Delta Tau Acc-11M Owner's manual

Type
Owner's manual
1^ USER MANUAL
^2 Accessory 11M
^3 MACRO I/O Peripheral
^4 3Ax-603959-xUxx
^5 March 4, 2013
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
© 2012 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.
Manual Revisions
Description
Date
Change
Approval
Updated for new release
04/03/2012
E.L
S.S
Updated preliminary release
04/18/2012
S.S
S.S
Updated electrical specifications
01/09/2013
S.S
S.S
Released
03/04/2013
S.S
S.S
Added MI21-36 ADC gain & bias defintions
09/27/2013
S.S
S.S
Accessory 11M
Table of Contents i
Table of Contents
INTRODUCTION......................................................................................................................... 5
OPTIONS ...................................................................................................................................................................... 5
SPECIFICATIONS....................................................................................................................... 6
Environmental Specifications ........................................................................................................................................ 6
Electrical Specifications ................................................................................................................................................ 6
Physical Specifications .................................................................................................................................................. 6
HARDWARE REFERENCE SUMMARY ................................................................................ 7
Product Layout .............................................................................................................................................................. 7
Wiring Considerations ................................................................................................................................................... 8
Indicators ....................................................................................................................................................................... 9
E-POINT JUMPERS .................................................................................................................. 10
E0: INIT- ..................................................................................................................................................................... 10
E1: Watchdog Timer Disable ...................................................................................................................................... 10
E2: CPU Mode Operation ............................................................................................................................................ 10
E3: RS-232 Port Serial Baud Rate ............................................................................................................................... 10
E16 & E17 Sinking or Sourcing Output Select ........................................................................................................... 10
E18 & E19 Sinking or Sourcing Output Select ........................................................................................................... 10
E20 & E21 Sinking or Sourcing Output Select ........................................................................................................... 11
SW1 – SW2 DESCRIPTION ..................................................................................................... 12
ACC11M MACRO 72-Bit I/O Node FORMAT Selection ......................................................................................... 12
ACC11M MACRO 72-Bit I/O Node FORMAT ......................................................................................................... 13
SINGLE IO NODE TRANSFER ............................................................................................................................. 13
DOUBLE IO NODE TRANSFER ........................................................................................................................... 13
TRIPLE IO NODE TRANSFER ............................................................................................................................. 14
CONNECTORS DESCRIPTION.............................................................................................. 15
J1 Digital Output Connector ........................................................................................................................................ 15
J2 Digital Input Connector........................................................................................................................................... 16
J3 Logic Power Supply Input ...................................................................................................................................... 17
J4 Serial Port ................................................................................................................................................................ 17
J5 JISP ......................................................................................................................................................................... 18
J6 Analog Output Connector ....................................................................................................................................... 18
J7 Analog Input Connector .......................................................................................................................................... 19
MACRO Connectors ................................................................................................................................................... 20
SOFTWARE SETUP .................................................................................................................. 21
ASCII Ring Order Initial Binding of the ACC-11M Station ....................................................................................... 21
Establishing Communications with the ACC-11M Station .................................................................................... 22
Using ACC-11M Inputs and Outputs .......................................................................................................................... 23
Using the ACC-11M ADC .......................................................................................................................................... 24
Accessory 11M
ii Table of Contents
SINGLE IO NODE TRANSFER ............................................................................................................................. 24
DOUBLE IO NODE TRANSFER ........................................................................................................................... 25
TRIPLE IO NODE TRANSFER ............................................................................................................................. 25
