UMAC Hardware Reference Manual
^1 HARDWARE REFERENCE MANUAL
^2 UMAC System
^3 UMAC Hardware Reference Manual
^4 3A0-UMACIM-xHxx
^5 August 3, 2006
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
© 2006 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
NEW MANUAL
DATE
CHG
APPVD
08/03/06
CP
S.FIERRO
UMAC System Hardware Reference Manual
Table of Contents
INTRODUCTION .......................................................................................................................................................1
Features ................................................................................................................................................................1
UMAC SYSTEM SPECIFICATIONS.......................................................................................................................3
Environmental Specifications....................................................................................................................................3
Physical Specifications..............................................................................................................................................3
EMC and Safety ........................................................................................................................................................3
Power and Space Requirements ................................................................................................................................4
3U-Format Boards................................................................................................................................................4
Backplane Boards.................................................................................................................................................5
Power Supplies .....................................................................................................................................................5
UMAC Mechanical Specifications............................................................................................................................6
UBUS BACKPLANE Specifications........................................................................................................................8
UBUS Backplane Sizes .........................................................................................................................................8
UBUS Connector Pinout.......................................................................................................................................9
INSTALLATION.......................................................................................................................................................11
Mounting .................................................................................................................................................................11
System Wiring.........................................................................................................................................................11
Initial Power-On Settings ........................................................................................................................................11
INSTALLING AND REMOVING BOARDS .........................................................................................................13
UMAC Board Types ...............................................................................................................................................14
UMAC COOLING REQUIREMENTS...................................................................................................................15
EMC CONSIDERATIONS.......................................................................................................................................16
Enclosure Construction ...........................................................................................................................................16
AC Filter..................................................................................................................................................................16
Grounding ...............................................................................................................................................................17
Cables......................................................................................................................................................................18
Shielding Techniques ..............................................................................................................................................18
Use of Ferrite Cores ................................................................................................................................................18
UMAC PRODUCTS SUMMARY............................................................................................................................19
CPU Options ...........................................................................................................................................................19
Axis Boards.........................................................................................................................................................19
Digital I/O Boards ..............................................................................................................................................19
Position Feedback and Analog Inputs Interfaces ...............................................................................................19
Communication Boards (UMAC Turbo Only) ....................................................................................................19
Power Supplies ...................................................................................................................................................19
ACC-PC104: PC/104 Computer Assembly.........................................................................................................20
Backplanes..........................................................................................................................................................20
Racks...................................................................................................................................................................20
Cables .................................................................................................................................................................20
DECLARATION OF CONFORMITY....................................................................................................................21
Table of Contents
i
UMAC System Hardware Reference Manual
INTRODUCTION
The UMAC (Universal Motion and Automation Controller) is a modular PMAC system built with a set of
3U-format Eurocards. The configuration of any UMAC system starts with the selection of the UMAC
CPU or MACRO CPU fiber optic interface and continues with the addition of the necessary axes boards,
I/O boards, communication interfaces (USB, Ethernet, etc.) and any other interface boards selected from
the rich variety of available accessories. For example, accessory boards interface with virtually any kind
of feedback sensor and implement almost any kind of communication method with the host computer or
external devices. In addition, a PC/104 computer can be installed inside the UMAC system, yielding an
incredibly powerful system inside a compact industrial package
UMAC type boards are mounted inside 3U racks and the system is completed with the appropriate
selection of power supplies and optional 3U servo amplifiers. UMAC 3U racks are available in different
sizes, providing a CE compliant, rugged, and integrated package that puts all the electronics, built-in
breakout connectors, and power supply in an enclosed system. Individual boards can slide in and out of
the rack, making configuration and troubleshooting a snap.
Delta Tau provides a rich selection of accessories for axes boards, digital I/O boards, analog inputs
boards, communication interfaces, feedback interfaces and many others. However, because UMAC is
based on the UBUS (Universal BUS), if a particular feature for the UMAC system is desired but not yet
supported, Delta Tau provides all the necessary information for its development. Some examples of
custom-designed UMAC boards include vision inputs cards, temperature control cards, etc.
