Delta Tau Acc-8FS Owner's manual

Delta Tau
Brand
Delta Tau
Model
Acc-8FS
Type
Owner's manual
^1 HARDWARE REFERENCE MANUAL
^2 Accessory 8FS
^3 Digital Interface Board for PMAC2A-PC/104
^4 3F0-603673-xHxx
^5 October 29 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: support@deltatau.com
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.
EN
Dispose in accordance with applicable regulations.
Accessory 8FS
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
Compatibility ............................................................................................................................................................. 1
Formal Specifications ................................................................................................................................................ 1
Configuration ............................................................................................................................................................ 1
HARDWARE SETUP ................................................................................................................................................. 2
Resistor Pack Configuration ...................................................................................................................................... 2
Termination Resistors ........................................................................................................................................... 2
MACHINE CONNECTIONS ..................................................................................................................................... 3
Mounting/Installation ................................................................................................................................................ 3
Power Supply Connection ......................................................................................................................................... 3
HARDWARE REFERENCE SUMMARY ............................................................................................................... 4
Mechanical Drawing ................................................................................................................................................. 4
Mating Connectors .................................................................................................................................................... 4
J3 and J4 .................................................................................................................................................................... 4
J15, J16, J17 and J18 ................................................................................................................................................. 5
CONNECTOR DESCRIPTIONS .............................................................................................................................. 6
J3 A-D Converter Breakout Header (16-pin IDC Connector) .............................................................................. 6
J4 A-D Converter Breakout Header (16-pin IDC Connector) .............................................................................. 6
J15- PWM AMP 1 (36-pin Mini-D Connector) .................................................................................................... 7
J16- PWM AMP2 (36-pin Mini-D Connector) ..................................................................................................... 8
J17- PWM AMP3 (36-pin Mini-D Connector) ..................................................................................................... 9
J18- PWM AMP 4 (36-pin Mini-D Connector) .................................................................................................. 10
SCHEMATICS .......................................................................................................................................................... 11
Accessory 8FS
Introduction 1
INTRODUCTION
The Accessory 8FS digital interface board (ACC-8FS) is a 4-channel direct PWM stack breakout board
for PMAC2A-PC/104. It is used to control the digital amplifiers that require direct PWM control signals.
Each digital amplifier is connected through a separate Mini-D 36-pin connector (J15, J16, J17 and J18).
It also provides box header connectors for two ACC-28B’s, 2- channel 16-bit A/D converter boards.
Note:
When PWM output is used, no A/D can be used at the same time on that pair of
channels. For example if user is using PWM channels 1 and 2 or 2 and 3 then he
can only use one ACC-28B for his analog inputs for channels 3 and 4 or 1 and 2
respectively, with a limitation that the max PWM frequency does not exceed
12Khz. Always in pairs even if not both channels are used. If user is using all four
PWM outputs then no analog inputs can be used from this ACC-8FS.
The ACC-28B can not be ordered with Option-1, additional 2 channels, only two
channels per ACC-28B.
Encoder inputs and main flags must be wired to the JMACH1 (50-pin IDC) connector (CPU and ACC-1P
board). For more information about these connections, refer to the PMAC2A-PC/104 Hardware
Reference manual.
Note:
If using a digital amplifier with current feedback, the analog inputs provided by the
Option 12 of the PMAC2A-PC/104, the Option 2 of the ACC-1P or the ACC-28B
cannot be used.
Compatibility
The ACC-8FS can be used only with the PMAC2A-PC/104 controller, interfacing through the JEXP and
PC/104 communication connectors.
Formal Specifications
Size: 11.56cm x 9.59cm x 1.27cm (4.55" x 3.775" x 0.5")
Weight: 0.126 kg. (0.27 lb.)
Temperature
Operating: 0C to 60C (32F to 140F)
Storage: -12C to 82C (10F to 180F)
Humidity: 10% to 95%, non-condensing
Configuration
The ACC-8FS provides a PC/104 size board with:
Interface connectors for two ACC-28B’s without Option-1.
Four channels axis-interface circuitry, each including:
Direct PWM digital output
Mini-D 36-pin connector
Accessory 8FS
2 Hardware Setup
HARDWARE SETUP
Resistor Pack Configuration
Termination Resistors
The ACC-8FS provides sockets for termination resistors on differential input pairs coming into the board.