Using the ACC-11M DAC Output .............................................................................................................................. 26
SINGLE IO NODE TRANSFER ............................................................................................................................. 26
DOUBLE/TRIPLE IO NODE TRANSFER ............................................................................................................. 27
MACRO ASCII Communication Reference ............................................................................................................... 28
Firmware Updates........................................................................................................................................................ 29
ACC-11M MACRO STATION MI-VARIABLE REFERENCE ........................................... 30
Global MI-Variables .................................................................................................................................................... 31
MS{anynode}, MI0 Station Firmware Version (Read Only) ................................................................................. 31
MS{anynode},MI1 Station Firmware Date (Read Only) ...................................................................................... 31
MS{anynode},MI2 Station ID and User Configuration Word .............................................................................. 31
MS{anynode},MI3 Switch SW1 and SW2 Input .................................................................................................... 31
MS{anynode},MI4 Station Status Word (Read Only)............................................................................................ 32
MS{anynode},MI5 Ring Error Counter ................................................................................................................ 32
MS{anynode},MI6 Maximum Permitted Ring Errors in One Second ................................................................... 33
MS{anynode},MI7 (Reserved for Future Use) ...................................................................................................... 33
MS{anynode},MI8 MACRO Ring Check Period ................................................................................................... 33
MS{anynode},MI9 MACRO Ring Error Shutdown Count .................................................................................... 33
MS{anynode},MI10 MACRO Sync Packet Shutdown Count ................................................................................ 34
MS{anynode},MI11 Station Order Number .......................................................................................................... 34
MS{anynode},MI12 Card Identification ............................................................................................................... 34
MS{anynode},MI13 (Reserved for Future Use) .................................................................................................... 34
MS{anynode},MI14 (Reserved for Future Use) .................................................................................................... 35
MS{anynode},MI15 Enable MACRO PLCC ......................................................................................................... 35
MS{anynode},MI16 Don’t transfer cyclic DACs 1 - 4 .......................................................................................... 35
MS{anynode},MI21 16 bit Signed ADC1 Bias ...................................................................................................... 35
MS{anynode},MI22 16 bit Signed ADC1 Gain ..................................................................................................... 35
MS{anynode},MI23 16 bit Signed ADC2 Bias ...................................................................................................... 35
MS{anynode},MI24 16 bit Signed ADC2 Gain ..................................................................................................... 36
MS{anynode},MI25 16 bit Signed ADC3 Bias ...................................................................................................... 36
MS{anynode},MI26 16 bit Signed ADC3 Gain ..................................................................................................... 36
MS{anynode},MI27 16 bit Signed ADC4 Bias ...................................................................................................... 36
MS{anynode},MI28 16 bit Signed ADC4 Gain ..................................................................................................... 36
MS{anynode},MI29 16 bit Signed ADC5 Bias ...................................................................................................... 37
MS{anynode},MI30 16 bit Signed ADC5 Gain ..................................................................................................... 37
MS{anynode},MI31 16 bit Signed ADC6 Bias ...................................................................................................... 37
MS{anynode},MI32 16 bit Signed ADC6 Gain ..................................................................................................... 37
MS{anynode},MI33 16 bit Signed ADC7 Bias ...................................................................................................... 38
MS{anynode},MI34 16 bit Signed ADC7 Gain ..................................................................................................... 38
MS{anynode},MI35 16 bit Signed ADC8 Bias ...................................................................................................... 38
MS{anynode},MI36 16 bit Signed ADC8 Gain ..................................................................................................... 38
MS{anynode},MI176 MACRO IC Base Address ................................................................................................... 38
MS{anynode},MI177 MACRO IC Address for Node 14 ....................................................................................... 39
MS{anynode},MI178 MACRO IC Address for Node 15 ....................................................................................... 39
MS{anynode},MI181–MI188 16 bit Signed ADC Inputs 1 - 8 .............................................................................. 39
MS{anynode},MI189 24 bit ADC Handwheel Input ............................................................................................. 39
MS{anynode},MI191–MI194 24 bit Signed DAC Ouputs 1 - 4 ............................................................................. 40
MACRO IC I/O Transfer MI-Variables ...................................................................................................................... 41
Accessory 11M
Table of Contents iii
MS{anynode},MI198 Direct Read/Write Format and Address ............................................................................. 41
