Delta Tau 16-AXIS Reference Manual

Delta Tau 16-AXIS Reference Manual
^1 HARDWARE REFERENCE MANUAL
^2 16-Axis MACRO CPU
Preliminary Documentation
^3 16-Axis MACRO CPU
^4 4Ax-603719-xHxx
^5 April 21, 2010
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
© 2010 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.
DESCRIPTION
DATE
CHG
APPVD
1
ADDED CE DECLARATION OF CONFORMITY
08/23/06
CP
S. FIERRO
2
ADDED INDICATOR LEDs, PP.11-12
04/21/10
CP
S. MILICI
16-Axis MACRO CPU Hardware Reference Manual
Table of Contents
INTRODUCTION .....................................................................................................................................................1
3U Product Configurations (General Description)..................................................................................................2
Configuration ..........................................................................................................................................................3
SPECIFICATIONS ...................................................................................................................................................4
Environmental Specifications..................................................................................................................................4
Physical Specifications............................................................................................................................................4
Electrical Specifications ..........................................................................................................................................4
EMC and Safety ......................................................................................................................................................4
HARDWARE SETUP ...............................................................................................................................................5
Board Jumper and Switch Summary .......................................................................................................................5
Board Connections ..................................................................................................................................................6
Connector Summary ...........................................................................................................................................6
Hardware Re-initialization ......................................................................................................................................7
JUMPER AND SWITCH CONFIGURATIONS ...................................................................................................9
Layout .....................................................................................................................................................................9
Jumper Descriptions................................................................................................................................................9
E1: Watchdog Timer Disable ............................................................................................................................9
E2: CPU Mode Operation .................................................................................................................................9
E3: Serial Port Baud Rate .................................................................................................................................9
E4: Power Supply-Loss Control (±15Vdc Supply Monitor) ..............................................................................9
E40: MACRO Input (Fiber/Wired) Selector ......................................................................................................9
Switch Configurations...........................................................................................................................................10
SW1: MACRO Slave Node Configure..............................................................................................................10
SW2: MACRO IC 0 Master Number Select .....................................................................................................10
CHARACTER DISPLAY AND LEDS..................................................................................................................11
CONNECTOR PINOUTS ......................................................................................................................................13
Main Board Connectors (603719).........................................................................................................................13
J14, J17: MACRO Copper I/O (OPT C)...........................................................................................................13
U73: MACRO Fiber Optic Connector (OPT A) ...............................................................................................13
TB1: (JPWR) 4-Pin Terminal Block .................................................................................................................14
TB2: (JWD) 4-Pin Terminal Block ...................................................................................................................14
P1: UBUS Interface Connector ........................................................................................................................15
Daughter Board Connections (603720).................................................................................................................16
J2 (JDISP) Display Connector .........................................................................................................................16
J3 (JHW) Handwheel Encoder Connector .......................................................................................................16
J4: (JRS232) Serial Port Connector ................................................................................................................17
HARDWARE MEMORY MAP.............................................................................................................................19
ACCESSORIES.......................................................................................................................................................21
DECLARATION OF CONFORMITY .................................................................................................................23
Table of Contents
i
16-Axis MACRO CPU Hardware Reference Manual
ii
Table of Contents
16-Axis MACRO CPU Hardware Reference Manual
INTRODUCTION
The 16-Axis MACRO CPU board is the processor and MACRO interface board used in a 3U MACRO
Station (in either UMAC MACRO or MACRO Stack configuration).
Note:
There are three documents that describe the operation of 3U MACRO Station
products:
• UMAC System Manual (General Product Overview)
• MACRO 16 Station User’s Manual
• MACRO 16 Station Software Reference
This manual describes the interfaces and physical hardware that is used on the 3U
MACRO CPU.
The UMAC 16-Axis MACRO CPU provides a remote interface for encoders, flags, direct-PWM digital
drives, analog drives, stepper drives, analog I/O, and digital I/O for Delta Tau Data’s PMAC products that
have a MACRO interface.
The UMAC 16-Axis MACRO CPU configurations communicate with PMAC2 Ultralites or Turbo
PMAC2 Ultralites solely through the MACRO ring, interfacing to standard drives, encoders, flags, and
I/O through on-board connectors. In almost every case, a Turbo Ultralite or UMAC CPU with Acc-5E
will be used as the MACRO Master. This 16-Axis MACRO CPU integrated packaging and connectivity
strategy provides revolutionary flexibility and ease of use.
A 16-Axis MACRO CPU consists of a set of 3U format Euro-cards (100 x 160 mm) that can be
assembled in a variety of configurations. When used in the rack configuration, connected through a
backplane bus, the backplane is UBUS format, designed by Delta Tau Data Systems Inc. for motion
control and I/O interfaces.
When using the fiber optic MACRO interface, the 3U MACRO Station can be up to three kilometers (two
miles) away from the PMAC2 Master controller or any other station on the ring. When using the RJ-45
copper electrical interface, it can be up to 30 meters (100 feet) away.
The 16-Axis MACRO CPU Station allows PMAC2 MACRO controllers to control servo axes and I/O
just as if they were connected directly to the PMAC2, even though they may be a great distance away.
