Axis 3Ax-603397-xUxx User manual

Axis 3Ax-603397-xUxx User manual
1^ USER MANUAL
^2 Accessory 24E2
^3 Axis Expansion Board
^4 3Ax-603397-xUxx
^5 September 30, 2009
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
Copyright Information
© 2009 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: [email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers 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 that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.
REVISION HISTORY
REV.
1
DESCRIPTION
ADDED UL SEAL TO MANUAL COVER
DATE
CHG
APPVD
09/30/09
CP
S. FIERRO
Accessory 24E2
Table of Contents
INTRODUCTION ................................................................................................................................................ 1
Overview ........................................................................................................................................................... 1
Features ............................................................................................................................................................. 1
Board Configuration ........................................................................................................................................... 1
Acc-24E2 Power Supply Requirements............................................................................................................... 2
E-POINT JUMPER SETTINGS .......................................................................................................................... 3
Acc-24E2 Base Board (Channels* 1 & 2) ........................................................................................................... 3
Acc-24E2 Option 1 Board (Channels 3 & 4) ....................................................................................................... 4
HARDWARE SETUP .......................................................................................................................................... 5
Position Compare Port Driver IC ........................................................................................................................ 5
Switch Configuration ......................................................................................................................................... 5
UMAC Address DIP Switch S1 ....................................................................................................................... 5
MACRO Station Address DIP Switch S1 ......................................................................................................... 5
Acc-24E2 Clock Settings.................................................................................................................................... 6
Resistor Pack Configuration ............................................................................................................................... 6
Differential or Single-Ended Encoder Selection .............................................................................................. 6
Termination Resistors .................................................................................................................................... 7
Acc-24E2 Limit and Flag Wiring ........................................................................................................................ 7
Connecting Limits/Flags to the Acc-24E2 ....................................................................................................... 8
Loss of Encoder Circuit ...................................................................................................................................... 8
Acc-24E2 Encoder Loss Detection with UMAC Turbo CPU ............................................................................ 8
Acc-24E2 Encoder Loss Detection with UMAC MACRO CPU ........................................................................ 9
CONNECTIONS ................................................................................................................................................ 11
Mating Connectors ........................................................................................................................................... 12
Terminal Block Connectors .......................................................................................................................... 12
DB15 Connector Option............................................................................................................................... 12
Indicators ......................................................................................................................................................... 12
Overall Wiring Diagram ................................................................................................................................... 12
Sample Wiring Diagrams ................................................................................................................................. 13
TTL Level Inputs and Outputs ...................................................................................................................... 13
Position Limits, Home Flag, and User Flag .................................................................................................. 14
Acc-24E2 Stepper Motor Outputs (TTL level) ............................................................................................... 14
Servo IC Configuration I-Variables .................................................................................................................. 14
Servo IC Numbering .................................................................................................................................... 14
Servo Channel Numbering ........................................................................................................................... 15
Multi-Channel I-Variables ........................................................................................................................... 15
Single-Channel I-Variables .......................................................................................................................... 16
Encoder Conversion Table I-Variables ......................................................................................................... 16
Motor Addressing I-Variables ...................................................................................................................... 16
ULTRALITE/MACRO STATION SETUP ....................................................................................................... 21
Hardware Setup for MACRO Station Use ......................................................................................................... 21
Node-Specific Gate Array MI-Variables ....................................................................................................... 21
Encoder/Timer n Decode Control (MSn,MI910) ............................................................................................... 21
Flag Capture Control (MSn,MI911-MI913) ...................................................................................................... 22
Output Mode Select (MSn,MI916).................................................................................................................... 23
MACRO Station Encoder Conversion Table (MSn,MI120-MI151) ................................................................... 24
Encoder Conversion Table for Acc-24E2 at MACRO Station ........................................................................ 24
MLDT FEEDBACK FOR UMAC TURBO AND UMAC MACRO ................................................................. 25
MLDT Hardware Setup of the Acc-24E2 .......................................................................................................... 25
MLDT Software Setup of the UMAC Turbo ..................................................................................................... 25
Hardware Setup I-Variables for Servo IC m ................................................................................................. 25
Table of Contents
Conversion Table Processing I-Variables ..................................................................................................... 25
Motor I-Variables ........................................................................................................................................ 26
Pulse Output Frequency ............................................................................................................................... 27
PMAC2/Turbo PMAC2 Conversion Table and Motor I-variables.................................................................. 28
MLDT Feedback for UMAC-MACRO ............................................................................................................. 28
MLDT Software Setup of the UMAC MACRO ............................................................................................... 28
Station Hardware Setup I-Variables for Servo IC ......................................................................................... 28
Station Conversion Table Processing I-Variables ......................................................................................... 29
Station Motor Node I-Variables.................................................................................................................... 29
Power-on Feedback Address for PMAC2 Ultralite........................................................................................ 30
MACRO Parallel Absolute Position Setup .................................................................................................... 31
Connector and Terminal Description................................................................................................................. 33
Direct PWM Amplifier Connector ................................................................................................................ 33
Terminal Block Option for Encoders and EQU ................................................................................................. 35
Connector TB1 Top – Encoder 1 .................................................................................................................. 35
Connector TB2 Top – Encoder 2 .................................................................................................................. 35
Connector TB3 Top – EQU Outputs ............................................................................................................. 35
DB15 Connector Option for Encoders and EQU ............................................................................................... 36
Connector J1 Top - Encoder 1 / EQU ........................................................................................................... 36
Connector J2 Top - Encoder 2 / EQU ........................................................................................................... 36
Flag and User Flag Terminal Block Inputs ........................................................................................................ 36
Connector TB1 Front- Limits 1 .................................................................................................................... 36
Connector TB2 Front- Limits 2 .................................................................................................................... 37
SCHEMATICS ................................................................................................................................................... 39
ii
Accessory 24E2
INTRODUCTION
Overview
The Acc-24E2 Axis Expansion Board provides two or four channels of PMAC2-style direct PWM servo
interface circuitry for UMAC and Ultralite/MACRO Station controllers. The Acc-24E2 is part of the
UMAC family of expansion cards and these accessory cards are designed to plug into an industrial 3U
rack system. The information from these accessories is passed directly to either the UMAC or MACRO
Station CPU via the high speed UBUS expansion bus. Other axis or feedback interface UBUS
accessories include the following:
Acc-14E
Acc-24E2
Acc-24E2A
Acc-24E2S
Acc-28E
Acc-51E
Acc-53E
Parallel Feedback Inputs (absolute enc. or interferometers)
Digital Amplifier Breakout w/ TTL encoder inputs
Analog Amplifier Breakout w/ TTL encoder inputs
Stepper Amplifier Breakout w/ TTL encoder inputs
16-bit A/D Converter Inputs (up to four per card)
4096 times interpolator for 1Vpp sinusoidal encoders
SSI encoder interface (up to 8 channels)
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 can service only eight channels of servo
data, only two Acc-24E2x boards can be connected to the MACRO-Station. The new MACRO 16-Axis
CPU can support four Acc-24E2x cards.
The Acc-24E2 board contains no processor; it has one highly integrated 4-channel PMAC2-style Servo IC
with the buffering circuitry and connectors around them. The two-axis Acc-24E2 plugs into the
backplane and uses one slot in the Rack. If two more axes are needed, Acc-24E2 Option 1 can be
plugged into the Acc-24E2 connectors. The Acc-24E2 with its Option 1 card takes up a total of two slots.
Features
The Acc-24E2 board can be used with any UMAC or MACRO Station CPU interfacing through the UBUS.
The Acc-24E2 supports both Direct PWM servo and PFM stepper interfaces:
 Direct digital pulse-width modulated (PWM) phase voltage commands
 Pulse-and-direction commands
Board Configuration
An Acc-24E2 comes standard with one Servo IC providing four servo interface channels, which are
brought out on terminal blocks and mini D-Sub connectors. Two of these channels are brought out on the
single-board base configuration.
Each channel of servo interface circuitry includes the following:
 Two output command signal sets, configurable as either:

One pulse-and-direction

Three PWM top-and-bottom pairs
 AB-Quadrature and Index pulse differential/single-ended encoder input
 Nine input flags, two output flags
 Interface to two external serial ADCs, 8 to 18 bits, for current loop feedback
Option 1D: If Option 1D Piggyback Board is ordered, the circuitry and input/output connectors are
provided for the third and fourth channels associated with the Servo IC on the main Acc-24E2.
Introduction
Acc-24E2 Power Supply Requirements
The following table lists the power requirements for the entire Acc-24E2 family of products for the
UMAC Turbo and UMAC MACRO. Because of the flexibility of these products, the power requirements
for all Acc-24E products are listed.