MI198 Format Digits ............................................................................................................................................. 42
MS{anynode},MI199 Direct Read/Write Variable ................................................................................................ 44
Global MACRO Status MI-Variables.......................................................................................................................... 44
MS{anynode}, MI203 Phase Period ..................................................................................................................... 44
MS{anynode}, MI204 Phase Execution Time ....................................................................................................... 44
MS{anynode}, MI205 Background Cycle Time .................................................................................................... 44
MS{anynode}, MI206 Maximum Background Cycle Time .................................................................................... 44
MS{anynode}, MI208 User Ram Start .................................................................................................................. 45
MACRO IC Status MI-Variables ................................................................................................................................ 45
MS{anynode},MI970-MI973 (Reserved for Future Use) ...................................................................................... 45
MS{anynode},MI1974 Station Display Status (Read Only) .................................................................................. 45
MS{anynode},MI978-MI986 (Reserved for Future Use) ....................................................................................... 45
MACRO IC I/O Control and Initialize ........................................................................................................................ 46
MS{anynode},MI987 TBD .................................................................................................................................... 46
MS{anynode},MI988 TBD .................................................................................................................................... 46
MS{anynode},MI989 TBD .................................................................................................................................... 46
MACRO IC MI-Variables ........................................................................................................................................... 46
MS{node},MI990 Handwheel Decode Control ................................................................................................. 46
MS{anynode},MI992 MaxPhase Frequency Control ............................................................................................ 47
MS{anynode},MI993 Hardware Clock Control Handwheel Channels ................................................................. 48
MS{anynode},MI994 PWM Deadtime / PFM Pulse Width Control for Handwheel ........................................... 49
MS{anynode},MI995 MACRO Ring Configuration/Status ................................................................................... 50
MS{anynode},MI996 MACRO Node Activate Control ......................................................................................... 50
MS{anynode},MI997 Phase Clock Frequency Control......................................................................................... 52
MS{anynode},MI998 Servo Clock Frequency Control ......................................................................................... 52
MS{anynode},MI999 Handwheel DAC Strobe Word (Not Used) ......................................................................... 53
Other ACC-11M MACRO Station Mm & MP-Variables ........................................................................................... 53
ACC-11M MACRO STATION MACPLCCS ......................................................................... 54
Requirements ............................................................................................................................................................... 54
Arithmetic Data Types ................................................................................................................................................. 54
MACRO MI Integer Variables (n = 0 – 1099) ............................................................................................................ 54
MACRO MM and MP Integer Variables (n = 0 – 511) ............................................................................................... 54
MACROPlcc Ln Integer Variables (n = 0 – 511) ......................................................................................................... 54
Direct Memory Addressing for Integer Ln & Ln[] Variable Definitions ............................................................... 54
Standard MACRO Program Commands ...................................................................................................................... 54
Valid Math, Assignment and Conditional Operators ................................................................................................... 55
Valid Expressions and Arrays ..................................................................................................................................... 55
Ln Arrays Definition Examples ................................................................................................................................... 55
MACRO PLCC Code Memory ................................................................................................................................... 56
MAC PLCC Related ASCII Commands ..................................................................................................................... 56
ACC-11M MACRO STATION SERIAL COMMANDS ........................................................ 57
Serial Commands ......................................................................................................................................................... 57
$$$ Station Reset ................................................................................................................................................... 57
$$$*** Station Re-initialize ................................................................................................................................... 57
CID Reports Card ID Number ............................................................................................................................... 57
CLRF Clears Station Faults ................................................................................................................................... 57
Accessory 11M
iv Table of Contents
