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USER MANUAL

Accessory 51E

UMAC 4096 Interpolator

3Ax-603438-xUxx

October 17, 2018

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

DELTA TAU

Data Systems, Inc.

NEW IDEAS IN

MOTION …

Содержание Acc-51E

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...terpolator 4 3Ax 603438 xUxx 5 October 17 2018 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 DE...

Страница 3: ...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 4: ...CE DECLARATION OF CONFORMITY 07 06 06 CP S FIERRO 3 ADDED UL SEAL TO MANUAL COVER UPDATED AGENCY APPROVAL SAFETY SECTION 09 30 09 CP S FIERRO 4 UPDATED HIPERFACE ABSOLUTE POSITION EXAMPLE 11 25 09 CP...

Страница 5: ...ct 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 Ad...

Страница 6: ...ncos Absolute Position 33 043h Set Sincos Absolute Position to Zero 33 050h Read Encoder Error Status Register 34 052h Read Encoder Characteristics 34 053h Reset Encoder 34 054h Set Sincoder to Index...

Страница 7: ......

Страница 8: ...peed of about 32 768 billion steps per second When used with a 1000 line sinusoidal rotary encoder there will be 4 096 000 discrete states per revolution 128 000 software counts The maximum calculated...

Страница 9: ...encoders on the Acc 51E Option 2 Provides the on board circuitry to read the absolute position of Stegmann Sincos and SinCoder encoders using their digital interface Hiperface Note The options descri...

Страница 10: ...gth 16 256 cm 6 4 in Height 10 cm 3 94 in Width 2 03 cm 0 8 in Weight w o Option 1A 220 g Front Top and Bottom plates included Terminal Block Connectors FRONT MC1 5 10 ST3 81 Terminal Blocks from Phoe...

Страница 11: ...Description CE Mark EN61326 1 EMC EN55011 Class A Group 1 EN61000 4 2 EN61000 4 3 EN61000 4 4 EN61000 4 5 EN61000 4 6 UL UL 61010 1 File E314517 cUL CAN CSA C22 2 No 1010 1 92 File E314517 Flammabili...

Страница 12: ...yout of Acc 51E UBus Interpolator 5 LAYOUT OF ACC 51E UBUS INTERPOLATOR This diagram shows jumpers and connectors on the Acc 51E for rev 4 and below This diagram shows jumpers and connectors on the Ac...

Страница 13: ...r Jumper E1 selects between MACRO station and Turbo UBUS backplane addressing On backplanes that are using addressable slots all dipswitch positions should be left in the ON position On non addressed...

Страница 14: ...on on off off off on 8 7B220 7B228 7B230 7B238 I7850 I7899 7BF28 on on off off off off 9 7B320 7B328 7B330 7B338 I7950 I7999 7BF2C on closed off open The memory mapping for Turbo UMAC models allows f...

Страница 15: ...nputs 2 3 Terminated 120 inputs E4 is index termination 2 3 E5 E6 E7 1 2 3 Channel 2 Encoder Termination 1 2 Unterminated inputs 2 3 Terminated 120 inputs E7 is index termination 2 3 E8 E9 E10 1 2 3 C...

Страница 16: ...E15 E16 Encoder Input Select Option 1 Additional Two Channels These jumpers allow the selection of which type of input loading is to be used for the encoder A 120 termination is selectable The inputs...

Страница 17: ...on 2 3 E14 E15 E16 1 2 3 Channel 4 SIN COS Encoder Term opt1 1 2 Unterminated inputs 2 3 Terminated 120 inputs E16 is index termination 2 3 E25 E26 1 2 3 Channel 3 Hyperface ENDAT Termination 1 2 Unte...

Страница 18: ...f which type of input loading is to be used for the encoder A 120 termination is selectable The inputs are approx 20K when not terminated E25 E26 E27 E28 Hyperface ENDAT Input Select Option 1 Addition...

Страница 19: ...low Differential Format The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery There are two common output types availabl...