As shipped, there are no resistor packs in these sockets. If these signals are brought long distances into
the ACC-8FS board and ringing at signal transitions is a problem, SIP resistor packs may be mounted in
these sockets to reduce or eliminate the ringing.
All termination resistor packs are the type that has independent resistors (no common connection) with
each resistor using two adjacent pins. The following table shows which packs are used to terminate each
input device:
Input
Pack Size
ADCA 1
8-pin
ADCB 1
8-pin
ADCA 2
8-pin
ADCB 2
8-pin
ADCA 3
8-pin
ADCB 3
8-pin
ADCA 4
8-pin
ADCB 4
8-pin
Fault 1 and 2
6-pin
Fault 3 and 4
6-pin
Accessory 8FS
Machine Connections 3
MACHINE CONNECTIONS
Mounting/Installation
The ACC-8FS is always stacked on top of a PMAC2A PC/104 CPU/axis board or ACC-1P. At each of
the four corners of the PMAC2A PC/104 board there are mounting holes that can be used to mount the
board on standoffs.
It is recommended that the ACC-8FS board be placed above the board with the DSPGATE (CPU/axis
board or ACC-1P) at the stack. Up to two ACC-8FSs can be used in a single PMAC2A PC/104 system
(total of eight PWM axes).
The ACC-8FS stacks on top of the CPU/axis board or the ACC-1P through the PC/104 bus connectors [J6
(50-pin), J5 (50-pin), J1A-J1B (64-pin), J2C-J2D (38-pin)].
Example:
To setup an 8-axis PWM system with PMAC PC/104 controller and USB/Ethernet communications board
(ACC-2P), the bottom board will be the CPU/axis board (603670-10x). Stack on the first ACC-8FS
(603673-10X) on top of it. Then stack the ACC-1P (603671-10x) on top of the first ACC-8FS. This
provides four additional channels axis interface circuitry for eight servo channels. Then stack the other
ACC-8FS on top of it. Another configuration could be: on top of the first ACC-8FS, stack the ACC-2P
(603672-10x) and then the ACC-1P on top of it and the second ACC-8FS on top of it.
ACC-2P
ACC-8FS
ACC-1P
ACC-8FS
CPU
ACC-8FS
ACC-1P
ACC-2P
ACC-8FS
CPU
If the components are not
stacked in the order shown
here, then the ACC-8FS
may not work. ACC-8FS
must be on top of its axis
board.
Power Supply Connection
The ACC-8FS requires 1A @ 5VDC power for its digital circuits, in a 4-channel configuration. The
digital 5V (regulated, +/-5%) power can be provided through the JEXP Bus connector: The ACC-8FS is
stacked on top of the CPU/axis board or the ACC-1P via electrically active ISA bus standoffs. It draws
its 5V power from the bus automatically.
Accessory 8FS
4 Hardware Reference Summary
HARDWARE REFERENCE SUMMARY
Mechanical Drawing
Mating Connectors
A pin definition listing for each connector is described in the following section.
J3 and J4
These are 16-pin headers for connecting devices that use the ADC strobe and the clock and serial data
return lines to the PMAC2. Typically, these inputs are used with Delta Tau’s ACC-28B A-D converter
accessory (J3 for the first ACC-28B and J4 for the second ACC-28B).
Accessory 8FS
Hardware Reference Summary 5
J15, J16, J17 and J18
These are 36-pin mini D-connectors that output the digital amplifier interface signals (TTL levels) to a
digital pulse-width-modulated (PWM) amplifier.
For each machine interface channel, PMAC2A-PC/104 has three pairs of top and bottom PWM signals,
which can be used for the half-bridges of a 3-phase motor. Each of these six out-put signals is a
differential line-driver pair, for a total of 12 PWM pins. These pins are named:
PWMATOPn+PWMATOPn -(Phase A top transistor command)
PWMABOTn+PWMABOTn -(Phase A bottom transistor command)
PWMBTOPn+PWMBTOPn -(Phase B top transistor command)
PWMBBOTn+PWMBBOTn -(Phase B bottom transistor command)
PWMCTOPn+PWMCTOPn -(Phase C top transistor command)
PWMCBOTn+PWMCBOTn -(Phase C bottom transistor command)
*Where n is the PMAC2 channel number
For more information, refer to the PMAC 2 User Manual and the PMAC1/2 Software Reference Manual.