Product
Acc-24E2
Acc-24E2 opt. 1
Acc-24E2A
Acc-24E2 opt. 1A
Acc-24E2S
2
5V
12V for DACs
-12V for DACs
700mA
200mA
800mA
200mA
600mA
N/A
N/A
200mA
200mA
N/A
N/A
N/A
200mA
200mA
N/A
12V-24V for Flag Circuits
Accessory 24E2
E-POINT JUMPER SETTINGS
Acc-24E2 Base Board (Channels* 1 & 2)
Jumper
Configuration
E1A
1-2
Description
Default
No Jumper for TTL Level input for CHU1 flag
No jumper
Jumper 1-2 for DIR1+ output in Stepper Mode
E1B
1-2
No Jumper for TTL Level input for CHV1 flag
No jumper
Jumper 1-2 for DIR1- output in Stepper Mode
E1C
1-2
No Jumper for TTL Level input for CHW1 flag
No jumper
Jumper 1-2 for PUL1+ output in Stepper Mode
E1D
1-2
No Jumper for TTL Level input for CHT1 flag
No jumper
Jumper 1-2 for PUL1- output in Stepper Mode
E2A
1-2
No Jumper for TTL Level input for CHU2 flag
No jumper
Jumper 1-2 for DIR2+ output in Stepper Mode
E2B
1-2
No Jumper for TTL Level input for CHV2 flag
No jumper
Jumper 1-2 for DIR2- output in Stepper Mode
E2C
1-2
No Jumper for TTL Level input for CHW2 flag
No jumper
Jumper 1-2 for PUL2+ output in Stepper Mode
E2D
1-2
No Jumper for TTL Level input for CHT2 flag
No jumper
Jumper 1-2 for PUL2- output in Stepper Mode
E5
1-2-3
Jump 1-2 for Turbo 3U CPU and MACRO CPU
Jump 1-2
** Jump 2-3 for legacy MACRO CPU (before 6/00)
E7
1-2
No jumper to not tie D-shell to chassis ground
No Jumper
Jump 1-2 to tie J1 D-Shell to chassis ground
E8
1-2
No jumper to not tie D-shell to chassis ground
No Jumper
Jump 1-2 to ground J2 D-Shell to Chassis Ground
E10
1-2-3
Connects FC0 to FC3from J1 PWM AMP1
Jump 2-3
connectors to U,V,W & T input flags on 1st Channel
Jump 1-2 for high true fault signals
Jump 2-3 for low true fault signals
E11
1-2-3
Connects FC0 to FC3from J2 PWM AMP2
Jump 2-3
connectors to U,V,W & T input flags on 2nd Channel
Jump 1-2 for high true fault signals
Jump 2-3 for low true fault signals
E13
1-2-3
Jump 1-2 to receive phase and servo clocks
Factory set
Jump 2-3 to transmit phase and servo clocks
E111
1-2
No jumper for direct PWM mode axis 1
No jumper
Jump 1-2 for pulse and direction mode axis 1
E112
1-2
No jumper for direct PWM mode axis 2
No jumper
Jump 1-2 for pulse and direction mode axis 2
* The channels refer to the Servo IC associated with the Acc-24E2 base board. For example, an 8-axis
application would have two Acc-24E2s with option 1. The first Acc-24E2 would have axes 1-4 and
the second Acc-24E2 would contain axes 5-8.
** For legacy MACRO Stations (part number 602804-100 thru 602804-104)
E-Point Jumper Settings
Acc-24E2 Option 1 Board (Channels 3 & 4)
4
Jumper
Configuration
E1A
1-2
E1B
1-2
E1C
1-2
E1D
1-2
E2A
1-2
E2B
1-2
E2C
1-2
E2D
1-2
E7
1-2
E8
1-2
E10
1-2-3
E11
1-2-3
E111
1-2
E112
1-2
Description
Default
No Jumper for TTL Level input for CHU3 flag
Jumper 1-2 for DIR3+ output in Stepper Mode
No Jumper for TTL Level input for CHV3 flag
Jumper 1-2 for DIR3- output in Stepper Mode
No Jumper for TTL Level input for CHW3 flag
Jumper 1-2 for PUL3+ output in Stepper Mode
No Jumper for TTL Level input for CHT3 flag
Jumper 1-2 for PUL3- output in Stepper Mode
No Jumper for TTL Level input for CHU4 flag
Jumper 1-2 for DIR4+ output in Stepper Mode
No Jumper for TTL Level input for CHV4 flag
Jumper 1-2 for DIR4- output in Stepper Mode
No Jumper for TTL Level input for CHW4 flag
Jumper 1-2 for PUL4+ output in Stepper Mode
No Jumper for TTL Level input for CHT4 flag
Jumper 1-2 for PUL4- output in Stepper Mode
No jumper to not tie D-shell to chassis ground
Jump 1-2 to tie J1 D-Shell to chassis ground
No jumper to not tie D-shell to chassis ground
Jump 1-2 to ground J2 D-Shell to Chassis Ground
Connects FC0 to FC3from J1 PWM AMP3 connectors to
U,V,W & T input flags on 3rd Channel
Jump 1-2 for high true fault signals
Jump 2-3 for low true fault signals
Connects FC0 to FC3from J2 PWM AMP4 connectors to
U,V,W & T input flags on 4th Channel
Jump 1-2 for high true fault signals
Jump 2-3 for low true fault signals
No jumper for direct PWM mode axis 3
Jump 1-2 for pulse and direction mode axis 3
No jumper for direct PWM mode axis 4
Jump 1-2 for pulse and direction mode axis 4
No jumper
No jumper
No jumper
No jumper
No jumper
No jumper
No jumper
No jumper
No Jumper
No Jumper
Jump 2-3
Jump 2-3
No jumper
No jumper
Accessory 24E2
HARDWARE SETUP
Position Compare Port Driver IC
As with the other PMAC controllers, the UMAC has the high speed compare outputs which allows firing
an output based on position. This circuit will fire within 100 nsec of reaching the desired position. The
position compare output port on Acc-24E2x has driver IC at component U27. This IC gives a fast CMOS
driver. This IC gives a fast CMOS driver.
The following table lists the properties of each driver IC:
Part
# of Pins
Max Voltage and Current
Output Type
Max Frequency
DS75451N
8
5V, 10 mA
Totem-Pole
(CMOS)
5 MHz
Switch Configuration
UMAC Address DIP Switch S1
S1, S1-3, S1-4 are used to address the Acc-24E2 as shown in the table below.
S1-1
S1-3
S1-4
Board No.
IC No.
I-Var. Range
Base Address
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
1
2
3
4
5
6
7
8
2
3
4
5
6
7
8
9
I7200
I7300
I7400
I7500
I7600
I7700
I7800
I7900
$078200
$078300
$079200
$079300
$07A200
$07A300
$07B200
$07B300
S1-2, S1-5, and S1-6 are used to determine whether the Acc-24E2 is communicating to a Turbo 3U
PMAC or a MACRO Station CPU.
S1-2
S1-5
S1-6
ON
ON
ON
Function
3U Turbo PMAC Use
MACRO Station Address DIP Switch S1
S1-1, S1-2, S1-3, S1-4 are used to address the Acc-24E2 as shown in the table below.
S1-1
S1-2*
S1-3
S1-4
Board No.
IC No.
Base Address
ON
ON
OFF
OFF
1
2
$00C040
OFF
OFF
OFF
OFF
2
3
$00C060
* Always set to OFF for legacy MACRO Stations (part number 602804-100 through 602804-104)
S1-5 and S1-6 are used to determine whether the Acc-24E2 is communicating to a Turbo 3U PMAC or a
MACRO Station CPU.
Hardware Setup
S1-5
S1-6
Function
OFF
OFF
3U MACRO Station use
Acc-24E2 Clock Settings
The Phase Clock and Servo Clock must be configured on each Acc-24E2x base board. 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 E13 from 2 to 3 for all of the
Acc-24E2s plugged into the UMAC. At re-initialization (either $$$*** command or power up with E3
jumpered on UMAC), the firmware will know that all of the cards are in the auto configuration setup and
will assign the card with the lowest base address setting (usually $78200) the task of sourcing the clocks
by setting variable I19 to the appropriate register. The clocks will be set initially to the factory default
servo update cycle and phase clock cycle. For a better understanding of this feature, refer to description
of I19 in the Turbo Software Reference Manual.
For UMAC Turbo systems with firmware older than version 1.937, set one of the Acc-24E2s to transmit
(E13 set 2-3) the phase and servo clock (usually the card at the lowest base address setting) and the rest of
the Acc-24E2s to receive (E13 set 1-2) the phase and servo clocks.
For MACRO systems, the clock select jumper should be set to receive servo and phase clocks. For the
Acc-24E2, E13 should be set 1-2.
Resistor Pack Configuration
Differential or Single-Ended Encoder Selection
The differential input signal pairs to the PMAC have user-configurable pull-up/pull-down resistor
networks to permit the acceptance of either single-ended or differential signals in one setting, or the
detection of lost differential signals in another setting.
 The ‘+’ inputs of each differential pair each have a hard-wired 1 k pull-up resistor to +5V. This
cannot be changed.

The ‘-’ inputs of each differential pair each have a hard-wired 2.2 k resistor to +5V; also each has
another 2.2 k resistor as part of a socketed resistor pack that can be configured as a pull-up resistor
to +5V, or a pull-down resistor to GND.
If this socketed resistor is configured as a pull-down resistor (the default configuration), the combination
of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.5V in the
absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines
alone; it is desirable for unconnected inputs to prevent the pick-up of spurious noise; it is permissible for
differential line-driver inputs.
If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the
two parallel 2.2 k resistors act as a single 1.1 k pull-up resistor, holding the line at +5V 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 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 is reversed in the socket, it is configured as a bank of pull-up resistors.
The following table lists the pull-up/pull-down resistor pack for each input device:
6
Device
Resistor Pack
Pack Size
Encoder 1
Encoder 2
Encoder 3
Encoder 4
RP22
RP24
RP22
RP24
6-pin
6-pin
6-pin
6-pin
Accessory 24E2
Termination Resistors
The Acc-24E2A provides sockets for termination resistors on differential input pairs coming into the
board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances
into the Acc-24E2A board and ringing at signal transitions is a problem, SIP resistor packs may be
mounted in these sockets to reduce or eliminate the ringing.
All termination resistor packs have independent resistors (no common connection) with each resistor
using two adjacent pins.
Channel Specific Resistor Packs
Channel 1
Channel 2
SIP
Description
RP22
RP24
2.2K
RP23
RP45
RP25
RP46
220
1K
Reverse resistor pack for encoder loss feature (for differential
encoders only)
Termination resistor to reduce ringing (not installed by default).
Install for 5V limits
UBUS Specific Resistor Packs
Resistor Pack
RP5
RP6
SIP
220
2.2K
Description
Terminator (not installed, only used for non-UBUS)
Pull Down for Old MACRO CPU
Pull Up for UMAC Turbo & MACRO
Acc-24E2 Limit and Flag Wiring
The Acc-24E2 allows the use of sinking or sourcing position limits and flags to the controller. The optoisolator IC used is a PS2705-4NEC-ND quad photo-transistor output type. This IC allows the current to
flow from return to flag (sinking) or from flag to return (sourcing).
A sample of the positive 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 Resistor Pack Configuration section of this manual). If these resistor packs are not added, all
flags (Limits, Home, User, and amplifier fault) will be referenced from 0-5V.