Страница 20: ...e SIN COS and INDEX lines are tied to the GND on the interpolator card and the encoder usually requires a bipolar supply GND COS COS SINUSOIDAL ENCODER SIN SIN COS COS INDX INDX GND SINUSOIDAL ENCODER...

Страница 21: ...the noise immunity to the external equipment wiring Wiring practice for shielded cables is not an exact science Different applications will present different sources of noise and experimentation may...

Страница 22: ...tor end If the encoder has pre wired double shielded cable that has only the outer shield connected at the encoder then connect only the inner shield wires to the interpolator Be sure not to mix the s...

Страница 23: ...en these scaling issues are handled automatically through the move until trigger constructs The second parallel processing of the sine and cosine signals is through analog to digital converters which...

Страница 24: ...cles per revolution of the 4 pole motor Therefore Ix70 will be set to 2 and Ix71 will be set to 8000 Ix83 will contain the address of the hardware counter s phase capture register For the servo we use...

Страница 25: ...form a or cycle power Note Reset the PMAC if the encoder direction has been changed to prevent encoder instability Motor xx Counts per N Commutation Cycles Ixx71 For a Turbo PMAC commutated motor this...

Страница 26: ...er configurable list of entries that may be assigned to different specific data processing inputs The interpolator is assigned into the encoder conversion table as a High Resolution Encoder Interpolat...

Страница 27: ...AC2 style Servo ICs are used as in the Acc 51E Servo IC Channel 1 Channel 2 Channel 3 Channel 4 2 078205 07820D 078215 07821D 3 078305 07830D 078315 07831D 4 079205 07920D 079215 07921D 5 079305 07930...

Страница 28: ...urbo PMAC products As a UBUS device the interpolator input is seen as a whole number counter with three fractional digits 32 sub steps occur per single whole number step Each change of the data is see...

Страница 29: ...he corresponding Acc 51E channel 4 Ixx42 and Ixx43 can be used for separate address for amplifier and limit flags Usually these flags are connected to an Acc 24E2x board 5 Bit 11 of Ixx24 must be set...

Страница 30: ...ry Processed Encoder 2 3502 I8001 n a Processed Encoder 3 3503 I8002 n a Processed Encoder 4 3504 I8003 n a Processed Encoder 5 3505 I8004 n a Processed Encoder 6 3506 I8005 n a Processed Encoder 7 35...

Страница 31: ...Motor 0015 MI103 Third Motor 0018 MI104 Fourth Motor 001B The encoder table entries for Acc 51E are three lines long The table above shows how the first four axes might be assigned MS node MI910 Encod...

Страница 32: ...back register For single encoder feedback applications Ix04 is set to the same value as Ixx03 Ixx24 Notes This register is default set by the Turbo Ultralite to 840001 Ixx25 Notes Ixx25 is set to the...

Страница 33: ...Encoder Ch 2 MI126 MI127 MI128 F0C070 C075 00 Acc 51E Encoder Ch 3 MI129 MI130 MI131 F0C078 C07D 00 Acc 51E Encoder Ch 4 It should be noted that a 2 channel Acc 51E Interpolator without OPT 1 uses 4 c...

Страница 34: ...r conversion table section below as referenced by MI Variables MI120 MI151 The table below shows how these variables are established for the Acc 51E MI Var Motor Node Value For Acc 51E MI101 1st Motor...

Страница 35: ...control external signal source invert direction 10 Standard timer control internal PFM source no inversion not used by Acc 51E 11 Alternate timer control external signal source not used by Acc 51E Bit...

Страница 36: ...nto the register P1 E8C06D MSW0 MI198 P1 Point to control word for channel 2 MSW0 MI199 P2 Put 07 into the register P1 E8C075 MSW0 MI198 P1 Point to control word for channel 3 MSW0 MI199 P2 Put 07 int...