Note:
If CE approval is needed, then W1, W2, W3 and W4 must be jumper wired so as to
capacitively-coupled shield the D type metal connectors with the chassis GND. In
addition, CE1, CE2, CE3 and CE4 need 0.1UF capacitor to capacitively coupled
shield the boards GND with the Chassis GND.
Accessory 8FS
6 Connector Descriptions
CONNECTOR DESCRIPTIONS
J3 A-D Converter Breakout Header (16-pin IDC Connector)
Pin #
Symbol
Function
Description
Notes
1
ADC_CLK1-
Output
A-D Clock Output
2
ADC_CLK1+
Output
A-D Clock Output
3
N.C.
-
4
N.C.
-
5
ADC_STB1+
Output
A-D Converter
Serial command word
6
ADC_STB1-
Output
A-D Converter
For future use
7
ADC_DAA1-
Input
Serial Data Input Channel 1/
8
ADC_DAB1-
Input
Serial Data Input Channel 1/
9
ADC_DAA2-
Input
Serial Data Input Channel 2/
10
ADC_DAB2-
Input
Serial Data Input Channel 2/
11
ADC_DAA1+
Input
Serial Data Input Channel 1
12
ADC_DAB1+
Input
Serial Data Input Channel 1
13
ADC_DAA2+
Input
Serial Data Input Channel 2
14
ADC_DAB2+
Input
Serial Data Input Channel 2
15
+5Vdc
Output
16
GND
Output
The user’s connector is a 16-pin IDC (ribbon cable crimp style) connector.
Note: ADC_STB1-, pin #6, must be connected to W5 to be jumper-wired (not needed for ACC-28B).
When using PWM channels 1 and 2 this connector for ACC-28B can not be used
J4 A-D Converter Breakout Header (16-pin IDC Connector)
Pin #
Symbol
Function
Description
Notes
1
ADC_CLK2-
Output
A-D Clock Output
2
ADC_CLK2+
Output
A-D Clock Output
3
N.C.
-
4
N.C.
-
5
ADC_STB2+
Output
A-D Converter
Serial command word
6
ADC_STB2-
Output
A-D Converter
For future use
7
ADC_DAA3-
Input
Serial Data Input Channel 3/
8
ADC_DAB3-
Input
Serial Data Input Channel 3/
9
ADC_DAA4-
Input
Serial Data Input Channel 4/
10
ADC_DAB4-
Input
Serial Data Input Channel 4/
11
ADC_DAA3+
Input
Serial Data Input Channel 3
12
ADC_DAB3+
Input
Serial Data Input Channel 3
13
ADC_DAA4+
Input
Serial Data Input Channel 4
14
ADC_DAB4+
Input
Serial Data Input Channel 4
15
+5Vdc
Output
16
GND
Output
The user’s connector is a 16-pin IDC (ribbon cable crimp style) connector.
Note: ADC_STB2-, pin #6, must be connected to W6 to be jumper-wired (not needed for ACC-28B).
When using PWM channels 3 and 4 this connector for ACC-28B can not be used
Accessory 8FS
Connector Descriptions 7
J15- PWM AMP 1 (36-pin Mini-D Connector)
Pin #
Symbol
Function
Description
Notes
1
FC0
N.C.
1 of 4 Fault Code Bits
Not connected
2
FC1
N.C.
1 of 4 Fault Code Bits
Not connected
3
ADC_CLK1+
Command
A/D Converter Clock
4
ADC_STB1+
Command
A/D Converter Strobe
5
CURRENTA+
Feedback
Phase A Actual Current Data
Serial digital
6
CURRENTB+
Feedback
Phase B Actual Current Data
Serial digital
7
AENA1+
Command
Amplifier Enable
High is enable
8
FAULT1+
Feedback
Amplifier Fault
High is fault
9
PWMATOP1+
Command
Phase A Top CMD
High is on command
10
PWMABOT1+
Command
Phase A Bottom CMD
High is on command
11
PWMBTOP1+
Command
Phase B Top CMD
High is on command
12
PWMBBOT1+
Command
Phase B Bottom CMD
High is on command
13
PWMCTOP1+
Command
Phase C Top CMD
High is on command
14
PWMCBOT1+
Command
Phase C Bottom CMD
High is on command
15
GND
Common
Reference Voltage
16
+5V
Power
+5V Power
From controller
17
RESERVED
18
RESERVED
19
FC1
N.C.
1 of 4 Fault Code Bits
Not connected
20
FC3
N.C.