UMAC Turbo with PC/104
and the Turbo PMAC2 CPU
UMAC MACRO with the MACRO
interface card and PMAC2 Ultralite
Each UMAC system is expandable and scalable by connecting multiple racks together via the MACRO
fiber optic protocol. Delta Tau’s 3U and Geo servo amplifiers with MACRO interface capability can also
reside in a MACRO fiber optic ring.
Features
•
•
•
•
•
•
•
•
•
•
•
•
•
Up to 32 axes of motion control
Analog ± 10V, digital PWM or pulse and direction (stepper) command signals quadrature, incremental,
encoder inputs
Parallel binary feedback inputs
Laser interferometer feedback devices inputs
Analog feedback inputs
Sinusoidal encoder feedback inputs with
4096 interpolation lines
SSI encoders inputs
16-bit resolver-to-digital converter inputs
MLDTs feedback inputs
Thousands of I/O points
High-power, sinking, sourcing or OPTO-22 compatible I/O
Up to 256 analog-to-digital converted inputs (12-bits or 16-bits resolution)
Introduction
1
UMAC System Hardware Reference Manual
•
•
•
2
Stand-alone or host commanded operation
PC/104, USB, Ethernet or RS-232/422 communication methods supported
Device Net and Profibus protocols supported
Introduction
UMAC System Hardware Reference Manual
UMAC SYSTEM SPECIFICATIONS
Please note that these are design specifications. Performance may differ slightly from these design
specifications.
Environmental Specifications
Description
Unit
Specification
Operating Temperature
Storage Temperature
Humidity
ºC
ºC
%
0°C to 45°C,
-25°C to 70°C
10% to 95 % non-condensing
Physical Specifications
Item
Specification
Dimensions
10 Slot:
218.4 mm x 222.2 mm x 132.1 mm
8.60 in. x 8.75 in. x 5.20 in.
15 Slot:
325.1 mm x 222.2 mm x 132.1 mm
12.80 in. x 8.75 in. x 5.20 in.
21 Slot:
431.8 mm x 222.2 mm x 132.1 mm
17.0 in. x 8.75 in. x 5.20 in.
Weight (max)
10 Slot: 13.0 lbs
15 Slot: 15.0 lbs
21 Slot: 17.0 lbs
EMC and Safety
Item
Description
CE Mark
EMC
Full Compliance
Safety
Flammability Class
UMAC System Specifications
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 94V0 for all boards and connectors
3
UMAC System Hardware Reference Manual
Power and Space Requirements
The power and space requirements of a UMAC system are dependent on the boards used in the system.
The following tables are listed to allow the user to calculate the system requirements for their system.
3U-Format Boards
Name
UMAC CPU
UMAC CPU
MACRO CPU
MACRO16
ACC-24E2
ACC-24E2
Opt-1D
ACC-24E2A
ACC-24E2A
Opt-1A
ACC-24E2S
Core
Part
Number
603766
603382
602804
603719
603397
(603397)
Description
603398
(603398)
2-axis analog
603441
Rack
Slots
Required
1
1
1
1
1
1
+5V
Current
Required
1.0 A
1.10A
1.50A
2.5A
0.50A3
0.25A3
+15V
Current
Required1
0A
0A
0A
0A
0A
0A
-15V
Current
Required2
0A
0A
0A
0A
0A
0A
1
1
0.55A3
0.40A3
0.16A4,5
0.14A4,5
0.07A4,5
0.05A4,5
4-axis stepper/
enc
2-Chan.