The only interface needed from the PMAC2 is the electrically isolated MACRO ring.
Typically, a PMAC2 Turbo Ultralite board, one without any of its own servo interface circuitry, is used
with the MACRO Station to provide the most cost-effective solution.
16-Axis MACRO CPU 3U Board (3A0-603719-10x):
• 100MHz DSP56309 CPU
•
512k x 8 flash memory for user backup and firmware
•
Latest released firmware version
•
RS-232 serial interface for setup and debugging
•
UBUS connector for backplane connection to servo and
I/O accessory boards
•
JHW H/W Pulse/Dir port with 20-pin IDC header
• JDISP Standard PMAC Display 14-pin header.
The 16-Axis MACRO CPU can only be configured as a UMAC MACRO configuration. The older
generation MACRO8 CPU can be used as either a UMAC MACRO or a MACRO Stack.
Introduction
1
16-Axis MACRO CPU Hardware Reference Manual
UMAC MACRO – In this configuration (once called Pack) the 3U-format
boards are put together to communicate through a backplane bus called the
UBUS. All boards are installed in a Euro-card rack. In this configuration,
all 3U-format boards or modules can be installed or withdrawn from the
pack individually, providing ease of installation, debugging, and repair.
The photo at the upper right shows a UMAC rack with power supply and I/O
boards that are connected through a backplane. This system allows for an
easier integration of the 3U 16x MACRO CPU for larger (up to 16 axes)
applications.
UMAC MACRO Station
Configuration
3U Product Configurations (General Description)
Assemblies of 3U-format boards can be made with either of two CPU processor boards – a 3U MACRO
CPU board, or a 3U Turbo PMAC2 CPU board. Most other 3U-format boards, labeled Accessory boards,
can be used with either CPU board.
•
When the 3U 16-Axis MACRO CPU board is used, the resulting assemblies are called UMAC
MACRO or 3U MACRO Stack.
•
When the 3U Turbo PMAC2 CPU board is used, the resulting assemblies are called UMAC Turbo or
Turbo Stack.
Refer to the UMAC Product Guide for more detailed descriptions of how the rack and stack products are
integrated.
UMAC and 3U-Stack Products
UMAC Products
2
Stack Products
UMAC Turbo
UMAC MACRO
Turbo Stack
MACRO Stack
The UMAC Turbo is composed of
a 3U-format Turbo PMAC2 CPU
board and a set of accessory boards
in 3U-format, all plugged in a
common UBUS backplane and
installed inside a 3U format rack. A
PC/104 computer and several
optional
communication
accessories (including all of the
major FieldBuses, MACRO and
Ethernet) can be installed inside the
UMAC
system
providing
convenient flexibility and virtually
unlimited expandability.
The UMAC MACRO is composed
of a MACRO Interface/CPU board
and a set of accessory boards in 3Uformat, all plugged in a common
UBUS backplane and installed
inside a 3U format rack. The UMAC
MACRO must receive commands
from
an
external
MACRO
compatible device like a PMAC2
Ultralite or a UMAC Turbo system.
The UMAC MACRO does not
support a PC/104 or communication
accessories and it is preferred for
distributed control over a MACRO
ring connection.
The Turbo stack is composed of a
3U-format Turbo PMAC2 CPU
board and a set of accessory boards
in 3U-format plugged to it in a stack
configuration. The Turbo stack
configuration is less expensive than
the UMAC Turbo system but it is
limited to eight axes of motion
control versus 32 axes on a UMAC
Turbo system. The Turbo Stack is
selected over a UMAC Turbo
system because is more compact,
allowing its installation inside
already existing cabinets with some
space limitations.
The MACRO stack is composed of
a MACRO Interface/CPU board
and a set of accessory boards in
3U-format plugged to it in a stack
configuration.
The
UMAC
MACRO must receive commands
from an external MACRO
compatible device like a PMAC2
Ultralite or a UMAC Turbo
system. The MACRO Stack is
selected over a UMAC MACRO
syst em because it is more compact,
allowing its installation inside
already existing cabinets with some
space limitations.
Introduction
16-Axis MACRO CPU Hardware Reference Manual
Configuration
The purchase of the 3U 16-Axis MACRO CPU board provides a 3U-format (100mm x 160mm) board
with a DSP processor, MACRO ring circuitry, and a backplane connector through which other 3U-format
boards can be connected by means of a UBUS passive-backplane board.
The 3U 16-Axis MACRO CPU can be purchased in two physical configurations, distinguished by part
number prefix:
•
300-603719-10x provides the 16-Axis MACRO CPU board without a front plate. This configuration
is recommended for stack assemblies.
•
3A0-603719-10x provides the 16-Axis MACRO CPU board with a front plate. This configuration is
recommended for UMAC rack assemblies. The top and bottom plates are provided with the Acc-Px
rack.
There are a few options available for the 16-Axis MACRO CPU board.
One of the Options A or C must be present on a 16-Axis MACRO CPU board to provide the actual
MACRO ring interface circuitry; both may be present:
Option A provides an SC-style fiber-optic transceiver to connect into the MACRO ring. Its main
component is the U73 transceiver.