1 of 4 Fault Code Bits
Not connected
21
ADC_CLK1-
Command
A/D Converter Clock
22
ADC_STB1-
Command
A/D Converter Strobe
23
CURRENTA-
Feedback
Phase A Actual Current Data
Serial digital
24
CURRENTB-
Feedback
Phase B Actual Current Data
Serial digital
25
AENA1-
Command
Amplifier Enable
Low is enable
26
FAULT1-
Feedback
Amplifier Fault
Low is fault
27
PWMATOP1-
Command
Phase A Top CMD
Low is on command
28
PWMABOT1-
Command
Phase A Bottom CMD
Low is on command
29
PWMBTOP1-
Command
Phase B Top CMD
Low is on command
30
PWMBBOT1-
Command
Phase B Bottom CMD
Low is on command
31
PWMCTOP1-
Command
Phase C Top CMD
Low is on command
32
PWMCBOT1-
Command
Phase C Bottom CMD
Low is on command
33
GND
Common
Reference Voltage
34
+5V
Power
+5V Power
From controller
35
RESERVED
36
RESERVED
A mini-D 36-pin connector is used for the first digital amplifier command outputs and current feedback.
This connector provides the interface to a fully digital amplifier for the first channel. Note that current
feedback data must be in serial digital form, already converted from analog in the amplifier.
Accessory 8FS
8 Connector Descriptions
J16- PWM AMP2 (36-pin Mini-D Connector)
Pin #
Symbol
Function
Description
Notes
1
FC0
N.C.
1 of 4 Fault Code Bits
Not connected
2
FC2
N.C.
1 of 4 Fault Code Bits
Not connected
3
ADC_CLK2+
Command
A/D Converter Clock
4
ADC_STB2+
Command
A/D Converter Strobe
5
CURRENTA+
Feedback
Phase A Actual Current Data
Serial digital
6
CURRENTB+
Feedback
Phase B Actual Current Data
Serial digital
7
AENA2+
Command
Amplifier Enable
High is enable
8
FAULT2+
Feedback
Amplifier Fault
High is fault
9
PWMATOP2+
Command
Phase A Top CMD
High is on command
10
PWMABOT2+
Command
Phase A Bottom CMD
High is on command
11
PWMBTOP2+
Command
Phase B Top CMD
High is on command
12
PWMBBOT2+
Command
Phase B Bottom CMD
High is on command
13
PWMCTOP2+
Command
Phase C Top CMD
High is on command
14
PWMCBOT2+
Command
Phase C Bottom CMD
High is on command
15
GND
Common
Reference Voltage
16
+5V
Power
+5V Power
From controller
17
RESERVED
18
RESERVED
19
FC1
N.C.
1 of 4 Fault Code Bits
Not connected
20
FC3
N.C.
1 of 4 Fault Code Bits
Not connected
21
ADC_CLK2-
Command
A/D Converter Clock
22
ADC_STB2-
Command
A/D Converter Strobe
23
CURRENTA-
Feedback
Phase A Actual Current Data
Serial digital
24
CURRENTB-
Feedback
Phase B Actual Current Data
Serial digital
25
AENA2-
Command
Amplifier Enable
Low is enable
26
FAULT2-
Feedback
Amplifier Fault
Low is fault
27
PWMATOP2-
Command
Phase A Top CMD
Low is on command
28
PWMABOT2-
Command
Phase A Bottom CMD
Low is on command
29
PWMBTOP2-
Command
Phase B Top CMD
Low is on command
30
PWMBBOT2-
Command
Phase B Bottom CMD
Low is on command
31
PWMCTOP2-
Command
Phase C Top CMD
Low is on command
32
PWMCBOT2-
Command
Phase C Bottom CMD
Low is on command
33
GND
Common
Reference Voltage
34
+5V
Power
+5V Power
From controller
35
RESERVED
36
RESERVED
A mini-D 36-pin connector is used for second digital amplifier command outputs and current feedback.
This connector provides the interface to a fully digital amplifier for the second channel. Note that current
feedback data must be in serial digital form, already converted from analog in the amplifier.
Accessory 8FS
Connector Descriptions 9
J17- PWM AMP3 (36-pin Mini-D Connector)
Pin #
Symbol
Function
Description
Notes
1
FC0
N.C.
1 of 4 Fault Code Bits
Not connected
2
FC1
N.C.