DATE Reports Firmware Date .............................................................................................................................. 57
DISABLE PLCC or CNTRL D Disables PLCC ..................................................................................................... 57
ENABLE PLCC Enables PLCC ............................................................................................................................. 57
MI{constant} Reports Station MI-Variable Value ................................................................................................. 57
MI{constant}={constant} Sets Station MI-Variable Value .................................................................................... 58
MM{constant} Reports Station MM-Variable Value ............................................................................................. 58
MM{constant}={constant} Sets Station MM-Variable Value ................................................................................ 58
MP{constant} Reports Station MP-Variable Value ............................................................................................... 58
MP{constant}={constant} Sets Station MP-Variable Value .................................................................................. 58
MM{constant}-> Reports Station MM-Variable Definition ................................................................................... 58
MM{constant}->{X/Y:offset,width,format} Sets Station MM-Variable Definition ................................................ 58
R{address} Read Station Address .......................................................................................................................... 58
SAVE Saves Station MI-Variables ......................................................................................................................... 58
SID Reports Serial Identification Number ............................................................................................................. 58
VERS Reports Firmware Version .......................................................................................................................... 58
VID Reports Vendor ID Number ............................................................................................................................ 59
W{address},{value} Writes Value to Station Address ........................................................................................... 59
PMAC TYPE 1 ACC-11M MACRO STATION COMMANDS ............................................ 61
On-Line Commands .................................................................................................................................................... 61
MS Command ......................................................................................................................................................... 61
MS Variable Read .................................................................................................................................................. 61
MS Variable Write ................................................................................................................................................. 62
MS Variable Read Copy ......................................................................................................................................... 62
MS Variable Write Copy ........................................................................................................................................ 63
Turbo PMAC PLC Commands for Type 1 ACC-11M MACRO Stations ................................................................... 63
MS Variable Read Copy ......................................................................................................................................... 63
MS Variable Write Copy ........................................................................................................................................ 64
ACC-11M MACRO STATION MEMORY AND I/O MAP................................................... 65
Internal Calculation Registers ...................................................................................................................................... 65
Open Memory .............................................................................................................................................................. 65
DSPGATE2 Registers ................................................................................................................................................. 65
APPENDIX A: FIRMWARE DOWNLOAD PROCEDURE ................................................. 73
Accessory 11M
INTRODUCTION 5
INTRODUCTION
The ACC-11M is general purpose MACRO input/output (I/O) peripheral board. ACC-11M provides 24
lines of optically isolated inputs and 24 lines of outputs. In addition to discrete input and output lines,
ACC-11M supports a single handwheel port which supports an external encoder (quadrature / pulse and
direction / halls or step up, step down).
Optional sets of 8 analog inputs (16-bit), 4 analog outputs (16-bits) are available.
All analog inputs are 16-bit ADCs with input range of ±10VDC for single ended signals and ±5VDC for
differential signals. All 8 analog inputs are sampled simultaneously and it is possible to sample and
transfer all ADCs every phase clock cycle over MACRO ring. It is also possible to read ADC values over
MacroSlave commands.
All analog output circuitry utilize 16-bit DACs which output differential signal of ±10VDC. These analog
outputs can we written to synchronously through the MACRO ring or asynchronously using MacroSlave
commands.
OPTIONS
ï‚· OPT-1: Sinking Output
ï‚· OPT-2: Sourcing Output
ï‚· OPT-12A: (312-A03959-OPT): This option includes:
o Four 16-bit bipolar DAC outputs (±10 Volts)
o Eight 16-bit bipolar ADC inputs (±10 Volts differential input, ± 32767 Counts)
ï‚· OPT-A: (30A-603959-OPT): Fiber Optic MACRO connectors
ï‚· OPT-F: 24V power supply input option
 OPT-G: Direct power supply input (+5V, ±12V) option
Accessory 11M
6 SPECIFICATIONS
SPECIFICATIONS
Environmental Specifications
Description
Specification
Notes
Operating Temperature
0°C to 45°C,
Storage Temperature
-25°C to 70°C
Humidity
10% to 95 % non-condensing
Electrical Specifications
Description
Specification
Notes
Power Requirements
OPT-F:
24V @ 720mA (10%)
OPT-G:
5V @ 1.5A (±10%)
12V @ 400mA (±10%)
-12V @ 400mA (±10%)
+5V power supply requires a
minimum of 5milisecond rise
time
Output Current (individual)
100 mA
For UDN2981 and ULN2803
OUT+V
5 – 28VDC
User-supplied voltage for
digital outputs
Output Voltage
(OUT+V) – 1.1V
ULN2803 (See chip data sheet
for details)
(OUT+V) – 1.8V
UDN2981 (See chip data sheet
for details)
Fuse
32V @ 3.0A
Mini-ATM Fuse
Digital Input Voltage
5 – 24 VDC
Physical Specifications
Description
Specification
Notes
Dimensions
Length: 25.4 cm (10.0 in.)
Width: 10.795 cm (4.25 in.)