interpolator
+2 channels
interpolator
1
0.70A3
0A
0A
1
0.50A
0.08A
0.04A
0
0A
0.02A
0.01A
CPU
CPU
CPU
CPU
2-axis PWM
+2-axis PWM
+2-axis analog
ACC-51E
603438
ACC-51E
Opt-1
ACC-9E
(603438)
603283
48 inputs
1
0.05A
0A
0A
ACC-10E
603299
48 outputs
1
0.05A
0A
0A
ACC-11E
603307
1
0.05A
0A
0A
ACC-14E
ACC-28E
603474
603404
24 inputs, 24
outputs
48 TTL I/O
1
1
0.15A
0.15A
0A
0.10A
0A
0.06A
ACC-28E
Opt-1
ACC-36E
ACC-54E
ACC-5E
(603404)
0
0A
0.02A
0.03A
1
1
1
0.15A
1.10A
0.92A
0.02A
0A
0A
0.02A
0A
0A
ACC-5E
option 2
ACC-65E
603437
0
0.3A
0A
0A
1
0.38A
0A
0A
603485
603467
603437
603595
2-channel 16bit ADCs
+ 2 channels
16-bit ADCs
12-bit ADCs
USB interface
MACRO
comm.. and IO
+16 nodes
MAC Interface
24in & 24 out
Notes
Current
Legacy
Piggyback board;
creates 2-slot module
Piggyback board;
creates 2-slot module
Ext. supply for
isolated I/O
Ext. supply for
isolated I/O
Ext. supply for
isolated I/O
Notes:
1. Supply can be +12V to +15V nominal (+11.5 to +16.5V actual)
2. Supply can be -12V to -15V nominal (-11.5 to -16.5V actual)
3. Must add current for external encoders if these encoders are powered from UMAC. Typically 50 – 100mA
per encoder.
4. This total includes 10mA external draw per analog output.
5. Users are encouraged to bring in external +/-12/15V power through the amplifier connectors (typically
from the amplifiers) to power the analog circuitry on these boards. With jumpers removed, this circuitry is
optically isolated from the UMAC’s 5V digital circuitry.
4
UMAC System Specifications
UMAC System Hardware Reference Manual
Backplane Boards
Part
Core
Part
Number
Description1
Minimum
Rack
Size
(slots)2
Backplane
Data Slots
Provided
+5V
Current
Required3
ACC-U4
603462
7
4
1.00A
ACC-U6
603403
9
6
1.00A
ACC-U8
603463
11
8
1.00A
ACC-U10
603464
13
10
1.00A
ACC-U12
603465
15
12
1.00A
ACC-U14
603466
17
14
1.00A
ACC-U16
603471
19
16
1.00A
ACC-U18
603491
4+1-slot
backplane
6+1-slot
backplane
8+1-slot
backplane
10+1-slot
backplane
12+1-slot
backplane
14+1-slot
backplane
16+1-slot
backplane
18+1-slot
backplane
21
18
1.00A
Notes
Cannot fit in ACC-P1 rack with 3-slot
power supply
Cannot fit in ACC-P1 rack with 3-slot
power supply
Cannot fit in ACC-P1 rack with 3-slot
power supply
Cannot fit in ACC-P1 or P2 rack with 3slot power supply
Cannot fit in ACC-P1 or P2 rack with 3slot power supply
Cannot fit in ACC-P1 or P2 rack with 3slot power supply
Notes:
1. “n+1-slot” means “n” data slots for inter-board communications, and 1 power slot for direct installation of a
power supply
2. Assumes a 3-slot power supply is installed in the power slot (rightmost connector), extending 2 slots past
right end of backplane
3. Current draw of backplane boards is due to bus termination resistors
Power Supplies
Part
Core
Part
Number
Description
Rack
Slots
Required
+5V
Current
Provided
+15V
Current
Provided2
-15V
Current
Provided3
AC Power
(MAX)
ACC-E1
603269
3
14.0A
1.5A
1.5A
3.3A rms
ACC-F1
603909
AC-input
power
supply
DC-input
power
supply
3
14.0A
1.5A
1.5A
-
Notes:
1.
2.
3.
Must be installed in the single power slot in the ACC-Un backplane board
Power may be provided in the range of +12V to +15V nominal (+11.5V to +16.5V actual)
Power may be provided in the range of -12V to -15V nominal (-11.5V to -16.5V actual). 0.12A of this
quantity is required for the power supply’s own cooling fan and is not available for other boards.
UMAC System Specifications
5
UMAC System Hardware Reference Manual
UMAC Mechanical Specifications
The UMAC rack system can be ordered in three sizes: 10 ½ slot (42T), 15 ¾ slot (63T) , and 21 slot
(84T) configurations.
