1^ INSTALLATION MANUAL
^2 PMAC/QMAC/UMAC NC
^3 Installation Procedures for PMAC/UMAC/QMAC NC
^4 500-603520-xIxx
^5 October 30, 2003
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
© 2003 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.
PMAC/QMAC/UMAC NC 32 Installation Guide
Table of Contents i
Table of Contents
INTRODUCTION.......................................................................................................................................................1
Specifications............................................................................................................................................................1
Providing Power to the Adv 810...............................................................................................................................1
Verifying Software....................................................................................................................................................2
Connecting Adv 810 to the Controller ......................................................................................................................3
COMMUNICATION SETUP.....................................................................................................................................5
Setting up USB Interface.......................................................................................................................................5
Setting up PEWIN32 Pro Application...................................................................................................................5
MOTOR SETUP..........................................................................................................................................................7
CNC SETUP.................................................................................................................................................................9
Setup Using CNC AutoPilot......................................................................................................................................9
Setup Using NC Registry..........................................................................................................................................9
User PLC..............................................................................................................................................................9
SAMPLE CONNECTION DIAGRAMS.................................................................................................................11
PMAC/QMAC/UMAC NC 32 Installation Guide
ii Table of Contents
PMAC/QMAC/UMAC NC 32 Installation Guide
Introduction 1
INTRODUCTION
This manual provides instructions to set up and run PMAC NC with UMAC or QMAC.
Note:
In this document, the word controller refers to PMAC, UMAC or QMAC.
Unpack the machines and check for any damage. Make sure that the Microsoft license is on the side of
the Adv 810. Contact Delta Tau if any parts are missing.
The following cables are shipped with Adv 810:
• Power cable
• ESTOP cable with NC contact
• USB cable for connecting to the controller
Specifications
Parameters Adv 810 Controller
Processor P4 / 2.4 GHz/533FSB
Hard Disk Drive 40 GB
Standard Memory (RAM) 128K
Floppy Disk Drive 1.44 MB
Operating System WIN2000K
Supplied Accessories Power Cable, USB cable 15 Ft and ESTOP NC contact.
Power Requirement MicroAtx power supply 300 Watt, P4 compatible
Voltage 110v / 60Hz – 230v/50Hz
Dimensions (LxWxD) inch ( 24 x 20 x 6 ) inch
Weight 40 Lb
Operating Temperature 0°C to 55°C (32°F to 132°F)
Humidity 5% to 95% non-condensing
Providing Power to the Adv 810
Provide AC power to the Adv 810. Refer to the diagram below.
Basic Connection
Machine Tool
UMAC / QMAC
AC Power Input
110v/230 V 50/60 Hz
Dual Power Supply.
Amp. Connection
Motor Feedback
Travel Limits
Machine Input/Output
Adv 810 shipped with three cables - ESTOP with NC (Normally connect), AC Power Input and USB cable.
ADV 810
ESTOP NC Contact
USB INPUT
Spec 1.1 / 2.0.
Diagram 1
Using the switch at the bottom of the controller, switch on the Adv 810. The Adv 810 is a Pentium 4
computer with a Windows 2000 operating system. If the startup is successful, it will show the regular
Windows 2000 start up screen.
PMAC/QMAC/UMAC NC 32 Installation Guide
2 Introduction
Verifying Software
All Adv 810s are shipped with the following preinstalled software:
• PMAC NC 32 V4.0 – user interface software for NC
• CNC AutoPilot – Setup software for generating standard PLCs. This includes control panel, hand
wheel, spindle, etc.
• 810 Control Panel Test – Test program for testing the Adv 810 control panel.
• NC Registry – Setup program for NC user interface.
• PEWIN32 Pro Executive software for motion controller. It includes the following:
PMAC Executive Program for setting up the motion controller communication and development
of user PLC and G codes.
Turbo Setup Pro for setting up brushless motor with commutation or analog (brush) motors.
PMAC Tuning Pro for tuning motors.
PMAC Plot Pro for data gathering and analysis.
Make sure all of the software components have been received. From the Start menu, select Programs,
Delta Tau, and PMAC NC4.0.
If any were not received, load the software using the CD shipped with the Adv 810.