Hardware Setup
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 circuitry works for differential incremental encoders only. In proper
operation, the digital states of the complementary inputs for channel (e.g. A and A/) should always be
opposite: when one is high, the other is low. If for some reason, such as a cable connection coming
undone, one or more of the signal lines is no longer driven, pull-up resistors on the input line pull and
hold the signal high.
The encoder-loss detection circuitry uses exclusive-or (XOR) gates on each complementary pair to detect
whether the signals are in the same or opposite states. These results are combined to produce a single
encoder-loss status bit that the processor can read.
This technique requires that both signal lines of the pair have pull-up resistors. Note that this is not the
default configuration of a PMAC as it is shipped. The complementary lines (A/ and B/) are pulled to
2.5V in a voltage-divider configuration as shipped to be able to accept both single-ended and normal
differential inputs. This must be changed to a pull-up configuration which involves reversing a socketed
resistor pack on the Acc-24E2.
Acc-24E2 Encoder Loss Detection with UMAC Turbo CPU
Channel
Resistor
Pack
Status Bit Address (EvenNumbered Servo IC)*
Status Bit Address (OddNumbered Servo IC)*
Status Bit
Name
Bit Error
State
1
RP22
Y:$07xF08,5
Y:$B8EC,5
QL_10
2
RP24
Y:$07xF09,5
Y:$B8ED,5
QL_20
3
RP22**
Y:$07xF0A,5
Y:$B8EE,5
QL_30
4
RP24**
Y:$07xF0B,5
Y:$B8EF,5
QL_40
*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 $20 to these
addresses.
**These resistor packs are on the Option 1A piggyback board (if present) of the module, not on the baseboard.
8
Accessory 24E2
Acc-24E2 Encoder Loss Detection with UMAC MACRO CPU
Channel
Resistor
Pack
Status Bit Address (FirstServo IC)*
Status Bit Address
(Second Servo IC)*
Status Bit
“Name”
Bit Error
State
1
RP22
Y:$B8C8,5
Y:$B8CC,5
QL_12
RP24
Y:$B8C9,5
Y:$B8CD,5
QL_23
RP22**
Y:$B8CA,5
Y:$B8CE,5
QL_34
RP24**
Y:$B8CB,5
Y:$B8CF,5
QL_4*First Servo IC has base address $C040; second Servo IC has base address $C060
**These resistor packs are on the Option 1A piggyback board (if present) of the module, not on the base board.
Hardware Setup
0
0
0
0
10
Accessory 24E2
CONNECTIONS
This diagram shows the location of connections and jumpers for both the base Acc-24E2 and its Option
1D piggyback board.
Connections
Mating Connectors
Terminal Block Connectors
Name
TB1- Top
TB2- Top
TB3- Top
TB1- Front
TB2 Front
Manufacturer
Pins
Phoenix Contact
Phoenix Contact
Phoenix Contact
Phoenix Contact
Phoenix Contact
12
12
3
5
5
Type
Details
FRONT-MC1,5/12-ST3,81
FRONT-MC1,5/12-ST3,81
FRONT-MC1,5/3-ST3,81
FRONT-MC1,5/5-ST3,81
FRONT-MC1,5/5-ST3,81
Encoder 1 Inputs
Encoder 2 Inputs
Compare Outputs
Channel 1 Flags
Channel 2 Flags
DB15 Connector Option
Name
Manufacturer
Type
Details
J1- Top
AMP
Pins
15
AMP 745072-2
J2- Top
AMP
15
AMP 745072-2
Encoder 1 Inputs and
Compare Outputs
Encoder 2 Inputs and
Compare Outputs
Indicators
LED
Color
Description
D5
D6
D10
D11
D17
Amber
Amber
Green
Green
Green
Amplifier 1 Enabled
Amplifier 2 enabled
Encoder 1 Power OK
Encoder 2 Power OK
Power Good
Overall Wiring Diagram
T
W
V
U
GND
5V
C/
C
B/
B
A/
A
Shield
12
11 10
9
8
7
6
5
4
3
2
1
TB1 Top
ACC-24E2
5
4
TB1
Front
3
2
1
FLG_RTN
PLIM
MLIM
HOME
USER
AMP1
AMP2
12V to 24V
Supply
GND
+V
Amplifier
LOAD

 
Float Shield
15V
AGND
Neg Limit
Home Flag
Pos Limit
12
Servo Motor
Float Shield
Accessory 24E2
Sample Wiring Diagrams
This section has typical wiring diagrams for the TTL level inputs, flags and limits and PFM outputs.
TTL Level Inputs and Outputs
Quadrature Encoders
8
15
BEQU2
BEQU1
GND
A
A/
B
B/
C
C/
5V
GND
U
V
W
T
Shield
1
2
3
4
5
6
7
8
9
10
11
12
A
A/
B
B/
C
C/
5V
GND
U
V
W
T
Encoder
Float Shield
Shield
Encoder
Float Shield
9
1
U
TTL Hall Effect Sensors
V
W
5
4
6
2
3
1
8
BEQU2
BEQU1
GND
A
A/
B
B/
C
C/
5V
GND
U
V
W
T
15
A
A/
B
B/
C
C/
5V
GND
U
V
W
T
1
2
3
4
5
6
7
8
9
10
11
12
Float Shield
Hall
Sensor
Shield
Float Shield
Hall
Sensor
9
Shield
1
Position Compare Outputs
5V
Output Device 2
8
0V
15
BEQU2
BEQU1
GND
A
A/
B
B/
C
C/
5V
GND
U
V
W
T
3
2
1
GND
BEQU1
BEQU2
Output Device 1
Output Device 2
9
1
Connections
Output Device 1
Position Limits, Home Flag, and User Flag
ACC-24E2 Sourcing Flags
5
4
3
2
1
FLG_RTN_1
HOME1
MLIM1
PLIM1
USER1
ACC-24E2 Sinking Flags
24V Supply
24V Supply
0V
0V
24V
5
Home
4
3
2
1
Neg
FLG_RTN_1
HOME1
MLIM1
PLIM1
USER1
24V
Home
Neg
Pos
Pos
User
User
Acc-24E2 Stepper Motor Outputs (TTL level)
ACC-24E2 PFM-Stepper Output
8
BEQU2
BEQU1
GND
A
A/
B
B/
C
C/
5V
GND
Dir+
DirPulse+
Pulse-
15
1
2
3
4
5
6
7
8
9
10
11
Bus Voltage
Stepper
Amplifier
9
12
A
A/
B
B/
C
C/
5V
GND
Dir+
DirPulse+
Pulse-
1
Channel1: Jumper E1A, E1B, E1C, E1D
Channel2: Jumper E2A, E2B, E2C, E2D
Bus Voltage
Stepper
Amplifier
Channel1: Jumper E1A, E1B, E1C, E1D
Channel2: Jumper E2A, E2B, E2C, E2D
Step
Motor
Step
Motor
Servo IC Configuration I-Variables
Turbo PMAC I-variables in the range I7000 – I7999 control the configuration of the Servo ICs. The
hundreds digit represents the number of the Servo IC (0 to 9) in the system. Servo ICs 0 and 1 are (or can
be) on board the Turbo PMAC board itself. Servo ICs 2 through 9 are (or can be) on external devices
such as the Acc-24E2.
Servo IC Numbering
The number m of the Servo IC on the Acc-24E2 board is dependent on the addressing of the board with
DIP switches S1-1, S1-3, and S1-4, which place the board as the first through eight external devices:
 First Acc-24E2 with option 1:
Servo IC 2 (channels 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 1
Servo 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 Standard Servo IC on an Acc-24E2 occupies Channels 1-2 on the board, using connectors associated
with channels 1 and 2. The Option 1 on an Acc-24E2 occupies Channels 3-4 on the board, using
connectors associated with channels 3 and 4.
For example, the Standard Servo IC on the first Acc-24E2 is Servo IC 2 to Turbo PMAC and is
configured by variables I7200 – I7299.
14
Accessory 24E2
Servo Channel Numbering
Each Servo IC has four channels of servo interface circuitry. The tens digit n of the I-variable
configuring the IC represents the channel number on the IC (n = 1 to 4). For example, Channel 1 of the
Standard Servo IC on the first Acc-24E2 is configured by variables I7210 – I7219. These channelspecific I-variables are represented generically as I7mn0 – I7mn9, where m represents the Servo IC
number (0 – 9) and n represents the IC channel number (1-4).
The Channels 1-4 on the Standard Servo IC of an Acc-24E2 correspond to Channels 1-4, respectively, on
the Acc-24E2 board itself.
I-variables in the I7000s for which the tens digit is 0 (Channel 0) affect all four channels of the PMAC2style Servo IC on the Acc-24E2. These multi-channel I-variables are represented generically as I7m00 –
I7m09.
Multi-Channel I-Variables
There are several multi-channel I-variables that must be set up properly for proper operation of the Acc24E2 in a Turbo PMAC system. The most important are:
I7m07: Servo IC m Phase/Servo Clock Direction
This variable should be set to 0 the Acc-24E2A generating the clocks (E1 set 2-3) and set to 3 for the
Acc-24C2As to receive the clocks (E1 set 1-2).
I7m00: Servo IC m MaxPhase/PWM Frequency Control
Typically, this will be set to the same value as the variable that controls the system clocks: I7200 on a
UMAC Turbo PMAC2, or I6800 on a Turbo PMAC2 Ultralite. If a different PWM frequency is desired
then the following constraint should be observed in setting this variable:
2 * PWMFreq ( kHz )
 { Integer }
PhaseFreq
I7m01: Servo IC m Phase Clock Frequency Control
Even though the IC is receiving an external phase clock (see I7m07, above), usually it is best to create the
same internal phase clock frequency in the Servo IC. This yields the following constraint:
I7 m00 * ( I7 m01  1 )  I7200 * ( I7201  1 )
{UMAC Turbo}
I7 m00 * ( I7 m01  1 )  I 6800 * ( I 6801  1 )
{Turbo PMAC2 Ultralite}
Solving for I7m01, we get
I7 m01 
I7 m01 
I7200 * ( I7201  1 )
1
I7 m00
{UMAC Turbo}
I 6800 * ( I 6801  1 )
 1 {Turbo PMAC2 Ultralite}
I7 m00
If I7m00 is the same as I7200 or I6800, I7m01 will be the same as I7201 or I6801.