Weight
180 g
OPT-12A, OPT-F, OPT-A
Connectors
Digital Inputs : DC-37 Male
Digital Outputs: DC-37 Female
Analog Inputs: DB-25 Female
Analog Outputs: DA-15 Female
Logic Power:
Molex Micro-Fit 3.0 43025-0600
Molex Micro-Fit 3.0 Crimp Terminal
43030-0001
Accessory 11M
HARDWARE REFERENCE SUMMARY 7
HARDWARE REFERENCE SUMMARY
Product Layout
Accessory 11M
8 HARDWARE REFERENCE SUMMARY
Wiring Considerations
The inputs to the ACC-11M board have an activation range from 5V to 24V, and can either be sinking or
sourcing depending on the reference to the opto circuitry. The opto-isolator IC used is a PS2705-4NEC-
ND quad photo-transistor output type. This IC allows the current to flow from return to flag (sinking) or
from flag to return (sourcing).
BRPG1204W
MMBD4148SE
MMBD4148SE
NSI45020AT1G
PS2701-1NEC
470 1.0uf
INPUT PIN
RETURN PIN
To MACRO Gate >>
ANA1
CAT1
C1
E1
The output drivers are organized in a set of three 8-bit groups. The outputs can be ordered with either
current sourcing drivers (default) or with current sinking drivers. The default configuration of this
accessory board uses UDN2981 current sourcing drivers for the three 8-bit output groups. With this
configuration, the current drawn from each output line should be limited to 100mA at voltage levels
between 5 and 24 volts. In current sinking configurations, one ULN2803 driver is used per each 8-bit
output group. Each open collector output line can sink up to 100mA when pulled up to a voltage level
between 5 and 24 volts (external pull-up resistors are not supplied).
7.2K 3K
+V
2.7K
Output chip equivalent circuit
ULN2083 used for sinking option
Inverting, Open Collector, Sinking, 12-24VDC
Output chip equivalent circuit
UDN2981 used for sourcing option
Non-Inverting, Sourcing, 12-24VDC
3K
+V
1.5K
7.2K
20K
Accessory 11M
HARDWARE REFERENCE SUMMARY 9
Indicators
Location
Name
Color
Description
D78
24V Fuse (F1) OK
Orange
ON: Fuse OK
OFF: Fuse Disconnected
D79
OUT+V Fuse (F2) OK
Yellow
ON: Fuse OK
OFF: Fuse Disconnected
D111-D134
Output1 – Output24
Indicator LED
Red/Green
RED ON: Output Active – Sourcing
GREEN ON: Output Active – Sinking
RED/GREEN OFF: Output Inactive
D1-D24
Input1 – Input24 Indicator
LED
Red/Green
RED ON: Input Active – Sinking
GREEN ON: Input Active – Sourcing
RED/GREEN OFF: Input Inactive
D109
Link Activity Indicator
Red/Green
RED: Link Fault
GREEN: Link Active
U12
Error Display
7-Segment
7 Segment Display Fault Codes:
This indicator reports the status of the unit
with respect to the MACRO link:
0: Ring Active with no errors
1-9: N/A
A: OUT+V Input fault
B: Ring-break fault
C: Configuration change fault
D: Ring data-error fault
E: N/A
F: Momentary ring fault
D108
Power Good
Green
This indicator reports the status and
functionality of the CPU
D109
Watchdog
Red
This indicator reports a watchdog state which
can be caused either because of insufficient or
excessive +5V supply for CPU or problem
with software (user/firmware) in CPU
Accessory 11M
10 e-Point jumpers
E-POINT JUMPERS
E0: INIT-
Jumper Type
Description
Default
2-Pin
Factory Use Only.
Jumper to enable INIT- line and disable Lattice access.
Not jumpered
E1: Watchdog Timer Disable
Jumper Type
Description
Default
2-Pin
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
Description
Default
3-Pin
Jump pins 1 and 2 for firmware download through serial port.
Jump pins 2 and 3 for normal operation.
Pin 2-3
E3: RS-232 Port Serial Baud Rate
Jumper Type
Description
Default
2-Pin
Jump pins 1 and 2 for 9600-baud serial port operation. Remove jumper for 38400-
baud serial port operation.