Option C provides RJ-45 electrical input and output connectors for the MACRO ring. Its main
components are J14 and J17.
Option 10 permits a specified revision of the MACRO Station firmware to be installed in the flash
memory in the card. Without this option, the latest released revision is installed. A label on the flash
memory IC indicates the firmware revision installed at the factory (but not necessarily which revision is
presently installed in the IC). The presently installed revision can be ascertained by using the
MSVER{node #} command.
Introduction
3
16-Axis MACRO CPU Hardware Reference Manual
SPECIFICATIONS
Environmental Specifications
Description
Specification
Notes
Operating Temperature
Storage Temperature
Humidity
0°C to 45°C,
-25°C to 70°C
10% to 95 % non-condensing
Physical Specifications
Description
Specification
Dimensions
Length: 16.256 cm
Notes
(6.4 in.)
Height: 10 cm (3.94 in.)
Width: 2.03 cm (0.8
Weight
in.)
188 g
Front Plate included
The width is the width of the front plate. The length and height are the dimensions of the PCB.
Electrical Specifications
Description
Specification
Power Requirements
5V @ 2.5A (±10%)
Notes
EMC and Safety
Item
Description
CE Mark
EMC
Full Compliance
Safety
Flammability Class
4
EN55011 Class A Group 1
EN61000-3-2 Class A
EN61000-3-3
EN61000-4-2
EN61000-4-3
EN61000-4-4
EN61000-4-5
EN61000-4-6
EN61000-4-11
EN 61010-1
UL 94V-0
Specifications
16-Axis MACRO CPU Hardware Reference Manual
HARDWARE SETUP
The hardware setup of the 3U 16-Axis MACRO CPU Board consists of the setting of two rotary switches,
the setting of several E-point jumpers on each board, followed by power supply and signal connections.
Note:
E-Point Jumper numbers are shown in white ink on the legend of each board. Pin
numbers for each jumper can be determined either from the legend on the
component side on the board or by looking at the solder side of the board, where
pin 1 has a square solder pad.
Board Jumper and Switch Summary
The MACRO Station has two 16-way rotary switches on the 16-Axis MACRO CPU board that establish
the station’s basic configuration on the MACRO ring.
SW1 Rotary Switch Setting: SW1 establishes how many servo nodes and which servo nodes, will be
used on the MACRO station MACRO IC 0. It also establishes the mapping of MACRO node numbers to
MACRO Station channel numbers. This mapping information will be important in establishing the
software setup. More detailed information on the SW1 settings is presented in the Jumper/Switch
description in the back of this manual.
SW2 Rotary Switch Setting: SW2 establishes the number of the master IC to which the MACRO station
will respond. The values of 0 to 15 correspond to Master numbers 0 to 15, respectively. For a non-Turbo
PMAC2 master, this value must match the master number value in the first hexadecimal digit of PMAC2’s
I996. For a Turbo PMAC2, this value must match the master number value in the first hexadecimal digit of
the Turbo PMAC2’s I6840, I6890, I6940, or I6990, for MACRO ICs 0, 1, 2, or 3, respectively, on the
Turbo PMAC2. The default switch setting is 0, so the station will respond to Master 0.
Watchdog Timer Enable Jumper: For normal operation of the Compact MACRO Station, jumper E1
should be OFF to enable the watchdog timer (an important safety feature).
Operational Mode Jumper: Jumper E2 should connect pins 2 and 3 to tell the CPU it is in normal
operational mode, not in bootstrap mode. To load new firmware into the flash IC through the serial port,
it should only connect pins 1 and 2.
Baud Rate Jumper: Jumper E3 must be ON if connecting an Acc-8D Option 9 Yaskawa absolute
encoder converter to the J7 serial port (most will connect it to the JTHW port instead). This sets the baud
rate to 9600. If E3 is OFF, the baud rate is 38400.
Power Supply Check Jumper: Remove jumper E4 if not bringing a +/-12V to +/-15V supply into the
Compact MACRO Station itself (5V only). If bringing these analog circuit supplies into the Compact
MACRO Station, have jumper E4 on so that the servo outputs are disabled if either of the analog supplies
is lost.
MACRO Input Select Jumper: Because the 16-Axis MACRO CPU board can accept MACRO ring
input from either the RJ-45 electrical input or the fiber input, select which input is used (even if only one
of the ring interface options is present). Jumper E40 must be ON to use the fiber input; it must be OFF to
use the electrical input. (If both interface options A and C are present, either ring output may be used,
regardless of the setting of E40.)
Hardware Setup
5
16-Axis MACRO CPU Hardware Reference Manual
Board Connections
The connection of Compact MACRO Station to other stations on the MACRO ring is achieved by
connecting the output connector of the Compact MACRO Station to the input connector of the next
station, and by connecting the output connector of the previous station to the input connector of the
Compact MACRO Station. There must be a completely connected ring with all stations powered up, for
any communications to occur on the ring.
Connector Summary
The connectors on the 16-Axis MACRO CPU are found on both the main (603719-10x) board and on an
I/O daughter card (603720-10x) that plugs into the main board.