I7m02: Servo IC m Servo Clock Frequency Control
Even though the IC is receiving an external servo clock (see I7m07, above), usually it is best to create the
same internal servo clock frequency in the Servo IC. This means that I7m02 for the IC should be set the
same as I7202 on a UMAC Turbo, or the same as I6802 on a Turbo PMAC2 Ultralite.
I7m03: Servo IC m Hardware Clock Frequency Control
The hardware 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 this value from the default.
Connections
Single-Channel I-Variables
The single-channel setup I-variables for Channel n of Servo IC m work the same on an Acc-24E2 as they
do on a Turbo PMAC2 itself. Each Servo IC has four channels n, numbered 1 to 4. For the first
(standard) Servo IC on the Acc-24E2, the channel numbers 1 – 4 on the Servo IC are the same as the
channel numbers 1 – 4 on the board. The most important variables are:
I7mn0: Servo IC m Channel n Encoder Decode Control
Typically, I7mn0 is set to 3 or 7 for x4 quadrature decode, depending on which way is up. If the channel is
used for open-loop stepper drive, I7mn0 is set to 8 to accept internal pulse-and-direction, or to 0 to accept
external pulse-and-direction (e.g. from an Acc-8S). It is set to 12 if the channel is used for MLDT feedback.
I7mn2: Servo IC m Channel n Capture Control
I7mn2 determines whether the encoder index channel, an input flag, or both, are used for the capture of
the encoder position.
I7mn3: Servo IC m Channel n Capture Flag Select
I7mn3 determines which input flag is used for encoder capture, if one is used.
I7mn6: Servo IC m Channel n Output Mode Select
I7mn6 determines whether the A and B outputs are DAC or PWM, and whether the C output is PFM
(pulse-and-direction) or PWM. Typically, it is set to 0, for 3-phase PWM, or to 3 for DACs and PFM.
Encoder Conversion Table I-Variables
To use feedback or master position data from an Acc-24E2, add entries to the encoder conversion table
(ECT) using I-variables I8000 – I8191 to address and process this data. The default conversion table in
the Turbo PMAC does not contain these entries; it only contains entries for the eight channels on board
the Turbo PMAC.
Usually, the position data obtained through an Acc-24E2 board is an incremental encoder feedback, and
occasionally an A/D converter feedback from an Acc-28E board or Acc-36E.
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
1st Acc-24E2x Channel n Encoder Set
3
$m78300
$m78308
$m78310
$m78318
2nd Acc-24E2x Channel n Encoder Set
4
$m79200
$m79208
$m79210
$m79218
3rd Acc-24E2x Channel n Encoder Set
5
$m79300
$m79308
$m79310
$m79318
4th Acc-24E2x Channel n Encoder Set
6
$m7A200 $m7A208 $m7A210 $m7A218
5th Acc-24E2x Channel n Encoder Set
7
$m7A300 $m7A308 $m7A310 $m7A318
6th Acc-24E2x Channel n Encoder Set
8
$m7B200 $m7B208 $m7B210 $m7B218
7th Acc-24E2x Channel n Encoder Set
9
$m7B300 $m7B308 $m7B310 $m7B318
8th Acc-24E2x Channel n Encoder Set
The first hexadecimal digit in the entry, represented by m in the table, is a 0 for the most common 1/T timerbased extension of digital incremental encoders; it is an 8 for the parallel-data extension of analog incremental
encoders; it is a C for no extension of 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 Ivariables for the motor must contain the addresses of registers in the Acc-24E2, or the addresses of encoder
conversion table registers containing data processed from the Acc-24E2. These I-variables can include:
Ixx02: Motor xx Command Output Address
Ixx02 tells Turbo PMAC where to write its command outputs for Motor xx. If Acc-24E2 is to create the
command signals, Ixx02 must contain the address of the register.
16
Accessory 24E2
The following table shows the address of the A output register for each channel of each Acc-24E2. These
addresses can be used for single analog outputs, double analog outputs, or direct PWM outputs.
Servo IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
3
4
5
6
7
8
9
$078202
$078302
$079202
$079302
$07A202
$07A302
$07B202
$07B302
$07820A
$07830A
$07920A
$07930A
$07A20A
$07A30A
$07B20A
$07B30A
$078212
$078312
$079212
$079312
$07A212
$07A312
$07B212
$07B312
$07821A
$07831A
$07921A
$07931A
$07A21A
$07A31A
$07B21A
$07B31A
1st Acc-24E2x Channel n DAC/PWMnA
2nd Acc-24E2x Channel n DAC/PWMnA
3rd Acc-24E2x Channel n DAC/PWMnA
4th Acc-24E2x Channel n DAC/PWMnA
5th Acc-24E2x Channel n DAC/PWMnA
6th Acc-24E2x Channel n DAC/PWMnA
7th Acc-24E2x Channel n DAC/PWMnA
8th Acc-24E2x Channel n DAC/PWMnA
If the C output register for a given Acc-24E2 and channel is used (primarily for pulse and direction
output), simply add 2 to the address shown in the above table. For example, on the first Acc-24E2, output
register 1C is at address $078204.
Ixx03: Motor xx Position-Loop Feedback Address
Ixx04: Motor xx Velocity-Loop Feedback Address
Ixx05: Motor xx Master Position Address
Usually, the Ixx03, Ixx04, and Ixx05 variables contain the address of a processed position value in the
encoder conversion table, even when the raw data comes from the Acc-24E2. The first line of the
encoder conversion table is at address $003501; the last line is at address $0035C0.
Ixx10: Motor xx Power-On Position Address
Ixx10 tells the Turbo PMAC where to read absolute power-on position, if any. Typically, the only times
Ixx10 will contain the address of an Acc-24E2 register 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
3
4
5
6
7
8
9
$078200
$078300
$079200
$079300
$07A200
$07A300
$07B200
$07B300
$078208
$078308
$079208
$079308
$07A208
$07A308
$07B208
$07B308
$078210
$078310
$079210
$079310
$07A210
$07A310
$07B210
$07B310
$078218
$078318
$079218
$079318
$07A218
$07A318
$07B218
$07B318
1st Acc-24E2x Channel n Timer
2nd Acc-24E2x Channel n Timer
3rd Acc-24E2x Channel n Timer
4th Acc-24E2x Channel n Timer
5th Acc-24E2x Channel n Timer
6th Acc-24E2x Channel n Timer
7th Acc-24E2x Channel n Timer
8th 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 specified by Ixx25. Ixx24
is a set of independent control bits. There are two bits that must be set correctly to use a flag set on an
Acc-24E2.
Bit 0 of Ixx24 must be set to 1 to tell the Turbo PMAC that this flag set is in a Type 1 PMAC2-style
Servo IC. Bit 18 of Ixx24 must be set to 0 to tell the Turbo PMAC that this flag set is not transmitted
over a MACRO ring. Other bits of Ixx24 may be set as desired for a particular application.
Ixx25: Motor xx Flag Address
Ixx25 tells Turbo PMAC where to access its flag data for Motor xx. If Acc-24E2 is interfaced to the
flags, Ixx25 must contain the address of the flag register in Acc-24E2.
Connections
The following table shows the address of the flag register for each channel of each Acc-24E2.
Servo
IC #
Chan. 1
2
3
4
5
6
7
8
9
$078200
$078300
$079200
$079300
$07A200
$07A300
$07B200
$07B300
Chan. 2
$078208
$078308
$079208
$079308
$07A208
$07A308
$07B208
$07B308
Chan. 3
Chan. 4
Notes
$078210
$078310
$079210
$079310
$07A210
$07A310
$07B210
$07B310
$078218
$078318
$079218
$079318
$07A218
$07A318
$07B218
$07B318
1st Acc-24E2x Channel n Flag Set
2nd Acc-24E2x Channel n Flag Set
3rd Acc-24E2x Channel n Flag Set
4th Acc-24E2x Channel n Flag Set
5th Acc-24E2x Channel n Flag Set
6th Acc-24E2x Channel n Flag Set
7th Acc-24E2x Channel n Flag Set
8th Acc-24E2x Channel n Flag Set
Ixx81: Motor xx Power-On Phase Position Address
Ixx81 tells Turbo PMAC2 where to read absolute power-on position for motor phase commutation, if any.
Typically, it will contain the address of an Acc-24E2 register for only two types of absolute phasing
sensors: hall-effect commutation sensors (or their optical equivalents) connected to the U, V, and W input
flags on an Acc-24E2 channel, or the encoder counter filled by simulated quadrature from a Yaskawa
absolute encoder connected to the Acc-24E2 through an Acc-57E board.
The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa
absolute encoders:
Turbo PMAC Ixx81 Acc-24E2 Encoder Register Settings (Ix91=$480000 - $580000)
Servo
IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
3
4
5
6
7
8
9
$078201
$078301
$079201
$079301
$07A201
$07A301
$07B201
$07B301
$078209
$078309
$079209
$079309
$07A209
$07A309
$07B209
$07B309
$078211
$078311
$079211
$079311
$07A211
$07A311
$07B211
$07B311
$078219
$078319
$079219
$079319
$07A219
$07A319
$07B219
$07B319
1st Acc-24E2x Channel n Encoder Reg.
2nd Acc-24E2x Channel n Encoder Reg.
3rd Acc-24E2x Channel n Encoder Reg.
4th Acc-24E2x Channel n Encoder Reg.
5th Acc-24E2x Channel n Encoder Reg.
6th Acc-24E2x Channel n Encoder Reg.
7th Acc-24E2x Channel n Encoder Reg.
8th Acc-24E2x Channel n Encoder Reg.
Ixx82: Motor xx Current Feedback Address
Ixx82 tells Turbo PMAC where to get its current-loop feedback every phase update cycle. If Ixx82 is set
to 0, Turbo PMAC does not perform current-loop calculations for Motor xx.