Not jumpered
E16 & E17 Sinking or Sourcing Output Select
Jumper Type
Description
Default
3-Pin
1-2: Outputs 1 thru 8 Sinking (use ULN2803A for sinking outputs)
2-3: Outputs 1 thru 8 Sourcing (use UDN2981A for sourcing outputs)
Factory set
E18 & E19 Sinking or Sourcing Output Select
Jumper Type
Description
Default
3-Pin
1-2: Outputs 9 thru 16 Sinking (use ULN2803A for sinking outputs)
2-3: Outputs 9 thru 16 Sourcing (use UDN2981A for sourcing outputs)
Factory set
Accessory 11M
e-Point jumpers 11
E20 & E21 Sinking or Sourcing Output Select
Jumper Type
Description
Default
3-Pin
1-2: Outputs 17 thru 24 Sinking (use ULN2803A for sinking outputs)
2-3: Outputs 17 thru 24 Sourcing (use UDN2981A for sourcing outputs)
Factory set
Accessory 11M
12 SW1 – SW2 Description
SW1 – SW2 DESCRIPTION
ACC-11M can be ordered as a simple 24 input/ 24 output MACRO IO device in which case a single
MACRO IO node is sufficient to transfer both input/output data from/to ACC-11M.
Analog data is only available if the analog option has been ordered. Although the DAC and ADC data is
accessible through MACROSLAVE (MS) commands, they can also be transferred automatically through
MACRO node registers. However, a single node is not capable of transferring all the data at once and
more IO nodes are needed for transferring all the data. Different settings of SW1 allows selection of a
single/double or triple IO nodes for transferring all or partial analog data every phase clock cycle.
SW1
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
SW2
SW1 0 – 13, 15 sets up and enables the IO nodes in MI996.
SW2 0 –15 sets up the MACRO Master number in MI996.
ACC11M MACRO 72-Bit I/O Node FORMAT Selection
SW1 is used to select the I/O node and if the transfer will be a Single, Double or Triple node type. If the
ring order method (SW1 = E) is selected, MI996 must set only I/O nodes and the Double or Triple node
transfers must be consecutive I/O nodes. See the table below for which nodes are I/O nodes.
SW1: 0 – 13, 15 sets up and enables the IO nodes in MI996.
SW2: 0 – 15 sets up the MACRO Master number in MI996.
SW1
MI996 Value
Nodes Enabled
0
0x0F0004
2
1
0x0F0008
3
2
0x0F0040
6
3
0x0F0080
7
4
0x0F0400
10
5
0x0F0800
11
6
0x0F000C
2,3 (Double Node)
7
0x0F0048
3,6 (Double Node)
8
0x0F00C0
6,7 (Double Node)
9
0x0F0C00
10,11 (Double Node)
10
0x0F004C
2,3,6 (Triple Node)
11
0x0F00C8
3,6,7 (Triple Node)
12
0x0F04C0
6,7,10 (Triple Node)
13
0x0F0C80
7,10,11 (Triple Node)
14
0x0F0000
None (S/W Macro Ring Order Setup)
15
0x0F0800
11 (Set MI variables to factory default)
Note: If SW1 is selects a double node transfer node and analog option is not available on ACC-11M, the
CONFIG_FAULT bit is set in MS<node>,MI4 parameter. In this case only the digital input/output data is
transferred.
Accessory 11M
SW1 – SW2 Description 13
ACC11M MACRO 72-Bit I/O Node FORMAT
The following tables shows the data packets assigned to different MACRO node registers depending on
selected transfer method.
SINGLE IO NODE TRANSFER
Single Node Transfer Method
Register 0
Register 1
Register 2
Register 3
Send to ACC-11M
Digital Output [23:0]
DAC 1 [23:8]
DAC 2 [23:8]
DAC 3 [23:8]
Receive from ACC-11M
Digital Input [23:0]
ADC 1 [23:8]
ADC 2 [23:8]
ADC 3 [23:8]
In this method MS<node>, MI181 to MS<node>,MI194 to read/write handwheel encoder input, DAC4
and ADC4 through ADC8 data. If the analog option is not installed, only the digital input/output data is
transferred.