Main Board Connections (603719)
JISP: For Factory use only
J4: *
RJ45: MACRO Copper I/O (OPT C)
J14, J17:
JEXP: Backplane Expansion Port Connector
P1:
JPWR: 4-Pin Terminal Block
TB1:
JWD: Watchdog Relay Terminal block
TB2:
MACRO Fiber Optic Connector (OPT A)
U73:
* Typically, these connectors are not designated as end-user interfaces. The pinouts are not included
in this hardware reference manual. Consult the factory if pinout information is needed.
I/O Daughter Board Connections (603720)
JDISP: 40x2 Segment Display Connector
J2: *
JHW: Two channel handwheel encoder /Two Channel Pulse/Direction Outputs
J3:*
JRS232: RS232 Serial Communication port
J4: *
* Typically, these connectors are not designated as end-user interfaces. The pinouts are not included
in this hardware reference manual. Consult the factory if pinout information is needed.
Optical Fiber Ring Connection: The U73 integrated fiber optic transceiver is used for both the optical
fiber input and the optical fiber output connections to the MACRO ring. With the component side of the
board up and the opening facing front, the input socket is on the right, and the output socket is on the left
(these are marked on the component).
RJ45 Electrical Ring Connection: The J14 connector is used for the input from the previous station on
the MACRO ring if electrical connection is used and the J17 connector is used for the output to the next
station on the MACRO ring.
Backplane UBUS Expansion Port: The P2 96-pin DIN header is used to connect to expansion port
accessories such as the Acc-9E, 10E, 11E, 12E, and 14E I/O boards, or the Acc-24E2x axis boards,
through an Acc-Ux UBUS backplane board. It can be used also to bring in 5V power, and optionally +/15V power, from a backplane or breakout board to the entire MACRO Station.
Power Terminal Block: The TB1 4-point terminal block can be used to bring in 5V power and
optionally +/-15V power to the entire MACRO Station. In a UMAC (pack) configuration, usually the
power is brought in through the backplane.
Watchdog Terminal Block: The TB2 4-point terminal block can be used to send normally opened or
open normally closed circuits in the event of a watchdog failure at the 16-Axis MACRO CPU.
6
Hardware Setup
16-Axis MACRO CPU Hardware Reference Manual
Hardware Re-initialization
MACRO hardware re-initialization to factory defaults is enabled when the SW1 setting is set to 15 or F
(hexadecimal) and the power is cycled at the MACRO Station. The only time to use a hardware reinitialization to factory defaults with the MACRO Station would be if the MACRO Station always powers
up with a watchdog (typically if the ring clock at the Ultralite is different from the ring clock at the
MACRO Station). Node 11 will be the only MACRO Station node enabled. Therefore, enable node 11
of the MACRO IC at the Ultralite to communicate to the MACRO Station.
Ultralite Example: Servo nodes 0,1,4,5 enabled at Ultralite (I996=$0F8033)
1. Enable node 11, I996=$0F8833.
2. Then reestablish communications with MS11,(MIvar) commands.
3. Issue MS$$$***11 command to ensure re-initialization.
4. Issue MSSAVE11 command to save the factory defaults to the Station.
Turbo Ultralite Example: Servo nodes 0,1,4,5 enabled at Ultralite (I6841=$0F8033)
1. Enable node 11, I996=$0F8833.
2. Then reestablish communications with MS11,(MIvar) commands.
3. Issue MS$$$***11 command to ensure re-initialization.
4. Issue MSSAVE11 command to save the factory defaults to the Station.
Hardware Setup
7
16-Axis MACRO CPU Hardware Reference Manual
8
Hardware Setup
16-Axis MACRO CPU Hardware Reference Manual
JUMPER AND SWITCH CONFIGURATIONS
Layout
Jumper Descriptions
E1: Watchdog Timer Disable
Jumper Type
2-Pin
Description
Default
Remove jumper to enable Watchdog Timer.
Jump pins 1 and 2 to disable Watchdog Timer (for test purposes only).
not jumpered
E2: CPU Mode Operation
Jumper Type
3-Pin
Description
Default
Jump pins 1 and 2 for firmware download through serial port.
Jump pins 2 and 3 for normal operation.
Pin 2-3
E3: Serial Port Baud Rate
Jumper Type
2-Pin
Description
Default
Jump pins 1 and 2 for 9600-baud serial port operation. Remove jumper
for 38400 Baud.
not jumpered
E4: Power Supply-Loss Control (±15Vdc Supply Monitor)
Jumper Type
2-Pin
Description
Default
Jump pins 1 and 2 to disable servo outputs on loss of +5V, +15V, or –15V
power supply.
not jumpered
Remove this jumper to monitor +5Vdc power supply only. Usually, ±15V
supply monitoring is not required for applications without DACs or A-D
converters.
E40: MACRO Input (Fiber/Wired) Selector
Jumper Type
Description
Default
2-Pin
Remove jumper to select MACRO wired (RJ45) input from J14.
Jump pins 1 and 2 to select MACRO fiber optic input from U73.