The following table shows the possible values of Ixx82 for Acc-24E2 ADC register pairs:
Turbo PMAC Ixx82 Acc-24E2 ADC Register Settings
18
ADC Register
Channel #
1st Acc-24E2
2nd Acc-24E2
3rd Acc-24E2
4th Acc-24E2
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
$078206
$07820E
$078216
$07821E
$078306
$07830E
$078316
$07831E
$079206
$07920E
$079216
$07921E
$079306
$07930E
$079316
$07931E
$07A206
$07A20E
$07A216
$07A21E
$07A306
$07A30E
$07A316
$07A31E
$07B206
$07B20E
$07B216
$07B21E
$07B306
$07B30E
$07B316
$07B31E
Accessory 24E2
Ixx83: Motor xx Phase Position Address
Ixx83 tells Turbo PMAC where to get its commutation position feedback every phase update cycle.
Usually, this contains the address of an encoder phase position register.
The following 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
3
4
5
6
7
8
9
$078201
$078301
$079201
$079301
$07A201
$07A301
$07B201
$07B301
$078209
$078309
$079209
$079309
$07A209
$07A309
$07B209
$07B309
$078211
$078311
$079211
$079311
$07A211
$07A311
$07B211
$07B311
$078219
$078319
$079219
$079319
$07A219
$07A319
$07B219
$07B319
1st Acc-24E2x Channel n Encoder Reg.
2nd Acc-24E2x Channel n Encoder Reg.
3rd Acc-24E2x Channel n Encoder Reg.
4th Acc-24E2x Channel n Encoder Reg.
5th Acc-24E2x Channel n Encoder Reg.
6th Acc-24E2x Channel n Encoder Reg.
7th Acc-24E2x Channel n Encoder Reg.
8th Acc-24E2x Channel n Encoder Reg.
Connections
20
Accessory 24E2
ULTRALITE/MACRO STATION SETUP
The Acc-24E2 family of JEXP accessories can also be used with MACRO Station to breakout the
standard amplifier, flag, and encoder signals. The gate arrays on the Acc-24E2 family of accessories are
located in the traditional channel 9-16 locations of the PMAC2 memory map.
Note:
In order for the MACRO Station to setup its output and input channels
automatically, MACRO Station firmware 1.114 or greater must be used.
Currently there are three types of Acc-24Es to be used with the MACRO Station:
Acc-24E2
Acc-24E2A
Acc-24E2S
Direct PWM commutation outputs
10V Outputs for torque, velocity and sinusoidal input amplifiers
Dedicated 4-channel stepper interface card
MACRO Station Gate Array Locations for Acc-24E2
Chan #
Hex
9
[$C040]
10
[$C048]
11
[$C050]
12
[$C058]
13
[$C060]
14
[$C068]
15
[$C070]
16
[$C078]
Hardware Setup for MACRO Station Use
A few hardware selections must be set in order to use this accessory with the MACRO Station:
E5
E13
SW1
SW1
Jumper 1-2 for MACRO Communications
Jumper 1-2 for Clock Settings
SW1-1 and SW1-2 ON for $C040, SW1-1 and SW1-2 OFF for $C060
SW1-3 through SW1-6 set to off
The Delta Tau Setup software for either the standard PMAC2 Ultralite or Turbo PMAC2 Ultralite will
setup all of the important MI-Variables at the MACRO Station.
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 determined by the setting of the SW1 rotary switch on the CPU/Interface Board of
the MACRO station.
These variables are accessed using the MS station auxiliary read and write commands. The number
immediately after the MS specifies the node number, and therefore the channel number mapped to that
node by the SW1 setting.
Encoder/Timer n Decode Control (MSn,MI910)
MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts.
As such, this defines the sign and magnitude of a count. The following settings may be used to decode an
input signal.
0:
Pulse and direction CW
1:
x1 quadrature decode CW
2:
x2 quadrature decode CW
3:
4:
5:
6:
7:
x4 quadrature decode CW
Pulse and direction CCW
x1 quadrature decode CCW
x2 quadrature decode CCW
x4 quadrature decode CCW
Ultralite/MACRO Station Setup
8:
9:
10:
11:
12:
13:
14:
15:
Internal pulse and direction
Not used
Not used
Not used
MLDT pulse timer control
(internal pulse resets timer; external pulse latches timer)
Not used
Not used
Not used
In any of the quadrature decode modes, PMAC is expecting two input waveforms on CHAn and CHBn,
each with approximately 50% duty cycle, and approximately one-quarter of a cycle out of phase with
each other. Times-one (x1) decode provides one count per cycle; x2 provides two counts per cycle; and
x4 provides four counts per cycle. Select x4 decode to get maximum resolution.
The clockwise (CW) and counterclockwise (CCW) options simply control which direction counts up. If it
is the wrong direction 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 sense of the output, destabilizing positive
feedback to the servo and a dangerous runaway condition will result.
In the pulse-and-direction decode modes, PMAC is expecting the pulse train on CHAn, and the direction
(sign) signal on CHBn. If the signal is unidirectional, the CHBn line can be allowed to pull up to a high
state, or it can be hardwired to a high or low state.
If MI910 is set to 8, the decoder inputs the pulse and direction signal generated by Channel n’s pulse
frequency modulator (PFM) output circuitry. This permits the Compact MACRO Station to create a
phantom closed loop when driving an open-loop 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 the sensor on PULSEn, and it is latched into the memory-mapped register when the
excitation pulse is received on CHAn.
Flag Capture Control (MSn,MI911-MI913)
The flag capture registers must also be setup at the MACRO Station for proper homing, encoder
capturing, and setting compare outputs.
MI911 determines which encoder input the position compare circuitry for the machine interface channel
mapped to the specified node uses.
MSn,MI911=0
MSn,MI911=1
Use channel n encoder counter for position compare function
Use first encoder counter on IC (encoder 1 for channels 1 to 4; encoder 5 for
channels 5 to 8) for position compare function
When MI911 is set to 0, the channel’s position compare register is tied to the channel’s own encoder
counter, and the position compare signal appears only on the EQUn output.
22
Accessory 24E2
When MI911 is set to 1, the channel’s position compare register is tied to the first encoder counter on the
ASIC (Encoder 1 for channels 1-4, Encoder 5 for channels 5-8, or Encoder 9 for channels 9-10) and the
position compare signal appears both on EQUn, and combined into the EQU output for the first channel
on the IC (EQU1 or EQU5); executed as a logical OR.
MI911 for the first channel on an ASIC performs no effective function, so is always 1. It cannot be set to 0.
MI912 determines which signal or combination of signals, and which polarity, triggers a position capture
of the counter for the encoder 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 depends on the position-capture function. The following settings may be used:
0:
Capture under software control (armed)
1:
Capture on Index (CHCn) high
2:
Capture on Flag high
3:
Capture on (Index high AND Flag high)
4:
Capture under software control (latched)
5:
Capture on Index (CHCn) low
6:
Capture on Flag high
7:
Capture on (Index low AND Flag high)
8:
Capture under software control (armed)
9:
Capture on Index (CHCn) high
10:
Capture on Flag low
11:
Capture on (Index high AND Flag low)
12:
Capture under software control (latched)
13:
Capture on Index (CHCn) low
14:
Capture on Flag low
15:
Capture on (Index low AND Flag low)
The trigger is armed when the position capture register 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 n)
Typically, this parameter is set to 0 or 3, because in actual use, the LIMn flags create other effects that
usually interfere with what is trying to be accomplished by the position capture. To capture on the LIMn
flags, disable the normal functions with Ix25, or use a channel n where none of the flags is used for the
normal axis functions
Output Mode Select (MSn,MI916)
The Acc-24E2 family of boards can be used for multiple mode outputs. At the MACRO Station, the
output mode on MACRO Station variable MSn,MI916 must be set up. The table below shows the output
modes available for each of the Acc-24E2 boards. The output mode select will be set up automatically if
using either the P2Setup or the Turbo Setup programs.
Board
Acc-24E2
Acc-24E2A
Acc-24E2S
Ultralite/MACRO Station Setup
Direct PWM Mode DAC Mode Pulse and Direction
Yes
No
No
No
Yes
No
Yes
Yes
Yes
The PMAC2 Style outputs allow the PMAC to control up to three individual output channels based on the
mode. These outputs are described as output A, output B, and output C.
MSn, MI916
Output Description Typical Use
0
1
A, B, and C are PWM Direct PWM Mode Only
A and B are DAC
10V Outputs for torque, velocity and sinusoidal input amplifiers
C is PWM
2
A and B are PWM
Stepper Systems
C is PFM
3
A and B are DAC
10V Outputs with MLDT Feedback
C is PFM
The default output at the MACRO Station is PWM (MSn,I916=0).
MACRO Station Encoder Conversion Table (MSn,MI120-MI151)
At power-up, the MACRO Station will set up all of the key memory locations and MI-Variables based on
the SW1 connector and firmware of the MACRO Station automatically. The key variables set up at
power-up are the encoder conversion table, servo output registers, and flag input registers.
Encoder Conversion Table for Acc-24E2 at MACRO Station
MS0,MI120=$00C040
MS0,MI121=$00C048
MS0,MI122=$00C050
MS0,MI123=$00C058
MS0,MI120=$00C060
MS0,MI121=$00C068
MS0,MI122=$00C070
MS0,MI123=$00C078
24
;output
;output
;output
;output
;output
;output
;output
;output
at
at
at
at
at
at
at
at
X:$0010
X:$0011
X:$0012
X:$0013
X:$0014
X:$0015
X:$0016
X:$0017
at
at
at
at
at
at
at
at
MACRO
MACRO
MACRO
MACRO
MACRO
MACRO
MACRO
MACRO
Station
Station
Station
Station
Station
Station
Station
Station
(encoder
(encoder
(encoder
(encoder
(encoder
(encoder
(encoder
(encoder
1)
2)
3)
4)
5)
6)
7)
8)
Accessory 24E2
MLDT FEEDBACK FOR UMAC TURBO AND UMAC MACRO
The Acc-24E2 can provide direct interface to magnetostrictive linear displacement transducers (MLDTs)
through its encoder connectors. This interface is for MLDTs with an external excitation format (often
called RS-422 format because of the signal levels). The Acc-24E2 provides the excitation pulse, and
receives the echo pulse, both with RS-422 signal formats.