1 of 4 Fault Code Bits
Not connected
3
ADC_CLK3+
Command
A/D Converter Clock
4
ADC_STB3+
Command
A/D Converter Strobe
5
CURRENTA+
Feedback
Phase A Actual Current Data
Serial digital
6
CURRENTB+
Feedback
Phase B Actual Current Data
Serial digital
7
AENA3+
Command
Amplifier Enable
High is enable
8
FAULT3+
Feedback
Amplifier Fault
High is fault
9
PWMATOP3+
Command
Phase A Top CMD
High is on command
10
PWMABOT3+
Command
Phase A Bottom CMD
High is on command
11
PWMBTOP3+
Command
Phase B Top CMD
High is on command
12
PWMBBOT3+
Command
Phase B Bottom CMD
High is on command
13
PWMCTOP3+
Command
Phase C Top CMD
High is on command
14
PWMCBOT3+
Command
Phase C Bottom CMD
High is on command
15
GND
Common
Reference Voltage
16
+5V
Power
+5V Power
From controller
17
RESERVED
18
RESERVED
19
FC1
N.C.
1 of 4 Fault Code Bits
Not connected
20
FC3
N.C.
1 of 4 Fault Code Bits
Not connected
21
ADC_CLK3-
Command
A/D Converter Clock
22
ADC_STB3-
Command
A/D Converter Strobe
23
CURRENTA-
Feedback
Phase A Actual Current Data
Serial digital
24
CURRENTB-
Feedback
Phase B Actual Current Data
Serial digital
25
AENA3-
Command
Amplifier Enable
Low is enable
26
FAULT3-
Feedback
Amplifier Fault
Low is fault
27
PWMATOP1-
Command
Phase A Top CMD
Low is on command
28
PWMABOT3-
Command
Phase A Bottom CMD
Low is on command
29
PWMBTOP3-
Command
Phase B Top CMD
Low is on command
30
PWMBBOT3-
Command
Phase B Bottom CMD
Low is on command
31
PWMCTOP3-
Command
Phase C Top CMD
Low is on command
32
PWMCBOT3-
Command
Phase C Bottom CMD
Low is on command
33
GND
Common
Reference Voltage
34
+5V
Power
+5V Power
From controller
35
RESERVED
36
RESERVED
A mini-D 36-pin connector is used for third digital amplifier command outputs and current feedback. This
connector provides the interface to a fully digital amplifier for the third channel. Note that current
feedback data must be in serial digital form, already converted from analog in the amplifier.
Accessory 8FS
10 Connector Descriptions
J18- PWM AMP 4 (36-pin Mini-D Connector)
Pin #
Symbol
Function
Description
Notes
1
FC0
N.C.
1 of 4 Fault Code Bits
Not connected
2
FC1
N.C.
1 of 4 Fault Code Bits
Not connected
3
ADC_CLK4+
Command
A/D Converter Clock
4
ADC_STB4+
Command
A/D Converter Strobe
5
CURRENTA+
Feedback
Phase A Actual Current Data
Serial digital
6
CURRENTB+
Feedback
Phase B Actual Current Data
Serial digital
7
AENA4+
Command
Amplifier Enable
High is enable
8
FAULT4+
Feedback
Amplifier Fault
High is fault
9
PWMATOP4+
Command
Phase A Top CMD
High is on command
10
PWMABOT4+
Command
Phase A Bottom CMD
High is on command
11
PWMBTOP4+
Command
Phase B Top CMD
High is on command
12
PWMBBOT4+
Command
Phase B Bottom CMD
High is on command
13
PWMCTOP4+
Command
Phase C Top CMD
High is on command
14
PWMCBOT4+
Command
Phase C Bottom CMD
High is on command
15
GND
Common
Reference Voltage
16
+5V
Power
+5V Power
From controller
17
RESERVED
18
RESERVED
19
FC1
N.C.
1 of 4 Fault Code Bits
Not connected
20
FC3
N.C.