Jumpered (Option A)
Not jumpered (Option C)
Jumper and Switch Configurations
9
16-Axis MACRO CPU Hardware Reference Manual
Switch Configurations
SW1: MACRO Slave Node Configure
SW1 Select
I/O Nodes
Enabled
Servo Nodes
Enabled
Node Servo IC
Base Address
Nodes
Enabled
Y:I181…188
0
0
4
1
0
4
2
3
4
5
6
0
0
0
0
0
2
2
2
2
6
7
0
8
$8000,$8008,
$8010,$8018
$8000,$8008,
$8010,$8018
$8000,$8008
$8000,$8008
$8000,$8008
$8000,$8008
$8000,$8008,
$8010,$8018,
$8040,$8048
$8000,$8008,
$8010,$8018,
$8040,$8058,
$8050,$8058
I181, I182,
I183, I184
I185, I186,
I187, I188
I181, I182
I183, I184
I185, I186
I187, I188
I181, I182,
I183, I184,
I185, I186
I181, I182,
I183, I184,
I185, I186,
I187, I188
8
9
10
11
12
13
14 (Ring
Order)
2
2
2
4
6
1
0
0
0
0
0
0
0
0
0,1,
4,5
8,9,
12,13
0,1
4,5
8,9
12,13
0,1,
4,5,
8,9
0,1,
4,5,
8,9,
12,13
2,3
6,7
10,11
2,3,6,7
2,3,6,7,10,11
11
None
15 (Equivalent
to a $$$***)
1
0
$8000,$8008,
$8010,$8018,
$8040,$8058,
$8050,$8058 (if
two Servo ICs)
I181, I182,
I183, I184,
I185, I186,
I187, I188
11
SW2: MACRO IC 0 Master Number Select
0: Commanded from Master IC # 0
1: Commanded from Master IC # 1
…
F: Commanded from Master IC # F (15)
10
Jumper and Switch Configurations
16-Axis MACRO CPU Hardware Reference Manual
CHARACTER DISPLAY AND LEDS
The MACRO Station has a single hexadecimal character display on the CPU/Interface Board that
provides useful information as to the status of the station. The display indicates how many motors are
activated and displays certain types of failures that might occur. One unique feature on the display is the
LED dot in the bottom left corner. When this LED is illuminated, that means 8 must be added to the
number being displayed. For example, if the display reads 4 and the LED dot is illuminated, that would
mean that there are 12 axes enabled at the 16-Axis MACRO CPU. The display can show the following
values:
Value
Meaning
(Blank)
0-8
9
A
B
C
D
E
F
Dot
Ring not active
Operation OK; value is # of motors enabled
(Reserved for future use)
Amplifier fault
Ring break fault
CPU failure fault
Ring data error
Loss-of-encoder fault
Other failure
Add 8 to the number of enabled Axes
# Activated Axes
# Activated
Axes +8
Note:
The display can be read at the Ultralite with MI974. This is useful especially for
user interface programs and for systems that are in inconvenient locations to read
the display.
Character Display AND ledS
11
16-Axis MACRO CPU Hardware Reference Manual
There are also three LEDs on the front panel (left adjacent to the seven-segment LED display) indicating
the following:
D7 (PW) – Green Power LED indicating the +5V is on and OK.
D8 (WD) – Red WATCHDOG LED indicating a watchdog condition.
D12 (LINK) – Dual Color MACRO Link Activity Indicator
Green = Link OK
Red = Link FAULT
12
Character Display AND ledS
16-Axis MACRO CPU Hardware Reference Manual
CONNECTOR PINOUTS
The schematic circuits shown in this section are for interface reference only. Subtle differences may exist
between the circuits shown here and the actual hardware used. The connectors on the 16-Axis MACRO
CPU are found on both the main (603719-10x) board and on an I/O daughter card (603720-10x) that
plugs into the main board.
Main Board Connectors (603719)
J14, J17: MACRO Copper I/O (OPT C)
(8 pin RJ45)
Front View
Pin #
Symbol
Function
1
DATA+
Data +
Description
Notes
Differential MACRO Signal
J17: DATA+ input
J14: DATA+ output
2
DATAData Differential MACRO Signal
J17: DATA- input
J14: DATA- output
3
Unused
Unused terminated pin
See schematic below
4
Unused
Unused terminated pin
See schematic below
5
Unused
Unused terminated pin
See schematic below
6
Unused
Unused terminated pin
See schematic below
7
Unused
Unused terminated pin
See schematic below
8
Unused
Unused terminated pin
See schematic below
The cable used for MACRO wired connections is CAT5 verified straight-through 8 conductor.
J14
J14
1
2
3
4
5
6
7
8
CON8
50
50
50
50
50
50
50
J17
50
50
WIRED OUTPUT
rj45
tx+
tx-
U94
14
15
16
3
2
1
CT
TDTD+
CMT
TXTX+
CT
RDRD+
CT
RXRX+
12
11
10
J17
1
2
3
4
5
6
7
8
WIRED INPUT
rj45
rx+
rx-
CON8
5
6
7
50
50
50
50
50
50
PE-68515
M3
MTG HOLE
75
75
50
50
50
.01 mfd 2kv
Circuitry for J14 and J17- Copper MACRO I/O
U73: MACRO Fiber Optic Connector (OPT A)
(2 Socket SC-Style)
Pin #
Symbol
Front View
Function
Description
Notes
1
RX
Fiber Input
MACRO Ring Receiver
2
TX
Fiber Output
MACRO Ring Transmitter
1. The fiber optic version of MACRO uses 62.5/125 multi-mode glass fiber optic cable terminated in an SC-style
connector. The optical wavelength is 1,300nm.