3U Rack Sizes
Width
D1 - 10 ½ Slot wide
D2 – 15 ¾ Slot wide
D3 – 21 Slot wide
6
A
22.23cm (8.75in)
32.89cm (12.95in)
43.56cm (17.15in)
B
25.15cm (9.9in)
35.81cm (14.10in)
46.48cm (18.30in)
C
26.92cm (10.6in)
37.60cm (14.8in)
48.26cm (19in)
UMAC System Specifications
UMAC System Hardware Reference Manual
Rear View
J2
GND
J1
+5V
J6
J5
J4
J3
J7
P7
PWR SUPPLY
P6
SLOT 4
P5
SLOT 3
J8
P4
SLOT 4
P3
SLOT 3
P2
SLOT 2
P1
SLOT 1
Top View
UMAC System Specifications
7
UMAC System Hardware Reference Manual
UBUS BACKPLANE Specifications
The UBUS backplane that permits communication between the CPU board and the accessory boards can
be ordered in many different sizes and is usually installed inside the UMAC rack.
UBUS Backplane Sizes
8
Slots
Part Number
A
4
603462-10x
3.98
6
603403-10x
5.58
8
603463-10x
7.18
10
603464-10x
8.78
12
603465-10x
10.38
14
603466-10x
11.98
16
603471-10x
13.58
18
603491-10x
15.18
UMAC System Specifications
UMAC System Hardware Reference Manual
UBUS Connector Pinout
J3, J4, J5, J6: 4-pin Molex
J7 and J8 : 5-pin Molex
Pin
Description
Pin
Description
1
+5V
1
GND
2
AGND
2
+5V
3
A+15V
3
AGND
4
A-15V
4
A+15V
5
A-15V
H11: UBUS Power Supply Connector
PIN#
Name
Description
2
5
8
11
14
17
20
23
26
29
32
Chassis GND
5V DC Sense- input
5V DC Sense+ input
0V reference for 5V
+5V DC Power
-15V DC Power
+15V DC Power
0V Reference for ± 15V
+5V DC Power
0V reference for 5V
Chassis GND
SenseSense+
Spare
GND
+5V
-15V
+15V
AGND
+5V
GND
UMAC System Specifications
9
UMAC System Hardware Reference Manual
10
UMAC System Specifications
UMAC System Hardware Reference Manual
INSTALLATION
The following guidelines have been established to ensure the proper operation of a UMAC System.
Mounting
The UMAC rack should be mounted to the electrical enclosure with the mounting brackets provided on
the unit. The mounting bracket dimension data is provided in the Mechanical Specifications section.
The connections to the UMAC cards are on the top, bottom and front panels of the system. When
mounting your system to the electrical cabinet remember to account for the cables (cable bending radius)
that will connect to the UMAC system on the top and bottom.
System Wiring
A common ground must be established for almost all electrical devices in your machine system for safety.
The UMAC rack should be tied to earth ground using screws on either side panel of the unit.
The user should try to separate the high power lines (AC) from the low power lines (DC) to avoid EMI
interference.
Wiring to the cards installed in the UMAC rack should be connected as specified in their hardware
reference manuals. The UMAC system should never have power applied when connecting cables to the
system. Always turn off the power to the unit when making any changes to the wiring system. Delta Tau
Data Systems, Inc. cannot guarantee the operation of its components if the user makes changes to the
wiring system while the power is applied to the UMAC rack.
Initial Power-On Settings
When receiving a completely built UMAC system from Delta Tau Data Systems, Inc., the system will be
ready for operation. Prior to shipment, the unit is re-initialized and saved to its factory default status. This
is done to allow the system to be shipped at a known state.
The UMAC CPU boards have extensive capabilities for configuring and identifying the boards in its
system. The CPU card of the system will detect the number of Servo cards and MACRO, and DPRAM
cards in the backplane. The firmware of the CPU uses the Turbo ID and UMAC ID features to read the
boards at power up to ensure that there has not been a change in the hardware configuration. If the CPU
board detects a change at power-up, then the global status register will be updated to warn the user of a
change. For details about the Turbo ID features and UMAC ID features, please read the TURBO
PMAC/PMAC2 SYSTEM CONFIGURATION AND AUTO-CONFIGURATION section of the Turbo
PMAC Software Reference Manual.