This section provides basic information for using MLDTs with the Acc-24E2. More information can be
found in the User Manuals for the Turbo PMAC or the MACRO Station.
MLDT Hardware Setup of the Acc-24E2
The Acc-24E2 must be set up to output the differential pulse on what is normally the T and W input flags
on the encoder connector. This is done by putting jumpers on E-points E1C and E1D for the first channel
on the board, or E2C and E2D for the second channel on the board. These jumpers are OFF by default.
The PULSE+ (high during the pulse) and PULSE- (low during the pulse) outputs from the encoder
connector are connected to the differential pulse inputs on the MLDT. The echo pulse differential outputs
from the MLDT are connected to the CHA+ and CHA- input pins on the same encoder connector.
If the MLDT uses RPM format, in which there is a brief start echo pulse, and a brief stop echo pulse, the
“+” output from the MLDT should be connected to the CHA+ input on the Acc-24E2, and the “-” output
should be connected to the CHA- input.
If the MLDT uses DPM format, in which there is a single long echo pulse, with the delay to the trailing
edge measuring the position, the “+” output from the MLDT should be connected to the CHA- input on
the Acc-24E2, and the “-” output should be connected to the CHA+ input.
MLDT Software Setup of the UMAC Turbo
When the Acc-24E2 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)
Usually, the clock frequency driving the pulse-generation circuitry for all channels on Servo IC m can be
left at its default value of 9.83 MHz (0.102 sec). I7m03 also controls other clock signals, has a default
value of 2258, and rarely needs to be changed.
I7m04 (PFM Pulse Width)
The pulse width, set by I7m04 in units of PFM clock cycles must be set long enough for the MLDT to
see, and long enough to contain the rising edge of the RPM start echo pulse, or the rising edge of the
single DPM echo pulse. For example, if this edge can come up to 2 sec after the start of the excitation
pulse and the PMAC clock cycle is at its default of about 0.1 sec, then I7m04 must be set at least to 20.
I7mn6 (Output Format Select)
For Servo IC m Channel n to be used for MLDT feedback, I7mn6 must be set to 1 or 3 for the C subchannel to be used for PFM-format output. On an Acc-24E2A, I7mn6 must then be set to 3 for the A and
B sub-channels to be used for DAC-format output.
I7mn0 (MLDT Feedback Select)
For Servo IC m Channel n to be used for MLDT feedback, I7mn0 must be set to 12. In this mode, the pulse
timer is cleared on the output pulse, and latched on the echo pulse, counting in between at 117.96 MHz.
Conversion Table Processing I-Variables
The pulse timer for Servo IC m Channel n holds a number proportional to the time and therefore the
position. This must be processed in the conversion table before it can be used by the servo loop. It is best
to use the filtered parallel data conversion, a 3-line entry in the table (three consecutive I-variables).
Connector and Terminal Description
Line 1 (Method and Address): This 24-bit value (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 with
Servo IC m Channel n
Acc-24 #
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
1A
1B
2A
2B
3A
3B
4A
4B
2
3
4
5
6
7
8
9
$378200
$378300
$379200
$379300
$37A200
$37A300
$37B200
$37B300
$378208
$378308
$379208
$379308
$37A208
$37A308
$37B208
$37B308
$378210
$378310
$379210
$379310
$37A210
$37A310
$37B210
$37B310
$378218
$378318
$379218
$379318
$37A218
$37A318
$37B218
$37B318
Line 2 (Width and Start): This 24-bit value should be set to $013000 to specify the use of 19 bits ($013)
starting at bit 0.
Line 3 (Max Change): This 24-bit value should be set to a value slightly greater than the maximum true
velocity ever expected, expressed in timer LSBs per servo cycle. With a typical MLDT, the 117.96 MHz
timer LSB represents 0.024 mm (0.00094 inches); the default 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 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 Address)
To use the result of the conversion table for velocity-loop feedback for Motor xx, Ixx04 should contain
the address of the result register in the conversion table - $003503 in the above example.
Ixx05 (Master Position Address)
To use the result of the conversion table for the master position for Motor xx, Ixx05 should contain the
address of the result register in the conversion table - $003503 in the above example.
Ixx10 and Ixx95 (Power-On Position Address and Format)
To use the MLDT for absolute power-on position for Motor xx, Ixx95 should be set to $180000 (up to 24
bits of parallel Y-data) and Ixx10 should be set to the address of the timer register used:
Ixx10 for Acc-24E2 MLDT Timer Registers (Ixx95=$180000)
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
3
4
5
6
7
8
9
$078200
$078300
$079200
$079300
$07A200
$07A300
$07B200
$07B300
$078208
$078308
$079208
$079308
$07A208
$07A308
$07B208
$07B308
$078210
$078310
$079210
$079310
$07A210
$07A310
$07B210
$07B310
$078218
$078318
$079218
$079318
$07A218
$07A318
$07B218
$07B318
Ixx80 (Power-On Mode)
Set Ixx80 to 4 to delay the absolute power-on position read until the pulse-output frequency can be set.
26
Accessory 24E2
Ixx81 and Ixx91 (Power-On Phase Position Address and Format)
Occasionally the MLDT is used to establish an absolute phase reference position for Turbo-PMACcommutated motors. In this case, Ixx81 and Ixx91 are set to the same values as Ixx10 and Ixx95,
respectively (see above).
Pulse Output Frequency
The pulse-output frequency is established by assigning an M-variable to the C sub-channel command
register, and writing a value to that M-variable after every 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-Output Registers
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
3
4
5
6
7
8
9
$078204
$078304
$079204
$079304
$07A204
$07A304
$07B204
$07B304
$07820C
$07830C
$07920C
$07930C
$07A20C
$07A30C
$07B20C
$07B30C
$078214
$078314
$079214
$079314
$07A214
$07A314
$07B214
$07B314
$07821C
$07831C
$07921C
$07931C
$07A21C
$07A31C
$07B21C
$07B31C
The frequency of the pulse output should produce a period just slightly longer than the longest expected
response time for the echo pulse. For MLDTs, the response time is approximately 0.35 sec/mm (9
sec/inch). On an MLDT 1500 mm (~60 in) long, the longest response time is approximately 540 sec; a
recommended period between pulse outputs for this device is 600 sec, for a frequency of 1667 Hz.
To produce the desired pulse output frequency, the following formula can be used (assuming a 16-bit Mvariable definition):
OutputFreq ( kHz ) 
Mxx07
PFMCLK _ Freq( kHz )
65 ,536
or:
Mxx07  65 ,536 *
OutputFreq ( kHz )
PFMCLK _ Freq( kHz )
To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz,
calculate:
Mxx07  65 ,536 *
1.667
 11
9 ,380
To write this value to the register, a power-on PLC routine is suggested; this can also be done with online commands from the host computer. Sample PLC code to do this for Channel 1, using the above
example value, is:
OPEN PLC 1
CLEAR
; PLC 1 is first program to execute
M107=11
CMD”$*”
DISABLE PLC 1
CLOSE
; Set pulse frequency
; Absolute Position Read
; To not execute again
Connector and Terminal Description
PMAC2/Turbo PMAC2 Conversion Table and Motor I-variables
Once the MACRO Station has been set up to process the MLDT feedback, the PMAC2 or Turbo PMAC2
can process the ongoing position feedback with its conversion table, Ix03, and Ix04 just as for any other
feedback from a MACRO Station.
If the MLDT is used for absolute power-on position for the servo loop, the proper variables must be set
on the PMAC2 or Turbo PMAC2:
PMAC2 Ix10 (Power-On Position Address and Format): To get the absolute position in this format
for Motor x through MACRO node n (n = 0 to 15 decimal), Ix10 should be set to $74000n, where n here
is the hexadecimal representation of the node number (n = 0 to F hex).
Turbo PMAC2 Ixx10 and Ixx95 (Power-On Position Address and Format): To get the absolute
position for Motor xx through MACRO node n (n = 0 to 63 decimal), Ixx10 should be set to n; in hexformat $0000nn, where nn is the hexadecimal representation of the node number (nn = 00 to 3F hex). If
node 0 is used, Ixx10 should be set to $000100 (256 decimal). Ixx95 should be set to $740000 to specify
parallel data through a MACRO node.
If the MLDT is used for absolute power-on phase position for commutation, the proper variables must be
set on the PMAC2 or Turbo PMAC2:
PMAC2 Ix81 (Power-On Phase Position Address and Format): To get the absolute phase position in
this format for Motor x through MACRO node n (n = 0 to 15 decimal), Ix81 should be set to $74000n,
where n here is the hexadecimal representation of the node number (n = 0 to F hex).
Turbo PMAC2 Ixx81 and Ixx91 (Power-On Phase Position Address and Format): To get the
absolute phase position for Motor xx through MACRO node n (n = 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 transmitted
back to the Ultralite using the traditional Servo Node. The encoder conversion table at the MACRO Station
must be modified to process this data. From the Ultralite standpoint, nothing needs to be modified to read
the position and velocity data.
Since the data is absolute, the data can also be sent at the Ultralite as absolute data for correct position at
power-up. This is accomplished with the proper setup of MSn,MI11x at the MACRO Station, and Ix10 at
the Ultralite or Ix10 and Ix95 with the Turbo Ultralite. Regardless of the type of Ultralite, retrieving the
power-on-position is the same. The information must be retrieved from MACRO Station variable
MSn,MI920 for each node transfer as specified by Ix10 at the Ultralite. MSn,MI920 does not need to be
set up because the MACRO Station will place the power-on position the appropriate register at power-up.
MLDT Software Setup of the UMAC MACRO
When the Acc-24E2 is used for MLDT feedback in a UMAC MACRO system, there are a few MIvariables in the MACRO Station, and a few in the PMAC2 or Turbo PMAC2 driving the Station, that
must be set up properly.
Station Hardware Setup I-Variables for Servo IC
MS{anynode},MI903/MI907 (PFM Clock Frequency)
Usually, the clock frequency driving the pulse-generation circuitry for all channels on the Servo IC can be
left at its default value of 9.83 MHz (0.102 sec). Few will need to change MI903/MI907, which also
controls other clock signals, from its default value of 2258.