2. It is possible to adapt wire to fiber operation when using OPT A and C on the same MACRO CPU board.
Connector Pinouts
13
16-Axis MACRO CPU Hardware Reference Manual
TB1: (JPWR) 4-Pin Terminal Block
(Location B-4)
Pin #
Symbol
Function
1
2
3
4
GND
+5V
+15V
-15V
Common
Input
Input
Input
Description
Reference Voltage
Positive Supply Voltage
Positive Supply Voltage
Negative Supply Voltage
Notes
Supplies all PMAC digital circuits
+12V to +15V; used for on-board analog
-12 to –15V; used for on-board analog
TB2: (JWD) 4-Pin Terminal Block
Pin #
Symbol
Function
1
2
3
4
NC
COM
NO
COM
Output
Input
Output
Input
14
Description
Notes
Normally Closed
Common Input
Normally Open
Common Input
Connector Pinouts
16-Axis MACRO CPU Hardware Reference Manual
P1: UBUS Interface Connector
(96 pin Euro Connector at F-1, 2, 3, 4)
Front View on MACRO CPU Card
Pin #
1.
2.
Row A
Row B
Row C
1
+5Vdc
+5Vdc
+5Vdc
2
GND
GND
GND
3
BD01
DAT0
BD00
4
BD03
SEL0
BD02
5
BD05
DAT1
BD04
6
BD07
SEL1
BD06
7
BD09
DAT2
BD08
8
BD11
SEL2
BD10
9
BD13
DAT3
BD12
10
BD15
SEL3
BD14
11
BD17
DAT4
BD16
12
BD19
SEL4
BD18
13
BD21
DAT5
BD20
14
BD23
SEL5
BD22
15
BS1 (GND)
DAT6
BS0 (GND)
16
BA01
SEL6
BA00
17
BA03
DAT7
BA02
18
BX/Y
SEL7
BA04 (n.c.)
19
CS3BA06 (n.c.)
CS220
BA05 (CS7-)
BA07 (n.c.)
CS4- (CS6-)
21
CS12BA08 (n.c.)
CS1022
CS16BA09 (n.c.)
CS1423
BA13 (n.c.)
BA10 (n.c.)
BA12 (n.c.)
24
BRDBA11 (n.c.)
BWR25
BS3 (GND)
MEMCS0- (n.c.)
BS2 (GND)
26
n.c.
MEMCS1- (n.c.)
RESET
27
PHASE+
n.c.
SERVO+
28
PHASE- (n.c.)
n.c.
SERVO- (n.c.)
29
GND
n.c.
GND
30
-15Vdc
PWRGUD (n.c.)
+15Vdc
31
GND
GND
GND
32
+5Vdc
+5Vdc
+5Vdc
Refer to the UBUS Specification for detailed signal descriptions. This interface is not VME bus compatible.
Items shown in parentheses represent pin descriptions for -104 and earlier revision MACRO CPU boards.
Connector Pinouts
15
16-Axis MACRO CPU Hardware Reference Manual
Daughter Board Connections (603720)
J2 (JDISP) Display Connector
Pin #
Symbol
Function
Description
Notes
1
+5V
Output
Logic Power
Power supply out
2
GND
Common
Logic Ground
3
RS
Output
Read strobe
TTL signal out
4
Vee
Output
Contrast adjust VEE
0 to +5Vdc *
5
E
Output
Display enable
High is enable
6
R/W Output
Read or write
TTL signal out
7
DB1
Output
Display data1
8
DB0
Output
Display data0
9
DB3
Output
Display data3
10
DB2
Output
Display data2
11
DB5
Output
Display data5
12
DB4
Output
Display data4
13
DB7
Output
Display data7
14
DB6
Output
Display data6
The JDISP connector is used to drive the 2-line x 24-character (Acc-12), 2 x 40 (Acc-12A) LCD, or the 2
x 40 vacuum fluorescent (ACC 12C) display unit. The DISPLAY command may be used to send
messages and values to the display.
J3 (JHW) Handwheel Encoder Connector
Pin #
Symbol
Function
Description
Notes
1
GND
Common
Reference voltage
2
+5V
Output
Supply voltage
To power external circuitry
3
HWA1+
Input
HW positive A channel Also pulse input
4
HWA1Input
HW negative A channel Also pulse input
5
HWB1+
Input
HW positive B channel Also direction input
6
HWB1Input
HW negative B channel Also direction input
7
HWA2+
Input
HW positive A channel Also pulse input
8
HWA2Input
HW negative A channel Also pulse input
9
HWB2+
Input
HW positive B channel Also direction input
10
HWB2Input
HW negative B channel Also direction input
11
PUL1+
Output
PFM positive pulse
Also PWM bottom output
12
PUL1Output
PFM negative pulse
Also PWM bottom output
13
DIR1+
Output
PFM positive dir out
Also PWM top output
14
DIR1Output
PFM negative dir out
Also PWM top output
15
PUL2+
Output
PFM positive pulse
Also PWM bottom output
16
PUL2Output
PFM negative pulse
Also PWM bottom output
17
DIR2+
Output
PFM positive dir. out
Also PWM top output
18
DIR2Output
PFM negative dir out
Also PWM top output
19
GND
Common
Reference voltage
20
+5V
Output
Supply voltage
To power external circuitry
The VHW connector provides for two 2-channel encoder inputs and two sets of pulse outputs.