Installation
11
UMAC System Hardware Reference Manual
12
Installation
UMAC System Hardware Reference Manual
INSTALLING AND REMOVING BOARDS
The user must use caution when installing and removing boards from a UMAC system. Some of the
boards in the UMAC product line are densely populated on both the front and back of the card because of
the complexity of the features supported by the UMAC CPU and the compact size of the boards. Always
make sure that all power to the UMAC system (including external power supplies required by some
boards) are turned off before you add or remove a board to the system.
Prior to installation, make sure that you have set the jumpers and address settings to your desired settings.
Use the guide tracks that have been installed in the empty slots of your UMAC system when installing a
board. As you slide the board into the rack use caution to ensure none of the components on the board
make contact with the front plates of the boards on either side. If the user has any questions about board
installation, please contact the factory for assistance.
When removing a board from the system, the user must loosen the pem-nuts on the front of the rack and
also pull out the wiring connections to the board from the top, bottom, and front panels. Next, the user can
gently pull the board from the rack and use caution to ensure that none of the components on the board
make contact with the boards on either side. If the user has any questions about board removal, please
contact the factory for assistance.
Because the CPU of a UMAC system detects changes based on the Turbo ID and UMAC ID features, the
user must be aware of how to correct the changes when permanently removing or adding boards to their
system. Depending of the type of UMAC board added, removed, or replaced, the user will either be
required to re-initialize the system or do nothing.
If the user must re-initialize the system, they must have a proper back-up file(s) or source code. In some
cases, it is possible they will have to modify this backup file source code for proper configuration. We
suggest that only highly-qualified users attempt the modification of the backup file or source code. If the
user has any questions about this process, please call the factory for assistance.
There are five types of boards that exist in the UMAC product line: CPU, MACRO (Acc-5E), Servo, IO,
and DPRAM. The following table lists the changes that must be made if the board is removed, installed,
or replaced.
Board Type
Replacement
New
Installation
Notes
CPU
Re-initialize
Re-initialize
Both UMAC and MACRO CPU must be re-initalized
to factory defaults
ACC-5E
No action
required*
Re-initialize
UMAC CPU will use ACC-5E for clocks for new
install
Servo
No action
required*
Re-initialize
UMAC CPU will need to recognize new Servo IC to
set it up properly
IO
No action
required
No action
required
IO refers to boards that are mapped to UMAC general
purpose IO memory.
DPRAM
No action
required*
Re-initialize
UMAC CPU will have to setup its DPRAM registers
for new installations if DPRAM is installed
* if replacement board has the same options and address settings.
Installing and Removing Boards
13
UMAC System Hardware Reference Manual
UMAC Board Types
The following table lists the category of each UMAC card.
UMAC Board (s)
Category
UMAC CPU, MACRO CPU, MACRO16
CPU
CPU
ACC-5E
MACRO
ACC-24E2A, ACC-24E2, ACC-24E2S,
ACC-51E, ACC-69E
Servo
ACC-9E, ACC-10E, ACC-11E, ACC-12E,
ACC-65E, ACC-66E, ACC-67E, ACC68E, ACC-28E, ACC-36E, ACC-59E,
ACC-14E, ACC-53E, ACC-70E
I/O
ACC-72E, UMAC CPU Option 2, ACC54E
DPRAM
14
Installing and Removing Boards
UMAC System Hardware Reference Manual
UMAC COOLING REQUIREMENTS
The cooling of the PCB’s of a UMAC System is very important to ensure proper operation of the UMAC
system. A typical UMAC system will be placed into an electronic cabinet with many different
components of the electrical system for a machine and those components could also be adding heat to the
enclosure. These other components in the electrical enclosure might be the power supplies, servo
amplifiers, PC, relays, and shunt resistors.
When the UMAC System is used in a temperature controlled environment, make sure the ambient
temperature of the unit does not exceed 45°C. By “temperature controlled,” we refer to systems that are in
enclosures with heat exchangers, air conditioning units, or a system that is not inside an enclosure but in
the open-air environment of a laboratory.
If the UMAC System is inside an electrical cabinet and the temperature of the unit is not controlled, the
user will have to cool the unit using a forced air cooling approach with fans. The customer application
will define where the UMAC System is placed in the enclosure and if fans can be installed on the inside
or outside of the enclosure. For optimal cooling Delta Tau Data Systems, Inc. recommends using an input
and exhaust fan for the enclosure.