1 of 4 Fault Code Bits
Not connected
21
ADC_CLK4-
Command
A/D Converter Clock
22
ADC_STB4-
Command
A/D Converter Strobe
23
CURRENTA-
Feedback
Phase A Actual Current Data
Serial digital
24
CURRENTB-
Feedback
Phase B Actual Current Data
Serial digital
25
AENA4-
Command
Amplifier Enable
Low is enable
26
FAULT4-
Feedback
Amplifier Fault
Low is fault
27
PWMATOP4-
Command
Phase A Top CMD
Low is on command
28
PWMABOT4-
Command
Phase A Bottom CMD
Low is on command
29
PWMBTOP4-
Command
Phase B Top CMD
Low is on command
30
PWMBBOT4-
Command
Phase B Bottom CMD
Low is on command
31
PWMCTOP4-
Command
Phase C Top CMD
Low is on command
32
PWMCBOT4-
Command
Phase C Bottom CMD
Low is on command
33
GND
Common
Reference Voltage
34
+5V
Power
+5V Power
From controller
35
RESERVED
36
RESERVED
A mini-D 36-pin connector is used for fourth digital amplifier command outputs and current feedback.
This connector provides the interface to a fully digital amplifier for the fourth channel. Note that current
feedback data must be in serial digital form, already converted from analog in the amplifier.
Accessory 8FS
Selected Schematics 11
SCHEMATICS
ADC_A3
ACLK4+
PWM_A_B1
ADAB3-
CBOT4+
ADAA2+
C68
.1UF
U20
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
Note :1
GND
PWM_B_T1
PWM_C_T4
BBOT4-
ABOT4+
ADAA2-
ASTB3+
PWM AMP 4
GND
Note :1
CTOP1-
CBOT2-
CBOT3-
C62
.1UF
ASTB2-
BTOP3+
CTOP4-
RP44
RxSIP6I
1 2
3 4
5 6
SHELL
PWM_A_T3
ABOT4-
ADAB1+
C70
.1UF
C65
.1UF
ADC_DAB2+
ADC_DAB4-
ASTB2-
CTOP3-
Part of
+5V
PWM_A_B3
PWM_B_B1
ACLK1-
AENA_1
ENA3-
U31
MC34C86D
(SO16)
1
2
4
6
7
15
14
12
10
9
3
16
5
13
11
8
IN-A
IN-A
ENA-A,C
IN-C
IN-C
IN-B
IN-B
ENA-B,D
IN-D
IN-D
OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
PWM_A_T3
ADAA3-
ACLK4+
ADAA1-
RP36
33IP8I
1 2
3 4
5 6
7 8
ADC_STB2-
GND
ADAB3-
PWM_C_T2
FLT3-
PWM AMP 1
BBOT2+
FLT3+
J3
HEADER 16
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
JUMPER FOR C_x
ENA1+
C75
.1UF
RP46
2.2KSIP10C
12
3
4
5
6
7
8
910
ADC_DAB4+
GND
ADAB1+
PWM_A_B2
FLT2+
W5 21
Sip Sockets and Resistor Packs should not be installed.
+5V
AENA_4
CBOT1-
ADAA2+
ADAA1+
(JSIOB)
FAULT_2
PWM_C_B1
ACLK2+
ADAB4-
ADAB3+
ENA3+
FLT1-
C61
.1UF
ADC_DAA1-
BTOP1+
BBOT4-
ADC_A4
RP22
33SIP8I
1 2
3 4
5 6
7 8
JUMPER FOR C_x
CHGND
FAULT_1
ADC_B1
ADAB2+
BTOP1-
ACLK2-
ADC_A2
ADAA1-
FLT1-
ADAB2+
RP28
33SIP8I
1 2
3 4
5 6
7 8
J17 HD36S\90
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37 38
U25
MC34C86D
(SO16)
1
2
4
6
7
15
14
12
10
9
3
16
5
13
11
8
IN-A
IN-A
ENA-A,C
IN-C
IN-C
IN-B
IN-B
ENA-B,D
IN-D
IN-D
OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
FC4-B
ADC_STR
BTOP1-
ADC_A3
W6 21
C63
.1UF
INSTALL WIRE
INSTALL WIRE
CBOT1+
AENA_2
RP35
33IP8I
1 2
3 4
5 6
7 8
****
ADC_CLK1+
ADC_B4
CBOT4-
ENA3+
RP48
RxSIP8I
1 2
3 4
5 6
7 8
C69
.1UF
W4 21
J18 HD36S\90
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37 38
BTOP3-
PWM_A_B4
+5V
ADAB1+
ASTB1+
ENA2+
ADAA3+
ADAB3+
ADAB4-
CTOP4-
CBOT4+
U27
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
ADC_CLK2+
PWM_C_B4
ENA1-
J15 HD36S\90
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37 38
FC4-C
PWM_C_T1
BBOT3-
FC1-C
AENA_2
ABOT1-
ADAB4-
AENA_1
+5V
ASTB4-
ABOT3-
FC3-A
GND
ADAA4+
C67
.1UF
For Future Use
CBOT2+
ADAA3+
CTOP3-
BTOP2+
ADC_A1
FLT2-
C66
.1UF
U23
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
PWM OUTPUT SECTION
ASTB3-
ATOP2+
FC4-A
ADAB4+
CBOT2+
Part of
FC2-B
PWM_A_T4
FLT3+
FLT4+
ADAA4+
U24
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
PWM_A_B4
ADAA2-
ABOT1+
BTOP3+
BBOT3+
FLT4-
ADAB3-
ADAA3+
ADC_DAB1-
For Future Use
ASTB1+
ADC_B2
U28
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
ABOT2-
AENA_3
FLT1+
RP40
2.2KSIP8C 2
3
4
5
6
7
8
1
CBOT3-
BTOP4-
BTOP4-
INSTALL WIRE
N.C.