16
Connector Pinouts
16-Axis MACRO CPU Hardware Reference Manual
J4: (JRS232) Serial Port Connector
DB9-pin Female
Pin #
Symbol
Function
1
2
3
4
5
6
7
8
9
N.C.
TXD/
RXD/
DSR
GND
DTR
CTS
RTS
N.C.
Output
Input
Bidirect
Common
Bidirect
Input
Output
Connector Pinouts
5
4
9
3
8
2
7
Description
No connection
Send Data
Receive Data
Data Set Ready
MACRO Common
Data Terminal Ready
Clear to Send
Request to Send
No connection
1
6
Notes
Transmit data to host
Receive data from host
Just tied to DTR
Just tied to DSR
Host Ready bit
PMAC Ready bit
17
16-Axis MACRO CPU Hardware Reference Manual
18
Connector Pinouts
16-Axis MACRO CPU Hardware Reference Manual
HARDWARE MEMORY MAP
The values in this table represent the hardware locations associated with register-based transactions that
occur in the 16-Axis MACRO CPU.
Reference
ADDR (hex)
CS00CS02CS04CS06CS0CS1CS2CS3CS4CS4XCS10-
$FFC0
$FFC8
$FFD0
$FFD8
$C000
$C020
$8000
$8040
$C080
$C0C0
$8800,$9800
$A800,$B800
$8840,$9840
$A840,$B840
$8880,$9880
$A880,$B880
$88C0,$98C0
$A8C0,$B8C0
$D000
$E000
CS12CS14CS16MEMCS0MEMCS1-
Description
Stack I/O select #1 (not used with MACRO 16-Axis CPU)
Stack I/O select #2 (not used with MACRO 16-Axis CPU)
Stack I/O select #3 (not used with MACRO 16-Axis CPU)
Stack I/O select #4 (not used with MACRO 16-Axis CPU)
Stack axis 1-4 select (not used with MACRO 16-Axis CPU)
Stack axis 5-8 select (not used with MACRO 16-Axis CPU)
UBUS backplane axis 1-8 select
UBUS backplane axis 5-8 select
On-board DSPGATE2 select
UBUS backplane MACROGATE or DSPGATE2 select (CS4- on UBUS)
UBUS backplane I/O select #1
UBUS backplane I/O select #2
UBUS backplane I/O select #3
UBUS backplane I/O select #4
UBUS hardware I/O field (was DPRCS-)
UBUS hardware I/O field (was VMECS-)
The addressing field size is 16-bits in the 3U 16-Axis MACRO CPU. The address table above is similar
to the PMAC2 product line.
Hardware Memory Map
19
16-Axis MACRO CPU Hardware Reference Manual
20
Hardware Memory Map
16-Axis MACRO CPU Hardware Reference Manual
ACCESSORIES
Both the Turbo and the 16-Axis MACRO CPU boards can support either the Stack or the UMAC
configuration. The systems are configured modularly with the selection of a series of accessory boards,
some appropriate for the Stack and some appropriate for the UMAC. These accessories are listed here.
Each has its own manual with detailed descriptions.