NEMA Enclosure
Exhaust Fan
UMAC SYSTEM
Input Fan
If the user has an enclosure that must be manufactured without input or exhaust openings, we recommend
one or two fans be installed on the inside of the enclosure to ensure even air circulation throughout the
enclosure. The ambient temperature outside of the sealed enclosure should not exceed 45°C. For a
completely sealed enclosure, Delta Tau Data Systems, Inc. recommends using a properly sized air
conditioning unit or heat exchanger unit.
NEMA Enclosure
Fan
UMAC SYSTEM
Fan
UMAC Cooling Requirements
15
UMAC System Hardware Reference Manual
EMC CONSIDERATIONS
The Delta Tau Data Systems, Inc. UMAC system has been tested and certified in accordance with the
standards listed below:
•
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
The five main areas of concern for meeting the European Electromagnetic Compatibility Directive (CE
certification) are:
•
Enclosure Construction
•
AC Filter
•
Grounding
•
Cables
•
Shielding Techniques
•
Use of Ferrite Cores
Enclosure Construction
The electrical cabinet or enclosure should be manufactured from conductive material to allow the cabinet
to share a common ground with the UMAC system. Enclosure paint should be removed at locations
needed for direct ground contact such as wire glands inputs, connector inputs, cable clamp fixtures, etc.
The enclosure used to house the UMAC system will typically have a back-plate to mount all equipment
that is used to control the user’s servo system, such as the amplifiers, power supplies, IO modules, and
UMAC. The back plate can also be used as the earth ground for the servo system. If the back-plate is
painted, then the paint will have to be removed to ensure a low-inductance earth ground connection.
AC Filter
To minimize the radiated and conducted EMI (electromagnetic interference) from a UMAC system
powered with an AC power supply, Delta Tau Data Systems, Inc. recommends using an AC line filter.
When an AC line filter is used with a UMAC System, please follow these guidelines:
16
•
Properly size the filter based on the voltage and current requirements of your system. Use
specifications in the UMAC Hardware Reference manual to calculate your UMAC system.
•
Mount the filter as close as possible to incoming cabinet power.
UMAC Cooling Requirements
UMAC System Hardware Reference Manual
•
When mounting the filter to the panel, remove any paint or material covering. Use an unpainted
metallic back panel, if possible.
•
Filters are provided with a ground connection. All ground connections should be tied to ground.
•
Filters can produce high leakage currents; they must be grounded before connecting the supply.
•
Do not touch filters for a period of ten seconds after removing the power supply to allow full
discharge of filter capacitors.
Line
Neutral
Single Phase
AC FILTER
ACC-E1
UMAC SYSTEM
Grounding
The primary function of the system ground is to provide a low impedance path to earth to prevent
potentially dangerous or disruptive voltage potentials from building up on the system. The system
grounding needs to be tied to a central location. This single point ground will provide the safety ground to
all components of the system. This electrical ground connection allows for each device within the
enclosure to have a separate wire brought back to the central wire location. The ground connection is
usually a copper plate directly bonded to the back panel or a copper strip with multiple screw locations. A
short grounding strap from the main bus bar to the UMAC rack will properly tie the UMAC chassis to
theearth ground and minimize the loop area of the high frequency current paths.
•
Star point all ground connections. Each device wired to earth ground should have its own
conductor brought directly back to the central earth ground plate.
•
Use unpainted back panels. This allows a wide area of contact for all metallic surfaces reducing
high frequency impedances.
•
Conductors made up of many strands of fine conducts outperform solid or conductors with few
strands at high frequencies.
•
Motor cable shields should be bound to the back panel using 360-degree clamps at the point they
enter or exit the panel.
•
Motor shields are best grounded at both ends of the cable. Again, connectors using 360-degree
shield clamps are superior to connector designs transporting the shield through a single pin.
Always use metal shells.
•
Running motor armature cables with any other cable in a tray or conduit should be avoided.
These cables can radiate high frequency noise and couple into other circuits.
UMAC Cooling Requirements
17
UMAC System Hardware Reference Manual
Cables
The cables selected for the application will also impact the system performance to meet the EMC
directive. Delta Tau Data Systems, Inc. recommends using combination foil/braided shield cables that
have the highest percentage total coverage braid with twisted pair wires with the highest number of
turns/length.