All of the appropriate manuals needed for NC are included with NC-32 software. These include:
• NC Operators manual
• NC Programmers manual
• NC Integrator manual
PMAC/QMAC/UMAC NC 32 Installation Guide
Introduction 3
Connecting Adv 810 to the Controller
Refer to the following connection diagram to connect the Adv 810 Controller to the machine:
FLG_RTN
Servo Motor
LOAD
Amplifier
TB1
Front
TB1 Top
TB1 Bottom
T
W
V
U
GND
5V
C/
C
B/
B
A/
A
+/- 15V
Supply
12 11 10 9 8 7 6 5 4 3 2 1
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
DAC1B+
DAC1A-
DAC1A+
12 11 10 9 8 7 6 5 4 3 2 1
3 2 1
AAGND
AA-15V
AA+15V
Float Shield
Float
Shield
Shield
Float Shield
5 4 3 2 1
PLIM
MLIM
HOME
USER
Pos Limit
Home Flag
Neg Limit
GND +15V-15V
Shield
*Remove E85, E87, and E88
for External Power Supply
ACC-24E2A
This is a general example of a system with sourcing flags and normally open amplifier enable
output from the ACC-24E2A. For opto-isolation an external power supply is used and E85,
E87, and E88 have been removed from the ACC-24E2A.
15V
AGND
NC System Interface - Sample Block Diagram using ACC24E2A
PMAC/QMAC/UMAC NC 32 Installation Guide
4 Introduction
PMAC/QMAC/UMAC NC 32 Installation Guide
Communication Setup 5
COMMUNICATION SETUP
Connect the USB cable from Adv 810 to the controller as shown in Diagram 1. Power on the controller
and make sure to keep ESTOP pressed to prevent motor runaway.
Setting up USB Interface
The USB interface is plug and play, so the USB device with the appropriate controller type (PMAC,
QMAC, and UMAC) will be displayed in the Device Manager. Select the Device Manager by right
clicking the mouse and selecting Properties. Select Hardware and Device Manager. Scroll to the
Universal Serial Bus controllers folder and make sure that the Delta Tau UMAC USB 2.0 Device is listed.
If the device is listed, then Adv 810 will communicate with the controller properly.
Setting up PEWIN32 Pro Application
Run the PEWIN32 Pro application. Set the controller as Device 0 through the setup menu. For details on
setting up the device, refer to the PEWIN32 Pro User manual.
If the setup is successful, open the terminal and enter Type. This command will return the type of the
controller and clock speed, etc.
PMAC/QMAC/UMAC NC 32 Installation Guide
6 Communication Setup
PMAC/QMAC/UMAC NC 32 Installation Guide
Motor Setup 7
MOTOR SETUP
There are two types of motor setup possible:
• Analog output (+/- 10V) to the amplifier
• Commutation with PWM output to the amplifier
For other types of motors, refer to the manufacturer’s manual for connection instructions.
1. Refer to the diagram below for connecting the amplifier to the controller.
ACC-24E2A DAC-Torque/Velocity Mode
Sample Diagram for connecting UMAC - Analog AMPLIFIER - ADV810 Connections
12
11
10
9
8
7
6
5
4
3
2
1
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
DAC1B+
DAC1A-
DAC1A+
+/- 15V
Supply
GND +15V-15V
+15V
-15V
Logic GND
Amplifier
Amplifer Enable
Shield
Float
Shield
+/- 15V
Supply
GND +15V-15V
+15V
-15V
Logic GND
Amplifier
Amplifer Enable
Shield
Float
Shield
AA-15V
AA+15V
AAGND
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
1
9
15
8
DAC1B+
DAC1A-
DAC1A+
TB3 TB3
TB1 orTB2 DB15 (Option)
Sample Diagram for connecting UMAC/QMAC - Digital AMPLIFIER - ADV810 Connections
36 Pin Mini D Connector
This is a standard 36 pin cable compatible with most of the Direct Digital Amplifier
manufacturer. Delta Tau Amplifier version is GEO Drives. If GEO drives are not used then pl.
check the Pin out in the manual.
ACC-24E Direc Digital PWM Mode
Digital Amplifier
Like GEO Drive
36
Analog Amplifier
2
1
3GND
+ - 10v Command input
GND
AMP 1 DB9 S - Option A required.
Sample Diagram for connecting QMAC - Analog AMPLIFIER - ADV810 Connections
2. Use PMAC Tuning Pro to fine-tune the motors.
3. Set all other motor parameters such as motor acceleration, deceleration, maximum speeds, software
limits, etc.