The following table shows 3U products by function:
16-Axis MACRO
CPU Board Options
Board must be ordered
with either Option A or
Option C
Option A, fiber-optic
connectors
Option C, RJ-45
electrical MACRO
connectors
UMAC BackplaneMountable
Accessory Boards –
Axis
Acc-24E2, 2-Axis Digital
PWM, 3x0-603397-10x
Option 1A, Additional 2Axis Analog,
3A1-603398-10x
Acc-65E, Acc-66E,
Acc-67E
Acc-11E, Isolated 24-In/24Out Board, 3x0-603307-10x
Option 1D, Additional 2Axis Digital PWM,
3D1-603397-10x
Acc-24E2S, 4-Axis Stepper,
3x0-603441-10x
Acc-9E, 48 In,
3x0-603283-10x
Acc-12E, Isolated 24-In/24High-Power Out Board,
3x0-603277-10x
Acc-24E2A, 2-Axis
Analog, 3x0-603398-10x
Acc-28E, 16-Bit A/D,
3x0-603404-10x
Acc-36E, A/D, D/A
Converter, 3x0-603483-10x
Acc-53E, SSI,
3x0-603360-10x
Acc-58E, R/D Converter, 16
Bit, 3x0-603482-10x
Acc-U4, UBUS 4-Slot
Backplane, 300-603462
Acc-U10, UBUS 10-Slot
Backplane,
300-603464-10x
Acc-U16, UBUS 16-Slot
Backplane,
300-603471-10x
Acc-56E, Extender Card,
300-603401-10x
Acc-51E, X 4096
Interpolator,
3x0-603438-10x
UMAC BackplaneMountable
Accessory Boards –
I/O
UMAC BackplaneMountable
Accessory Boards –
Communication
UMAC BackplaneMountable
Accessory Boards –
Miscellaneous
UBUS Backplane
Boards
Amplifiers – Analog
±10VDC Input
(Brush Motors)
Amplifiers – Digital
PWM Input
(brushless)
Accessories
Acc-10E, Isolated 48Output Board,
3x0-603299-10x
Acc-14E, 48 I/O,
3x0-603472-10x
Acc-72E, (UNET) Universal
Field Bus Adapter Network
Card
4-Axis Analog ± 10V Input
Linear Amplifier, 24VDC,
0.5/1A, 300-603489-10x
Backplane, Double Analog
Amplifier, 300-603470-10x
2-Axis Digital PWM
Amplifier, 360VDC, 4/8A,
400-603391-10x
Single-Axis Digital PWM
Amplifier, 360VDC, 8/16A,
401-603492-10x
Acc-U6, UBUS 6-Slot
Backplane,
300-603403-10x
Acc-U12, UBUS 12-Slot
Backplane,
300-603465-10x
Acc-U18, UBUS 18-Slot
Backplane,
300-603491-10x
4-Axis Analog ± 10V Input
PWM Amplifier, 48VDC,
2/4A, 300-603443-10x
Backplane, Single Analog
Amplifier, 300-603490-10x
2-Axis Digital PWM/Macro
Amplifier, 360VDC, 8/16A,
400-603392-10x
Power Supply for 3U Digital
PWM Amplifiers,
400-603428-10x
Acc-57E, Yaskawa or
Mitsubishi ABS, Encoder
Unit, 3x0-603484-10x
Acc-U8, UBUS 8-Slot
Backplane,
300-603463-10x
Acc-U14, UBUS 14-Slot
Backplane,
300-603466-10x
4-Axis Analog ± 10V Input
PWM Amplifier, 70VDC,
8/12A, 300-603486-10x
Single Axis Digital
PWM/Macro Amplifier,
360VDC, 8/16A,
401-603391-10x
Backplane, Digital PWM,
300-603435-10x
21
16-Axis MACRO CPU Hardware Reference Manual
16-Axis MACRO
CPU Board Options
Board must be ordered
with either Option A or
Option C.
Power Supplies – DC
Input
Acc-F, 3U DC to DC
Converter, 10A,
30F-603216-OPT
Acc-E, 3U AC Power
Supply, 8A,
30E-603269-OPT
3U Rack, 10-1/2 Slot (42T)
542-602932-10x
3U Rack, Variable Width per
Customer Requirements
(custom design),
500-602932-10x
Power Supplies – AC
Input
UMAC Chassis
Assemblies (Rack)
22
Option A, fiber-optic
connectors
Option C, RJ-45
electrical MACRO
connectors
Acc-E1, 3U AC Power
Supply, 14A,
31E-603269-OPT
3U Rack, 15-3/4 Slot (63T)
563-602932-10x
Acc-E2, AC Power Supply,
20A, 32E-603468-OPT
3U Rack, 21 Slot (84T)
584-602932-10x
Accessories
16-Axis MACRO CPU Hardware Reference Manual
DECLARATION OF CONFORMITY
Application of Council Directive: 89/336/EEC, 72/23/EEC
Manufacturers Name:
Manufacturers Address:
Delta Tau Data Systems, Inc.
21314 Lassen Street
Chatsworth, CA 91311
USA
We, Delta Tau Data Systems, Inc. hereby declare that the product
Product Name: MACRO16 CPU
Model Number: 603719
And all of its options conforms to the following standards:
EN61326: 1997
EN55011: 1998
EN61010-1
EN61000-3-2 :1995
A14:1998
EN61000-3-3: 1995
EN61000-4-2:1995
A1: 1998
EN61000-4-3: 1995
A1: 1998
EN61000-4-4: 1995
EN61000-4-5: 1995
EN61000-4-6: 1996
EN61000-4-11: 1994
Date Issued:
Place Issued:
Electrical equipment for measurement, control, and laboratory useEMC requirements
Limits and methods of measurements of radio disturbance characteristics
of information technology equipment
Electrical equipment for measurement, control, and laboratory use- Safety
requirements
Limits for harmonic current emissions. Criteria A
Limitation of voltage fluctuations and flicker in low-voltage supply
systems for equipment with rated current ≤ 16A. Criteria B.
Electro Static Discharge immunity test. Criteria B
Radiated, radio-frequency, electromagnetic field immunity test. Criteria A
Electrical fast transients/burst immunity test. Criteria B
Surge Test. Criteria B
Conducted immunity test. Criteria A
Voltage dips test. Criteria B and C
11 May 2006
Chatsworth, California USA
Yolande Cano
Quality Assurance Manager
Mark of Compliance
Declaration of Conformity
23
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