There are several types of cables and connectors that can be used to install in accordance with CE
requirements. No matter which type of cables and connectors are used, the user must ensure that each
cable and connector is properly grounded in order to conform to the CE Class A emissions requirements.
Shielding Techniques
For the UMAC system, Delta Tau Data Systems, Inc. has found that the optimal place to ground the cable
shields is at the point of entry of the enclosure, which minimizes the EMI emissions for the UMAC
system. The customer can achieve this with cable clamps or grounding glands used at the point of entry of
the enclosure.
The drain wire shield of the cable should also be tied to the chassis ground of the UMAC rack and tied to
the case ground of the device to which it is connected. If the customer is using UMAC terminal blocks,
the shield drain wire must be wired directly to the chassis ground screw on the UMAC rack. For best
results, minimize the length of the drain wire from the cable jacket to chassis ground. If the customer is
using DB connections, the shield must be making contact to the conductive casing of the DB connector
because the DB connector on the UMAC Accessory device is connected directly to the chassis ground.
Drain Wire
Ferrite (if used)
UMAC Connection
Terminal Block or DB
Cable Jacket
1
2
3
4
5
6
7
8
Device
Connector
9
10
11
12
UMAC Chassis
Ground
Shield
Enclosure
Ground
Use of Ferrite Cores
The use of ferrite cores on the cables (AC and DC), flat ribbon cables, and individual IO lines can reduce
the amount of radiated emissions from the UMAC System. Ferrite cable clamps or beads are effective
because their RF resistance is greater than the radiation resistance of the cable and it essentially chokes
the RF energy at that point on the cable instead of transmitting the energy by the cable.
The ferrite core should be placed at the point of connection of the signal to the cable. On the UMAC
system this would be at the terminal blocks, DB connections, or IDC connections of the UMAC card.
For cables Delta Tau Data Systems, Inc. recommends using the two-piece snap-on type ferrite cores. For
individual wires, the user can use a solid single piece ferrite core or two-piece snap on ferrite core. We
also recommend using either ferrite Material 43 for broadband frequencies (25 MHz to 300 MHz) or
Material 31 for the lower and broadband frequencies (1 MHz to 300 MHz).
18
UMAC Cooling Requirements
UMAC System Hardware Reference Manual
UMAC PRODUCTS SUMMARY
CPU Options
Turbo PMAC2 3U CPU can control up to 32 axes and interface with a PC/104 computer, communication
accessories (Ethernet, USB, fieldbus) and the MACRO interface with other UMAC MACRO systems.
The MACRO Interface/CPU Board can control up to 16 axes. It must receive servo commands from a
remote motion controller, either a PMAC2 Ultralite board or a UMAC Turbo system with an ACC-5E. It
cannot directly interface with PC/104 or communication adapters.
Axis Boards
•
•
•
ACC-24E2 provides two or four digital PWM channels.
ACC-24E2A provides two or four analog ±10V channels.
ACC-24E2S provides two or four pulse and direction (stepper) channels ACC-69E: provides six
channels for SLM Technology amplifiers.
Digital I/O Boards
•
•
•
•
•
•
•
ACC-5E is a MACRO Interface that allows the Turbo PMAC2 3U CPU to communicate with
MACRO systems.
ACC-11E provides 24 digital outputs (12-24VDC, 100 mA/output max) and 24 digital inputs (12 to
24VDC).
ACC-12E provides 24 outputs (up to 60VDC or 240 VAC, 1A/ output max) and 24 inputs (12 to
24VDC).
ACC-14E provides 48 TTL I/O points for direct connection to OPTO22 type boards.
ACC-65E provides isolated, self-protected sourcing 24 inputs and 24 outputs.
ACC-66E: provides isolated, self-protected sourcing 48 inputs.
ACC-67E provides isolated, self-protected sourcing 48 outputs.
Position Feedback and Analog Inputs Interfaces
•
•
•
•
•
•
•
•
ACC-14E provides 48 TTL I/O points typically used for the interface to parallel position feedback
devices.