SIP SOCKET
ACC-8FS
ADC_A4
ABOT3+
ADAB2-
FLT2-
ADAA3-
ASTB1+
PWM_C_T1
FAULT_1
ADC_B3
W1 21
ADAA2-
ABOT2+
ENA4+
U29
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
RP45
2.2KSIP8C 2
3
4
5
6
7
8
1
ABOT1-
CTOP2+
RP27
33SIP8I
1 2
3 4
5 6
7 8
RP30
33SIP8I
1 2
3 4
5 6
7 8
PWM OUTPUT SECTION
FLT1+
CTOP1+
ACLK3+
ASTB2-
ENA2-
RP41
2.2KSIP10C
12
3
4
5
6
7
8
910
ADC_STB1-
CTOP2+
CBOT4-
ADAA4-
AENA_3
****
ADC_DAA4-
PWM_A_B2
PWM_B_B3
ENA3-
RP49
RxSIP6I
1 2
3 4
5 6
W2 21
FC1-A
ASTB2+
PWM_B_T2
ADAB3+
JUMPER FOR C_x
ACC-8FS
+5V
+5V
PWM_B_B4
U26
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
+5V
GND
BBOT1+
PWM_A_T1
ATOP1+
BBOT3-
ACLK1+
PWM_C_B3
PWM_A_T2
C71
.1UF
+5V
ADC_DAA4+
FC3-D
ADC_CLK
ACLK3-
ADAB1-
ADAB3+
ADC_B1
C74
.1UF
PWM_C_B1
CTOP4+
PWM AMP 3
ADC_CLK1-
FC2-A
FC4-D
PWM_C_T3
AENA_2
ATOP4-
BTOP4+
U30
MC34C86D
(SO16)
1
2
4
6
7
15
14
12
10
9
3
16
5
13
11
8
IN-A
IN-A
ENA-A,C
IN-C
IN-C
IN-B
IN-B
ENA-B,D
IN-D
IN-D
OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
PWM AMP 2
PWM_B_B2
CTOP2-
ATOP2-
ABOT4+
ADC_A2
ADAA1-
ADAB4+
ADC_STR
ACLK1-
ADAB2-
ADAA4+
AENA_4
ADAA4-
ACC-8FS
W3 21
BBOT2-
ADC_DAB3-
PWM_B_B4
BBOT2-
CTOP1+
ENA2+
FLT3-
+5V
PWM_A_T2
PWM_C_T2 PWM_C_T4
ATOP4-
ADC_STB2+
Note :1
ASTB1-
ATOP1-
ADAB2+
CTOP3+
C72
.1UF
ADC_DAA2+
ADAB2+
PWM_B_B2
ENA4-
ADAB1+
ACLK2-
BBOT3+
BTOP4+
PWM_B_T1
ASTB4+
ADAA4+
J16 HD36S\90
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37 38
PWM_A_B1
BBOT4+
CTOP4+
JUMPER FOR C_x
ATOP1+
ASTB3-
CTOP3+
U22
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
ASTB2+
ACLK3+
+5V
PWM_B_B1
ACLK1+
ADAA2+
PWM_C_B2
CBOT1+
ACLK3-
PWM_A_T4
FAULT_4
ADAB2-
RP47
1KSIP10C
12
3
4
5
6
7
8
910
ATOP3+
BBOT2+
+5V
C73
.1UF
FLT4+
****
PWM OUTPUT SECTION
ADC_DAA3-
ADC_CLK
ADAB1-
ACLK2-
AENA_4
ATOP4+
ACC-8FS
Note :1
ABOT2+
ABOT2-
ENA4+
PWM OUTPUT SECTION
ADC_DAA1+
GND
Part of
BTOP2+
CBOT2-
ACLK4-
ADAB1-
FLT4+
SIP SOCKET
FAULT_4
ADC_B2
PWM_C_B4
ADAB2-
ADC_B3
ADAA2+
ATOP3+
RP26