If MS<node>,MI16 is set to 1, analog output data (DAC1-4) will not be read from MACRO node
registers but the ADCs will continue to be returned. In this case analog output data (DAC1-4) can be
updated using MS<node>, MI191 – MI194 commands.
DOUBLE IO NODE TRANSFER
Double Node Transfer
Method (1st Node)
Register 0
Register 1
Register 2
Register 3
Send to ACC-11M
Digital Output [23:0]
DAC 1 [23:8]
DAC 2 [23:8]
DAC 3 [23:8]
Receive from ACC-11M
Digital Input [23:0]
ADC 1 [23:8]
ADC 2 [23:8]
ADC 3 [23:8]
Double Node Transfer
Method (2nd Node)
Register 0
Register 1
Register 2
Register 3
Send to ACC-11M
Unused
DAC 4 [23:8]
Unused
Unused
Receive from ACC-11M
Handwheel #1 [23:0]
ADC 4 [23:8]
ADC 5 [23:8]
ADC 6 [23:8]
If SW1 is selects a double node transfer node and analog option is not available on ACC-11M, the
CONFIG_FAULT bit is set in MS<node>,MI4 parameter. In this case only the digital input/output data is
transferred.
In this method MS<node>, MI187 and MS<node> MI188 can be used to read ADC7 and ADC8 data. If
the analog option is not installed, only the digital input/output data is transferred.
If MS<node>,MI16 is set to 1, analog output data (DAC1-4) will not be read from MACRO node
registers but the ADCs will continue to be returned. In this case analog output data (DAC1-4) can be
updated using MS<node>, MI191 – MI194 commands.
Accessory 11M
14 SW1 – SW2 Description
TRIPLE IO NODE TRANSFER
Triple Node Transfer Method
(1st Node)
Register 0
Register 1
Register 2
Register 3
Send to ACC-11M
Digital Output [23:0]
DAC 1 [23:8]
DAC 2 [23:8]
DAC 3 [23:8]
Receive from ACC-11M
Digital Input [23:0]
ADC 1 [23:8]
ADC 2 [23:8]
ADC 3 [23:8]
Triple Node Transfer Method
(2nd Node)
Register 0
Register 1
Register 2
Register 3
Send to ACC-11M
Unused
DAC 4 [23:8]
Unused
Unused
Receive from ACC-11M
Handwheel #1 [23:0]
ADC 4 [23:8]
ADC 5 [23:8]
ADC 6 [23:8]
Triple Node Transfer Method
(3rd Node)
Register 0
Register 1
Register 2
Register 3
Send to ACC-11M
Unused
Unused
Unused
Unused
Receive from ACC-11M
Unused
ADC 7 [23:8]
ADC 8 [23:8]
Unused
If SW1 is selects a double node transfer node and analog option is not available on ACC-11M, the
CONFIG_FAULT bit is set in MS<node>,MI4 parameter.
If MS<node>,MI16 is set to 1, analog output data (DAC1-4) will not be read from MACRO node
registers but the ADCs will continue to be returned. In this case analog output data (DAC1-4) can be
updated using MS<node>, MI191 – MI194 commands.
Accessory 11M
Connectors Description 15
CONNECTORS DESCRIPTION
J1 Digital Output Connector
12345678910111213
202122232425262728293031
141516171819
323334353637
OUT+V
Output 1
Output 3
Output 5
Output 7
OUT_GND
OUT+V
Output 9
Output 11
Output 13
Output 15
OUT_GND
OUT+V
Output 17
Output 19
Output 21
Output 23
OUT_GND
N.C.
OUT+V
Output 2
Output 4
Output 6
Output 8
OUT_GND
OUT+V
Output 10
Output 12
Output 14
Output 16
OUT_GND
OUT+V
Output 18
Output 20
Output 22
Output 24
OUT_GND
Pin #
Signal
Description
1
OUT+V
Output +V Supply Voltage Referenced to Output GND/RET
2
Output-01
Output 1
3
Output-03
Output 3
4
Output-05
Output 5
5
Output-07
Output 7
6
OUT-GND
Output GND/RET
7
OUT+V
Output +V Supply Voltage Referenced to Output GND/RET
8
Output-09
Output 9
9
Output-11
Output 11
10
Output-13
Output 13
11
Output-15
Output 15
12
OUT-GND
Output GND/RET
13
OUT+V
Output +V Supply Voltage Referenced to Output GND/RET
14
Output-17
Output 17
15
Output-19
Output 19
16
Output-21
Output 21
17
Output-23
Output 23
18
OUT-GND
Output GND/RET
19
N.C.