4. Use simple commands (#J+, #1J-, etc.) to jog the axis to make sure that the motor tuning is correct.
Back up all motor I-variables (Ix00 to Ix99) using Upload Variables from the PEWIN32 Pro File
menu.
PMAC/QMAC/UMAC NC 32 Installation Guide
8 Motor Setup
PMAC/QMAC/UMAC NC 32 Installation Guide
CNC Setup 9
CNC SETUP
Setup Using CNC AutoPilot
The CNC AutoPilot works like a Wizard program and generates the CNC project template. This program
is used to set up standard PLCs for the Adv 810 control panel. The basic PLCs are set up and can be
modified according to various needs. The following can be set using this program:
• Motor coordinate system definitions
• Mode of operation (mm/inch)
• Machine parameters
The following PLCs are generated using this program:
• Control panel
• Home
• Handwheel
• Open or Close Loop Spindle
• Override PLC
For more details, refer to the CNC AutoPilot section of the PMAC NC-32 User manual.
Setup Using NC Registry
1. Set the File Input/Output path for NCUI32. If the CNC AutoPilot program is used, then verify all the
settings under the Axis Tab.
2. Set the probing, errors/events and messages tab to the appropriate file path for NCUI32.
3. Select Done to end the program.
Adv 810 is ready to run basic machine operations such as jogging and handwheel and simple moves such
as G0 and G1 without actual cutting using NCUI21 software.
User PLC
For complete CNC machine operation, other PLCs are often needed which are machine specific. For
example: Lube pump control, tool changer, ESTOP function, user G, M, or T codes, etc. are developed
usually by the integrator of the machine.
PMAC/QMAC/UMAC NC 32 Installation Guide
10 CNC Setup
PMAC/QMAC/UMAC NC 32 Installation Guide
Sample Connection Diagrams 11
SAMPLE CONNECTION DIAGRAMS
Use the diagrams on the following pages as a reference to setup controllers with different options.
12
11
10
9
8
7
6
5
4
3
2
1
Input 12
Input 11
Input 10
Input 9
Input 8
Input 7
Input 6
Input 5
Input 4
Input 3
Input 2
Input 1
3
2
1
Ref 3
Ref 2
Ref 1
Sinking Inputs 24V Supply
0V 24V
Sensor
12
11
10
9
8
7
6
5
4
3
2
1
Input 12
Input 11
Input 10
Input 9
Input 8
Input 7
Input 6
Input 5
Input 4
Input 3
Input 2
Input 1
3
2
1
Ref 3
Ref 2
Ref 1
Sourcing Inputs 24V Supply
0V 24V
Sensor
1
9
15
8
24V Supply
0V 24V
Sensor
1
9
15
8
24V Supply
0V 24V
Sensor
12
11
10
9
8
7
6
5
4
3
2
1
Output 12
Output 11
Output 10
Output 9
Output 8
Output 7
Output 6
Output 5
Output 4
Output 3
Output 2
Output 1
3
2
1
AGND
V+
AGND
Sinking Outputs 24V Supply
0V 24V
Device
12
11
10
9
8
7
6
5
4
3
2
1
Output 12
Output 11
Output 10
Output 9
Output 8
Output 7
Output 6
Output 5
Output 4
Output 3
Output 2
Output 1
3
2
1
AGND
V+
AGND
Sourcing Outputs 24V Supply
0V 24V
Device
1
9
15
8
24V Supply
0V 24V
Sensor
1
9
15
8
24V Supply
0V
24V
Sensor
Sample Diagram for Connecting UMAC - INPUT/OUTPUT ACC65 E.