28
Accessory 24E2
MS{anynode},MI904/MI908 (PFM Pulse Width)
The pulse width, set by MI904/MI908 in units of PFM clock cycles must be set long enough for the MLDT
to see, and long enough to contain the rising edge of the RPM start echo pulse, or the rising edge of the
single DPM echo pulse. For example, if this edge can come up to 2 sec after the start of the excitation
pulse and the PMAC clock cycle is at its default of about 0.1 sec, then I7m04 must be set at least to 20.
MS{node},MI916 (Output Format Select)
For the channel associated with this node to be used for MLDT feedback, MI916 must be set to 1 or 3 for
the C sub-channel to be used for PFM-format output. On an Acc-24E2A, I7mn6 must then be set to 3 for
the A and B sub-channels to be used for DAC-format output.
MS{node},MI910 (MLDT Feedback Select)
For the channel associated with this node to be used for MLDT feedback, MI910 must be set to 12. In
this mode, the pulse timer is cleared on the output pulse, and latched on the echo pulse, counting in
between at 117.96 MHz.
Station Conversion Table Processing I-Variables
The pulse timer for Servo IC m Channel n holds a number proportional to the time and therefore the
position. This must be processed in the conversion table before it can be used by the servo loop. It is best
to use the filtered parallel data conversion, a 3-line entry in the table (three consecutive MI-variables).
The MI-variables for the conversion table start at MI120.
Line 1 (Method and Address): This 24-bit value (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 1st Line for Acc-24E2A Boards
Acc-24 #
Channel 1
Channel 2
Channel 3
Channel 4
1
2
$30C040
$30C060
$30C048
$30C068
$30C050
$30C070
$30C058
$30C078
Line 2 (Bits Used Mask): This 24-bit value should be set to $07FFFF to specify the use of the low 19
bits of the 24-bit source word.
Line 3 (Max Change): This 24-bit value should be set to a value slightly greater than the maximum true
velocity ever expected, expressed in timer LSBs per servo cycle. With a typical MLDT, the 117.96 MHz
timer LSB represents 0.024 mm (0.00094 inches); the default 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 in the table, which starts at $000010, the
result would be in X:$0012.
Station Motor Node I-Variables
MS{anynode}, MI10x (xth Motor Node Position Loop Feedback Address)
To use the result of the conversion table for position-loop feedback for the xth motor node, MI10x should
contain the address of the result register in the conversion table - $0012 in the previous example.
MS{anynode}, MI11x (xth Motor Node Absolute Position Address)
To use the MLDT for absolute power-on position for the xth motor node, set MI11x to $18xxxx (up to 24
bits of parallel Y-data) from Station address xxxx, where xxxx is the address of the timer register.
MS{anynode},MI11x xth Motor Node Absolute Position
Channel 1
Channel 2
Channel 3
Channel 4
$30C042
$30C062
$30C04A
$30C06A
$30C052
$30C072
$30C05A
$30C07A
Connector and Terminal Description
MS{anynode}, MI16x (xth Motor Node MLDT Frequency Control)
This variable establishes the frequency of the excitation pulse sent to the MLDT. Its value is written
automatically to the full 24-bit C sub-channel command register for the channel assigned to this node, so
the PFM circuit will create a pulse train at this frequency.
To compute the output frequency as a function of MI16x, the following formula can be used:
OutputFreq ( kHz ) 
MI 16 x
PFMCLK _ Freq( kHz )
16 ,777 ,216
To compute the required value of MI16x as a function of the desired output frequency, the following
formula can be used:
MI16x  16 ,777 ,216 *
OutputFreq ( kHz )
PFMCLK _ Freq( kHz )
Power-on Feedback Address for PMAC2 Ultralite
Both the Ultralite and the Turbo Ultralite can obtain absolute position at power up or upon request (#n$*).
The Ultralite must have Ix10 setup and the Turbo Ultralite needs both Ixx10 and Ixx95 setup to enable
this power on position function. For power on position reads as specified in this document, MACRO
firmware version 1.114 or newer is needed, the Turbo Ultralite firmware must be 1.936 or newer, and the
standard Ultralite must have firmware version 1.16H or newer.
Ix10 permits an automatic read of 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 that must be set.
Absolute Position for Ultralite
Compact MACRO Station Feedback Type
(firmware version 1.16H and above)
Ix10
(Unsigned)
Ix10
(Signed)
Acc-8D Opt 7 Resolver/Digital Converter
$73000n
$F3000n
Acc-8D Opt 9 Yaskawa Absolute Encoder Converter
$72000n
$F2000n
Acc-8D Opt 10 Sanyo Absolute Encoder Converter
$74000n
$F4000n
Acc-28B or Acc-28E Analog/Digital Converter
$74000n
$F4000n
MACRO Station Option 1C/Acc-6E A/D Converter
$74000n
$F4000n
MACRO Station Parallel Input
$74000n
$F4000n
MACRO Station MLDT Input
$74000n
$F4000n
‘n’ is the MACRO node number used for Motor x: 0, 1, 4, 5, 8, 9, C(12), or D(13).
Absolute Position for Turbo Ultralite (Ixx95=$720000 - $740000, $F20000 - $F40000)
Addresses are MACRO Node Numbers
MACRO
Node Number
0
1
4
5
8
9
12
13
30
Ixx10 for
Ixx10 for
MACRO IC 0 MACRO IC 1
$000100
$000001
$000004
$000005
$000008
$000009
$00000C
$00000D
$000010
$000011
$000014
$000015
$000018
$000019
$00001C
$00001D
Ixx10 for
MACRO IC 2
$000020
$000021
$000024
$000025
$000028
$000029
$00002C
$00002D
Ixx10 for
MACRO IC 3
$000030
$000031
$000034
$000035
$000038
$000039
$00003C
$00003D
Accessory 24E2
Compact MACRO Station Feedback Type
Ixx95 (Unsigned)
Ixx95 (Signed)
$730000
$720000
$740000
$740000
$740000
$740000
$F30000
$F20000
$F40000
$F40000
$F40000
$F40000
Acc-8D Opt 7 Resolver/Digital Converter
Acc-8D Opt 9 Yaskawa Absolute Encoder Converter
Acc-8D Opt 10 Sanyo Absolute Encoder Converter
Acc-28B Analog/Digital Converter
MACRO Station Option 1C/Acc-6E A/D Converter
MACRO Station Parallel Input, MLDT, SSI
When PMAC or PMAC2 has Ix10 set to get absolute position over MACRO, it executes a station
auxiliary read command MS{node},I920 to request the absolute position from the Compact MACRO
Station. The station then references its own I11x value to determine the type, format, and address of the
data to be read.
MACRO Parallel Absolute Position Setup
MI111 through MI118 (MI11x) specify whether, where, and how absolute position is to be read on the
Compact MACRO Station for a motor node (MI11x controls the xth motor node, usually which
corresponds to Motor x on PMAC) and sent back to the Ultralite.
If MI11x is set to 0, no power-on reset absolute position value will be returned to PMAC. If MI11x is set
to a value greater than 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) at the MACRO Station and
process it as an absolute position because the information in the ECT is synchronized properly.
Remember, the output from the encoder conversion table will reside in the X register. For example, with
the following entry:
MS0,MI120=$30C040 ($10 of ECT)
MS0,MI121=$FFFFFF ($11 of ECT)
MS0,MI122=32
($12 of ECT)
The output from the ECT will reside in X:$12 and this will be the register to obtain the absolute data from.
MI11x consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the
MACRO Station from which the absolute position information is read. The high eight bits (first two
hexadecimal digits) tell the Compact MACRO Station how to interpret the data at that address (the
method.
MACRO MI11x Parallel Word Example: Signed 24-bit Absolute MLDT $0010
HEX($)
D
8
0
0
1
0
BIT
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
VALUE
1
1
0
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
# of bits/location ($18=24dec)
Source Address ($0011)
Y-address(0)/X-address(1) control bit
Unsigned(0)/signed(1) format bit
Connector and Terminal Description
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 address space. If this bit is 1, PMAC looks for the parallel
sensor in its X address space.
Signed/Unsigned Bit
If the most significant bit (MSB - bit 23) of MI11x is 0, the value read from the absolute sensor is treated
as an unsigned quantity. If the MSB is 1, which adds $80 to the high eight bits of MI11x, the value read
from the sensor is treated as a signed, twos-complement quantity.
MS0,MI111=$D80010
;read signed 24-bit absolute power on position
;from X:$0010
Example MLDT Setup for UMAC-MACRO
MS0,i161=3825
Ms0,i903=2258
MS0,I904=25
MS0,I910=12
MS0,I916=3
MS0,i120=$30C040
MS0,I121=$FFFFFF
MS0,I122=32
MS0,i101=$12
Ms0,i111=$D80010
I110=$740000
32
;(15*255)
;default
;might need to increase from factory default
;24-bit
;output at $12
;grab data from first entry of ECT X register
Accessory 24E2
Connector and Terminal Description
Direct PWM Amplifier Connector
J1- PWM AMP1 (36-pin Mini-D Connector)
Pin #
Symbol
Function
Description
Notes
1
FC0
Feedback
1 of 4 Fault Code Bits
Optional
2
FC2
Feedback
1 of 4 Fault Code Bits
Optional
3
ADC_CLK1+
Command
A/D Converter Clock
4
ADC_STB1+
Command
A/D Converter Strobe
5
CURRENTA+
Feedback
Phase A Actual Current Data
Serial digital
6
CURRENTB+
Feedback
Phase B Actual Current Data
Serial digital
7
AENA1+
Command
Amplifier Enable
High is enable
8
FAULT1+
Feedback
Amplifier Fault
High is fault
9
PWMATOP1+
Command
Phase A Top Cmd.
High is on command
10
PWMABOT1+
Command
Phase A Bottom Cmd.
High is on command
11
PWMBTOP1+
Command
Phase B Top Cmd.
High is on command
12
PWMBBOT1+
Command
Phase B Bottom Cmd.