N.C.
20
OUT+V
Output +V Supply Voltage Referenced to Output GND/RET
21
Output-02
Output 2
22
Output-04
Output 4
23
Output-06
Output 6
24
Output-08
Output 8
25
OUT_GND
Output GND/RET
26
OUT+V
Output +V Supply Voltage Referenced to Output GND/RET
27
Output-10
Output 10
28
Output-12
Output 12
29
Output-14
Output 14
30
Output-16
Output 16
31
OUT_GND
Output GND/RET
32
OUT+V
Output +V Supply Voltage Referenced to Output GND/RET
33
Output-18
Output 18
34
Output-20
Output 20
35
Output-22
Output 22
36
Output-24
Output 24
37
OUT_GND
Output GND/RET
DC-37 Female Connector
Mating Connector: DC-37 Male Connector (Plug)
Accessory 11M
16 Connectors Description
Since the output circuitry is not optically isolated, all the outputs share the same OUT+V and OUT-GND
lines. However, groups of 8 outputs can be used as sinking or sourcing outputs. To use the outputs as
sourcing UDN2981A socketed chip should be used at locations U57, U58 and U59 for corresponding
outputs 1 through 8, 9 through 16 and 17 through 24. If sinking outputs are desired, ULN2803A chip
should be used. Please note that E16 through E21 position should be adjusted accordingly.
J2 Digital Input Connector
1 2 3 4 5 6 7 8 9 10 11 12 13
20 21 22 23 24 25 26 27 28 29 30 31
14 15 16 17 18 19
32 33 34 35 36 37
Input-01
Input-03
Input-05
Input-07
RET-01-08
Input-09
Input-11
Input-13
Input-15
RET-09-16
Input-17
Input-19
Input-21
Input-23
RET-17-24
+5V
ENC_A
ENC_B
N.C.
Input-02
Input-04
Input-06
Input-08
RET-01-08
Input-10
Input-12
Input-14
Input-16
RET-09-16
Input-18
Input-20
Input-22
Input-24
RET-17-24
GND
ENC_A/
ENC_B/
Pin #
Signal
Description
1
Input-01
Input 1
2
Input-03
Input 3
3
Input-05
Input 5
4
Input-07
Input 7
5
RET-01-08
Return Line for Inputs 1 through 8
6
Input-09
Input 9
7
Input-11
Input 11
8
Input-13
Input 13
9
Input-15
Input 15
10
RET-09-16
Return Line for Inputs 9 through 16
11
Input-17
Input 17
12
Input-19
Input 19
13
Input-21
Input 21
14
Input-23
Input 23
15
RET-17-24
Return Line for Inputs 17 through 24
16
+5V
+5V (only to be used with Handwheel encoder)
17
ENC_A
Handwheel Encoder A
18
ENC_B
Handwheel Encoder B
19
N.C.
N.C.
20
Input-02
Input 2
21
Input-04
Input 4
22
Input-06
Input 6
23
Input-08
Input 8
24
RET-01-08
Return Line for Inputs 1 through 8
25
Input-10
Input 10
26
Input-12
Input 12
27
Input-14
Input 14
28
Input-16
Input 16
29
RET-09-16
Return Line for Inputs 9 through 16
30
Input-18
Input 18
31
Input-20
Input 20
32
Input-22
Input 22
33
Input-24
Input 24
34
RET-17-24
Return Line for Inputs 17 through 24
35
GND
GND
36
ENC_A/
Handwheel Encoder A/
37
ENC_B/
Handwheel Encoder B/
DC-37 Male Connector
Mating Connector: DC-37 Female Connector (Receptacle)
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Delta Tau Acc-11M Owner's manual

Type
Owner's manual

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