc PWRGND 15Vdc 31 GND GND GND 32 5Vdc 5Vd...

Страница 44: ...Accessory 24E2S Schematics 41 SCHEMATICS ...

Страница 45: ...Accessory 24E2S Schematics 42 ...

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