ACC-28E Two or four channels high resolution 16-bit A/D converter board with ± 10V input range
ACC-36E 16 channels 12-Bit A/D converter board with ± 10V input range
ACC-51E Two or four axes 4096x high resolution Sinusoidal Analog Encoder Interpolator board
ACC-53E Four or eight channel Synchronous Serial Encoder Interface (SSI) Board
ACC-57E Two or four channel encoder inputs for either Yaskawa or Mitsubishi absolute encoders
ACC-59E Eight channel 12-Bit A/D converter board plus eight channel 12-Bit DAC outputs
ACC-70E UMAC feedback interface for FA-CODER type encoders.
Communication Boards (UMAC Turbo Only)
ACC-72E is the UMAC Field Bus Gateway.
Power Supplies
ACC-E1 is a high-power AC-input power supply, input of 85-240VAC, output of 14A at +5V, 1.5A each
at +/-15V.
UMAC Products Summary
19
UMAC System Hardware Reference Manual
ACC-PC104: PC/104 Computer Assembly
•
•
•
•
•
•
•
•
•
CPU: Embedded VIA low power Eden processor, 128KB L1 cache memory on die Eden-667 (PCM9372F-M0A1)
System chipset: VIA PN133T (Twister T), VIA VT82C686B
BIOS: Award 256 KB Flash memory
System memory: 256Meg PC133 144pin SODIMM
USB: Two universal serial bus ports, USB 1.1 compliant
Serial ports: COM1: RS-232, COM2: RS-422
Ethernet interface: IEEE 802.3u 100BASE-T Fast Ethernet
MS Windows 2000 (when Option-1 is ordered)
MS Windows 98 (when Option-2 is ordered)
Backplanes
•
•
•
•
•
•
•
•
ACC-U4: 4-slot UBUS backplane board (+1 slot for power supply connection)
ACC-U6: 6-slot UBUS backplane board (+1 slot for power supply connection)
ACC-U8: 8-slot UBUS backplane board (+1 slot for power supply connection)
ACC-U10: 10-slot UBUS backplane board (+1 slot for power supply connection)
ACC-U12: 12-slot UBUS backplane board (+1 slot for power supply connection)
ACC-U14: 14-slot UBUS backplane board (+1 slot for power supply connection)
ACC-U16: 16-slot UBUS backplane board (+1 slot for power supply connection)
ACC-U18: 18-slot UBUS backplane board (+1 slot for power supply connection)
Racks
•
•
•
•
•
•
ACC-P1:
ACC-P2:
ACC-P3:
ACC-R1:
ACC-R2:
ACC-R3:
10-slot (42T) 3U Eurocard rack with connections for top, front, and bottom panel mounting
15-slot (63T) 3U Eurocard rack with connections for top, front, and bottom panel mounting
21-slot (84T) 3U Eurocard rack with connections for top, front, and bottom panel mounting
Integrated UMAC 6-slot rack including backplane and power supply
Integrated UMAC 12-slot rack including backplane and power supply
Integrated UMAC 18-slot rack including backplane and power supply
Cables
•
•
•
•
•
•
•
•
•
•
20
ACC-7A: 1.5m (5ft) terminated glass optical fiber cable
ACC-7B: 5m (15ft) terminated glass optical fiber cable
ACC-7C: 8m (28ft) terminated glass optical fiber cable
ACC-7D: Custom length terminated glass optical fiber cable
Option-5A: Amplifier PWM cable, 600 mm (24) inches long, mini-D, 36 conductor, 1/axis
Option-5B: Amplifier PWM cable, 900 mm (36 inches long), mini-D, 36 conductor, 1/axis
Option-5C: Amplifier PWM cable, 1.5 m (60 inches) long, mini-D, 36 conductor, 1/axis
Option-5D: Amplifier PWM cable, 1.8 m (72 inches) long, mini-D, 36 conductor, 1/axis
Option-5E: Amplifier PWM cable, 2.1 m (84 inches) long, mini-D, 36 conductor, 1/axis
Option-5F: Amplifier PWM cable, 3.6 m (144 inches) long, mini-D, 36 conductor, 1/axis
UMAC Products Summary
UMAC System 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: UMAC System
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 an d 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
21
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