Delta Tau Acc-11M Owner's manual

Brand: Delta Tau

Model: Acc-11M

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

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.

Dispose in accordance with applicable regulations.

Manual Revisions

Revision

Description

Date

Change

Approval

Updated for new release

04/03/2012

E.L

S.S

Updated preliminary release

04/18/2012

S.S

Updated electrical specifications

01/09/2013

S.S

Released

03/04/2013

S.S

Added MI21-36 ADC gain & bias defintions

09/27/2013

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

 OPT-1: Sinking Output

 OPT-2: Sourcing Output

 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)

 OPT-A: (30A-603959-OPT): Fiber Optic MACRO connectors

 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

NSI45020AT1G

PS2701-1NEC

470 1.0uf

INPUT PIN

RETURN PIN

To MACRO Gate >>

ANA1

CAT1

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

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

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

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

0x0F0004

0x0F0008

0x0F0040

0x0F0080

0x0F0400

0x0F0800

0x0F000C

2,3 (Double Node)

0x0F0048

3,6 (Double Node)

0x0F00C0

6,7 (Double Node)

0x0F0C00

10,11 (Double Node)

0x0F004C

2,3,6 (Triple Node)

0x0F00C8

3,6,7 (Triple Node)

0x0F04C0

6,7,10 (Triple Node)

0x0F0C80

7,10,11 (Triple Node)

0x0F0000

None (S/W Macro Ring Order Setup)

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

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)

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)

Send to ACC-11M

Unused

DAC 4 [23:8]

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)

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)

Send to ACC-11M

Unused

DAC 4 [23:8]

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)

Send to ACC-11M

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

OUT+V

Output +V Supply Voltage Referenced to Output GND/RET

Output-01

Output 1

Output-03

Output 3

Output-05

Output 5

Output-07

Output 7

OUT-GND

Output GND/RET

OUT+V

Output +V Supply Voltage Referenced to Output GND/RET

Output-09

Output 9

Output-11

Output 11

Output-13

Output 13

Output-15

Output 15

OUT-GND

Output GND/RET

OUT+V

Output +V Supply Voltage Referenced to Output GND/RET

Output-17

Output 17

Output-19

Output 19

Output-21

Output 21

Output-23

Output 23

OUT-GND

Output GND/RET

N.C.

OUT+V

Output +V Supply Voltage Referenced to Output GND/RET

Output-02

Output 2

Output-04

Output 4

Output-06

Output 6

Output-08

Output 8

OUT_GND

Output GND/RET

OUT+V

Output +V Supply Voltage Referenced to Output GND/RET

Output-10

Output 10

Output-12

Output 12

Output-14

Output 14

Output-16

Output 16

OUT_GND

Output GND/RET

OUT+V

Output +V Supply Voltage Referenced to Output GND/RET

Output-18

Output 18

Output-20

Output 20

Output-22

Output 22

Output-24

Output 24

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

Input-01

Input 1

Input-03

Input 3

Input-05

Input 5

Input-07

Input 7

RET-01-08

Return Line for Inputs 1 through 8

Input-09

Input 9

Input-11

Input 11

Input-13

Input 13

Input-15

Input 15

RET-09-16

Return Line for Inputs 9 through 16

Input-17

Input 17

Input-19

Input 19

Input-21

Input 21

Input-23

Input 23

RET-17-24

Return Line for Inputs 17 through 24

+5V

+5V (only to be used with Handwheel encoder)

ENC_A

Handwheel Encoder A

ENC_B

Handwheel Encoder B

N.C.

Input-02

Input 2

Input-04

Input 4

Input-06

Input 6

Input-08

Input 8

RET-01-08

Return Line for Inputs 1 through 8

Input-10

Input 10

Input-12

Input 12

Input-14

Input 14

Input-16

Input 16

RET-09-16

Return Line for Inputs 9 through 16

Input-18

Input 18

Input-20

Input 20

Input-22

Input 22

Input-24

Input 24

RET-17-24

Return Line for Inputs 17 through 24

GND

ENC_A/

Handwheel Encoder A/

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

Delta Tau Acc-11M Owner's manual

Delta Tau Acc-11M Owner's manual

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