TB1 or TB2 Bottom for Outputs
TB3 Bottom TB3 Bottom
J1 or J2 Bottom for Outputs
TB1 or TB2 TOP for Inputs
D- Connector
as a Option
J1 or J2 TOP for Inputs
D- Connector
as a Option
TB3 Top TB3 Top
PMAC/QMAC/UMAC NC 32 Installation Guide
12 Sample Connection Diagrams
12
11
10
9
8
7
6
5
4
3
2
1
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
ACC-24E2A Sinking Amplifier Fault
AA-15V
AA+15V
AAGND
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
1
9
15
8
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
+/- 15V
Supply
GND +15V-15V
12
11
10
9
8
7
6
5
4
3
2
1
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
+/- 15V
Supply
GND +15V-15V
ACC-24E2A Sourcing Amplifier Fault
Amplifier
+/- 15V
Supply
GND +15V-15V
Amplifier
Amplifer Fault +
Amplifier
Amplifer Fault -
AA-15V
AA+15V
AAGND
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
1
9
15
8
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
+/- 15V
Supply
GND +15V-15V
Amplifier
Amplifer Fault
Amplifer Fault -
12
11
10
9
8
7
6
5
4
3
2
1
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
ACC-24E2A Normally Open Amplifier Enable
AA-15V
AA+15V
AAGND
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
1
9
15
8
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
+/- 15V
Supply
GND +15V-15V
Amplifier
+/- 15V
Supply
GND +15V-15V
Amplifier
Amplifer Enable
Amplifer Enable
12
11
10
9
8
7
6
5
4
3
2
1
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
ACC-24E2A Normally Closed Amplifier Enable
AA-15V
AA+15V
AAGND
AAGND
AA-15V
AA+15V
AFAULT-
AFAULT+
AE_NO
AE_COM
AE_NC
DAC1B-
1
9
15
8
DAC1B+
DAC1A-
DAC1A+
+15V
-15V
Logic GND
+/- 15V
Supply
GND +15V-15V
Amplifier
+/- 15V
Supply
GND +15V-15V
Amplifier
Amplifer Enable
Amplifer Enable
Sample Diagram for connecting UMAC - AMPLIFIER FAULT for ADV810
TB1 or TB2
TB3 DB15 (Option)
TB3
TB3 TB3
TB3
TB3
TB3 TB3
DB15 (Option)
DB15 (Option)
DB15 (Option)
TB1 or TB2
TB1 or TB2
TB1 or TB2
PMAC/QMAC/UMAC NC 32 Installation Guide
Sample Connection Diagrams 13
Sample Diagram for connecting UMAC/QMAC - Machine Flags for ADV810
Home
Neg
Pos
User
ACC-24E2A / ACC-24E / QMAC Sinking Flags
TB1 4
3
2
1
5HOME1
MLIM1
PLIM1
MLIM1
FLG_RTN_1
ACC-24E2A / ACC-24E / QMAC Sourcing Flags
TB1
Home
Neg
Pos
User
24V Supply
0V 24V
4
3
2
1
5HOME1
MLIM1
PLIM1
MLIM1
FLG_RTN_1
24V Supply
0V 24V 24 V and FLG_RTN_1
Flags (HM,PLIM,NLIM,User) 0 V
Block Diagram Electrical Equivalent Diagram
Opto-Isolator
N.C.
Electrical Equivalent DiagramBlock Diagram 24 V
Flags (HM,PLIM,NLIM,User) 0 V and FLG_RTN_1
Opto-Isolator
N.C.
Sample Diagram for Connecting UMAC/QMAC - Machine Flags for ADV810
Home
Neg
Pos
User
ACC-24E2A / ACC-24E / QMAC Sinking Flags
TB1 4
3
2
1
5HOME1
MLIM1
PLIM1
MLIM1
FLG_RTN_1
ACC-24E2A / ACC-24E / QMAC Sourcing Flags
TB1
Home
Neg
Pos
User
24V Supply
0V 24V
4
3
2
1
5HOME1
MLIM1
PLIM1
MLIM1
FLG_RTN_1
24V Supply
0V 24V
24 V and FLG_RTN_1
Flags (HM,PLIM,NLIM,User) 0 V
Block Diagram Electrical Equivalent Diagram
Opto-Isolator
N.C.
Electrical Equivalent Diagram
Block Diagram 24 V
Flags (HM,PLIM,NLIM,User) 0 V and FLG_RTN_1
Opto-Isolator
N.C.
PMAC/QMAC/UMAC NC 32 Installation Guide
14 Sample Connection Diagrams
Sample Diagram for Connecting QMAC - OUTPUT (Sink Only)
24 V DC
+-
TB8
1
9
10
Load (250 mA Max)
Sample Diagram for Connecting QMAC - INPUT TB6 or TB7
Sinking Inputs
Sourcing Inputs
24V Supply
0V 24V
Sensor
10
9
1
24V Supply
0V 24V
Sensor
10
9
1
TB6 or TB7
TB6 or TB7
/