High is on command
13
PWMCTOP1+
Command
Phase C Top Cmd.
High is on command
14
PWMCBOT1+
Command
Phase C Bottom Cmd.
High is on command
15
GND
Common
Reference Voltage
16
+5V
Power
+5V Power
From controller
17
RESERVED
18
RESERVED
19
FC1
Feedback
1 of 4 Fault Code Bits
Optional
20
FC3
Feedback
1 of 4 Fault Code Bits
Optional
21
ADC_CLK1Command
A/D Converter Clock
22
ADC_STB1Command
A/D Converter Strobe
23
CURRENTAFeedback
Phase A Actual Current Data
Serial digital
24
CURRENTBFeedback
Phase B Actual Current Data
Serial digital
25
AENA1Command
Amplifier Enable
Low is enable
26
FAULT1Feedback
Amplifier Fault
Low is fault
27
PWMATOP1Command
Phase A Top Cmd
Low is on command
28
PWMABOT1Command
Phase A Bottom Cmd
Low is on command
29
PWMBTOP1Command
Phase B Top Cmd
Low is on command
30
PWMBBOT1Command
Phase B Bottom Cmd
Low is on command
31
PWMCTOP1Command
Phase C Top Cmd
Low is on command
32
PWMCBOT1Command
Phase C Bottom Cmd
Low is on command
33
GND
Common
Reference Voltage
34
+5V
Power
+5V Power
From controller
35
RESERVED
36
RESERVED
A mini-D 36-pin connector for first digital amplifier command outputs and current feedbacks. This
connector provides the interface to a digital amplifier for the first channel. Note that current feedback data
must be in serial digital form, already converted from analog in the amplifier.
Connector and Terminal Description
J2- PWM AMP2 (36-pin Mini-D Connector)
Pin #
Symbol
Function
Description
Notes
1
FC0
Feedback
1 of 4 Fault Code Bits
Optional
2
FC2
Feedback
1 of 4 Fault Code Bits
Optional
3
ADC_CLK2+
Command
A/D Converter Clock
4
ADC_STB2+
Command
A/D Converter Strobe
5
CURRENTA+
Feedback
Phase A Actual Current Data Serial digital
6
CURRENTB+
Feedback
Phase B Actual Current Data Serial digital
7
AENA2+
Command
Amplifier Enable
High is enable
8
FAULT2+
Feedback
Amplifier Fault
High is fault
9
PWMATOP2+
Command
Phase A Top Cmd
High is on command
10
PWMABOT2+
Command
Phase A Bottom Cmd
High is on command
11
PWMBTOP2+
Command
Phase B Top Cmd
High is on command
12
PWMBBOT2+
Command
Phase B Bottom Cmd
High is on command
13
PWMCTOP2+
Command
Phase C Top Cmd
High is on command
14
PWMCBOT2+
Command
Phase C Bottom Cmd
High is on command
15
GND
Common
Reference Voltage
16
+5V
Power
+5V Power
From controller
17
RESERVED
18
RESERVED
19
FC1
Feedback
1 of 4 Fault Code Bits
Optional
20
FC3
Feedback
1 of 4 Fault Code Bits
Optional
21
ADC_CLK2Command
A/D Converter Clock
22
ADC_STB2Command
A/D Converter Strobe
23
CURRENTAFeedback
Phase A Actual Current Data Serial digital
24
CURRENTBFeedback
Phase B Actual Current Data Serial digital
25
AENA2Command
Amplifier Enable
Low is enable
26
FAULT2Feedback
Amplifier Fault
Low is fault
27
PWMATOP2Command
Phase A Top Cmd
Low is on command
28
PWMABOT2Command
Phase A Bottom Cmd
Low is on command
29
PWMBTOP2Command
Phase B Top Cmd
Low is on command
30
PWMBBOT2Command
Phase B Bottom Cmd
Low is on command
31
PWMCTOP2Command
Phase C Top Cmd
Low is on command
32
PWMCBOT2Command
Phase C Bottom Cmd
Low is on command
33
GND
Common
Reference Voltage
34
+5V
Power
+5V Power
From controller
35
RESERVED
36
RESERVED
A mini-D 36-pin connector for first digital amplifier command outputs and current feedbacks. This
connector provides the interface to a digital amplifier for the first channel. Note that current feedback
data must be in serial digital form, already converted from analog in the amplifier.
34
Accessory 24E2
Terminal Block Option for Encoders and EQU
Connector TB1 Top – Encoder 1
Pin #
Symbol
Function
1
2
3
4
5
6
7
8
9
10
11
12
CHA1+
CHA1CHB1+
CHB1CHC1+
CHC1ENCPWR
GND
CHU1+/DIR_1+
CHV1+/DIR_1CHW1+/PUL_1+
CHT1+/PUL_1-
Input
Input
Input
Input
Input
Input
Output
Common
Input/Output
Input/Output
Input/Output
Input/Output
Description
Notes
Encoder 1 Positive A Channel
Encoder 1 Negative A Channel
Encoder 1 Positive B Channel
Encoder 1 Negative B Channel
Encoder 1 Positive C Channel
Encoder 1 Negative C Channel
Digital Supply
Digital Reference
Supplemental Flag U or Direction 1+
Supplemental Flag V or Direction 1Supplemental Flag W or Pulse Output 1+
Supplemental Flag T Pulse Output 1-
Index channel
Index channel
Power for encoder
Also direction output
Also direction output
Also pulse output
Also pulse output
Connector TB2 Top – Encoder 2
Pin #
Symbol
Function
1
2
3
4
5
6
7
8
9
10
11
12
CHA2+
CHA2CHB2+
CHB2CHC2+
CHC2ENCPWR
GND
CHU1+/DIR_2+
CHV1+/DIR_2CHW1+/PUL_2+
CHT1+/PUL_2-
Input
Input
Input
Input
Input
Input
Output
Common
Input/Output
Input/Output
Input/Output
Input/Output
Description
Encoder 1 Positive A Channel
Encoder 1 Negative A Channel
Encoder 1 Positive B Channel
Encoder 1 Negative B Channel
Encoder 1 Positive C Channel
Encoder 1 Negative C Channel
Digital Supply
Digital Reference
Supplemental Flag U or Direction 2+
Supplemental Flag V or Direction 2Supplemental Flag W or Pulse Output 2+
Supplemental Flag T Pulse Output 2-
Notes
Index channel
Index channel
Power for encoder
Also direction output
Also direction output
Also pulse output
Also pulse output
Connector TB3 Top – EQU Outputs
Pin #
Symbol
Function
Description
1
2
3
GND
BEQU1
BEQU2
Common
Output
Output
Reference Voltage
Compare Output 1
Compare Output 2
Connector and Terminal Description
Notes
DB15 Connector Option for Encoders and EQU
If the board is ordered with part number 603397-DBx, the feedback and supplemental flags use a DB15
connector. The following are the pinouts for the DB15 connectors.
Connector J1 Top - Encoder 1 / EQU
Pin #
Symbol
Function
Description
Notes
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
CHT1+/PUL_1CHV1+/DIR_1GND
CHC1CHB1CHA1GND
BEQU2
CHW1+/PUL_1+
CHU1+/DIR_1+
ENCPWR
CHC1+
CHB1+
CHA1+
BEQU1
I/O
I/O
Common
Input
Input
Input
Common
Output
I/O
I/O
Output
Input
Input
Input
Output
Supplemental Flag T or Pulse Output 1Supplemental Flag V or Direction 1Digital Reference
Encoder 1 Negative Channel
Encoder 1 Negative B Channel
Encoder 1 Negative A Channel
Reference Voltage
Compare Output 2
Supplemental Flag W or Pulse Output 1+
Supplemental Flag U or Direction 1+
Digital Supply
Encoder 1 Positive C Channel
Encoder 1 Positive B Channel
Encoder 1 Positive A Channel
Compare Output 1
Also pulse output
Also direction output
Index channel
Also pulse output
Also direction output
Power for encoder
Index channel
Connector J2 Top - Encoder 2 / EQU
Pin#
Symbol
Function
Description
Notes
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
CHT2+/PUL_2CHV2+/DIR_2GND
CHC2CHB2CHA2GND
BEQU2
CHW2+/PUL_2+
CHU2+/DIR_2+
ENCPWR
CHC2+
CHB2+
CHA2+
BEQU2
I/O
I/O
Common
Input
Input
Input
Common
Output
I/O
I/O
Output
Input
Input
Input
Output
Supplemental Flag T or Pulse Output 2Supplemental Flag V or Direction 2Digital Reference
Encoder 2 Negative C Channel
Encoder 2 Negative B Channel
Encoder 2 Negative A Channel
Reference Voltage
Compare Output 2
Supplemental Flag W or Pulse Output 2+
Supplemental Flag U or Direction 2+
Digital Supply
Encoder 2 Positive C Channel
Encoder 2 Positive B Channel
Encoder 2 Positive A Channel
Compare Output 2
Also pulse output
Also direction output
Index channel
Also pulse output
Also direction output
Power for encoder
Index channel
Flag and User Flag Terminal Block Inputs
Connector TB1 Front- Limits 1
Pin #
Symbol
Function
1
2
3
4
5
USER1
PLIM1
MLIM1
HOME1
FLG_1_RET
Input
Input
Input
Input
Input
36
Description
Notes
General Capture Flag
Positive Limit Flag
Negative Limit Flag
Home Flag
Return For All Flags
Sinking or sourcing
Sinking or sourcing
Sinking or sourcing
Sinking or sourcing
+V (12 to 24V) or 0V
Accessory 24E2
Connector TB2 Front- Limits 2
Pin #
Symbol
Function
1
2
3
4
5
USER2
PLIM2
MLIM2
HOME2
FLG_2_RET
Input
Input
Input
Input
Input
Connector and Terminal Description
Description
Notes
General Capture Flag
Positive Limit Flag
Negative Limit Flag
Home Flag
Return For All Flags
Sinking or sourcing
Sinking or sourcing
Sinking or sourcing
Sinking or sourcing
+V (12 to 24V) or 0V
38
Accessory 24E2
SCHEMATICS
Schematics
39
Accessory 24E2
40
Schematics
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