Страница 37: ...counts The SCS 60 and SCS 70 models are capable of single turn absolute position reporting of 16 384 steps per revolution They have absolute position counters that roll over at 16 384 counts Note An a...

Страница 38: ...ommand Therefore it is necessary to issue only one command for all connected encoders Using M variables for Hiperface Turbo Processor Only When using a Turbo PMAC the Hiperface interface involves the...

Страница 39: ...24 Channel3 LSB data word 24 bits M41 y 7821A 24 Channel4 LSB data word 24 bits M12 y 78203 0 8 Channel1 MSB data word upper 8 bits of 32 bit M22 y 7820B 0 8 Channel2 MSB data word upper 8 bits of 32...

Страница 40: ...C Use the following equation to obtain the actual encoder temperature Enc Temp C Digital value 40 2 048 038h Set Sincoder to 1024 Line Mode This command sets a sincoder s MUX to 1024 lines revolution...

Страница 41: ...eld does not exist 1Ch 1Dh Sampling error encoder not operational 1Eh Permissible operating temperature exceeded These error codes are related to functions that are not used by PMAC s Hiperface interf...

Страница 42: ...for approximately 5mS and then revert to the digital RS485 mode and await more Hiperface commands 05Fh Set Sincoder to Index Output Permanently This command sets the Sincoder to apply the index mark...

Страница 43: ...AT7 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 I...

Страница 44: ...Flag Header Pin Symbol Function Description Notes 1 HOME1 Output TTL EQU Signal 2 HOME2 Output TTL EQU Signal 3 HOME3 Output TTL EQU Signal 4 HOME4 Output TTL EQU Signal 5 N C 6 GND Digital ground 7...

Страница 45: ...input Analog or TTL levels 6 INDEX Input Index input Analog or TTL levels 7 ENCPWR Output Encoder power 5Vdc from UBUS 8 GND Digital ground 9 GND Digital ground 10 HOME Input Home Circuit 11 HOMERET...

Страница 46: ...RS485 digital Hiperface Option 2 14 VREF 2 5V Output A D reference output 5K output J5 is for the first channel input and J6 is for the second channel input to the UBUS interpolator J1A J2A Top Enc 1...

Страница 47: ...t Index input Analog or TTL levels 7 COS Analog Input Cosine input 8 SIN Analog Input Sinusoidal input 9 VREF 2 5V Output A D reference output 5K output 10 DATA I O RS485 digital Hiperface Option 2 11...

Страница 48: ...reference output 5K output J3 is for the first channel input and J4 is for the second channel input to the UBUS interpolator J5 J6 Encoder Inputs Opt 1 for rev 105 14 pin Mini Combicon 14 1 Front Vie...

Страница 49: ...ground 5 ENCPWR Output Encoder power 5Vdc from UBUS 6 INDEX Input Index input Analog or TTL levels 7 COS Analog Input Cosine input 8 SIN Analog Input Sinusoidal input 9 VREF 2 5V Output A D reference...

Страница 50: ...scriptions 43 J8 EQU1 4 Header Pin Symbol Function Description Notes 1 EQU1 Output TTL EQU Signal 2 EQU2 Output TTL EQU Signal 3 EQU3 Output TTL EQU Signal 4 EQU4 Output TTL EQU Signal 5 GND Digital g...

Страница 51: ...Base 0Bh Flag Position Capture 2 FLAGS 8MSBs Hiperface Base 0Ch DAC Strobe Output Word 1 4 PWM C2 Base 0Dh Control Word 2 Ext ADCA Base 0Eh Enc Compare Auto Increment 2 Ext ADCB Base 0Fh Enc Compare V...

Страница 52: ...ormally a Turbo UMAC processor is capable of polling this block of memory to establish the mapping of hardware Each block of memory contains four address locations that may be polled There are two ban...

Страница 53: ...n This 4 bit field indicates the revision level the board assembly This value is usually hard coded in the circuitry of the board fabrication Card Type This 14 bit address field contains information p...

Страница 54: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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