33IP8I
1 2
3 4
5 6
7 8
FC1-B
AENA_1
ATOP2-
BTOP2-
FAULT_3
ADAB1-
FLT2-
ADAA3-
ABOT4-
ADAA1+
FLT4-
RP21
33SIP8I
1 2
3 4
5 6
7 8
SHELL
GND
GND
PWM_B_T3
ATOP1- ATOP3-
ADAA4-
CTOP1-
ADC_B4
RP38
33SIP8I
1 2
3 4
5 6
7 8
SHELL
ADC_STB1+
ADC_DAA2-
ASTB4+
BTOP3-
CBOT1-
BBOT4+
RP37
33SIP8I
1 2
3 4
5 6
7 8
ASTB1-
ASTB3+
ATOP3-
FLT1-
RP43
RxSIP8I
1 2
3 4
5 6
7 8
FC3-B
ADC_A1
PWM_B_B3
ADC_STR
ABOT1+
ASTB4-
+5V
BTOP1+
ENA2-
FLT2+
U21
MC34C87D (SO16)
1 2
16
5
13
10
8
3
6
14
7
4
11
9
15
12
IN-A OUT-A
VCC
OUT-C
OUT-B
OUT-D
GND
OUT-A
OUT-C
OUT-B
IN-C
EN-A,C
OUT-D
IN-D
IN-B
EN-B,D
603673-320 A
PMAC2A-PC/104, STACK BREAKOUT BOARD
Delta Tau Data Systems, Inc.
21314 Las sen st
Chas tworth, CA 91311
ACC-8FS & ACC-8TS, DIGITAL I/O SECTION
D
2 2Monday, Novem ber 18 , 2002
Title
Size Document Numb er Rev
Date: Sheet of
ADAA1-
PWM_C_B2
PWM_B_T4
ADC_DAB1+
ADC_DAA3+
ADC_CLK2-
PWM_B_T4
RP29
33SIP8I
1 2
3 4
5 6
7 8
J4
HEADER 1 6
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
SIP SOCKET
+5V
FAULT_3
PWM_A_T1
CBOT3+
ATOP4+
ADAB4+
RP33
33SIP8I
1 2
3 4
5 6
7 8
N.C.
GND
PWM_C_T3
ACLK1-
ACLK2+
GND
FLT2+
C64
.1UF
ADC_DAB2-
+5V
ACLK4-
PWM_A_B3
FLT1+
FAULT_2
INSTALL WIRE
SHELL
ADAA1+
ASTB2+
ATOP2+
ADAA4-
RP32
33SIP8I
1 2
3 4
5 6
7 8
Note:1
FC1-D
ADAB4+
C60
.1UF
FC3-C
GND
ADAA1+
CTOP2-
RP31
33SIP8I
1 2
3 4
5 6
7 8
RP42
1KSIP10C
12
3
4
5
6
7
8
910
GND
PWM_C_B3
BBOT1-
FLT3-
ENA4-
ENA1+
ADC_DAB3+
BTOP2-
ADAB4-
FC2-C
AENA_3
ABOT3+
ENA1-
ADAA2-
SIP SOCKET
ADC_CLK
ACLK2+
ADAA3+
****
(JSIOA)
+5V
ASTB1-
BBOT1+
FLT3+
N.C.
GND
GND
ABOT3-
ADAA3-
FLT4-
ADAB3-
PWM_B_T2
RP23
33SIP8I
1 2
3 4
5 6
7 8
ACLK1+
PWM_B_T3
BBOT1-
CBOT3+
RP34
33SIP8I
1 2
3 4
5 6
7 8
N.C.
Part of
FC2-D
RP24
33SIP8I
1 2
3 4
5 6
7 8
RP25
33IP8I
1 2
3 4
5 6
7 8
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Delta Tau Acc-8FS Owner's manual

Delta Tau
Brand
Delta Tau
Model
Acc-8FS
Type
Owner's manual
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