Delta Tau Acc-8R Owner's manual

Brand: Delta Tau

Model: Acc-8R

Type: Owner's manual

^1 USER MANUAL

^2 Accessory 8R

^3 Terminal Block Remote with Options 1 2 3 4 and 5

^4 3Ax-602065-xUxx

^5 September 30, 2003

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are

unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in

this manual may be updated from time-to-time due to product improvements, etc., and may not

conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656

Fax: (818) 998-7807

Email: [email protected]

Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain

static sensitive components that can be damaged by incorrect handling. When installing or

handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.

Only qualified personnel should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or

conductive materials and/or environments that could cause harm to the controller by damaging

components or causing electrical shorts. When our products are used in an industrial environment,

install them into an industrial electrical cabinet or industrial PC to protect them from excessive or

corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data

Systems, Inc. products are directly exposed to hazardous or conductive materials and/or

environments, we cannot guarantee their operation.

Dispose in accordance with applicable regulations.

Accessory 8R 
Table of Contents i 
Table of Contents 
INTRODUCTION ....................................................................................................................................................... 1 
Terminal Block Connections ..................................................................................................................................... 1 
OPTIONS ..................................................................................................................................................................... 2 
Option 1:  Third Phase Generator .............................................................................................................................. 2 
Option 2:  V to F Converter ....................................................................................................................................... 2 
Maximum Output Frequency for 10V Input .......................................................................................................... 4 
Option 3: Fault Inverter ............................................................................................................................................. 4 
Option 4: Motor/Hydraulic Valve Driver .................................................................................................................. 4 
Option 5: Rail Mount ................................................................................................................................................ 5 
CONNECTOR PINOUTS ........................................................................................................................................... 6 
Terminal Blocks ........................................................................................................................................................ 6 
TB2 (64-Pin Terminal Block) ................................................................................................................................ 6 
TB1 (6-Pin Terminal Block) .................................................................................................................................. 7 
TB3 (6-Pin Terminal Block) .................................................................................................................................. 7 
LAYOUT DIAGRAM AND SCHEMATICS ............................................................................................................ 8 
 
 
 

Accessory 8R

Introduction 1

INTRODUCTION

In addition to providing the normal terminal strips for connecting the SMCC to the amplifier and the

machine functions such as encoder, travel limits, etc., Accessory 8R (remote) can also be equipped with

the following five options:

Acc-8R Option 1

Third Phase Generator

Acc-8R Option 2

V to F Converter (VFC) for Stepper Motor output

Acc-8R Option 3

Fault Inversion

Acc-8R Option 4

Motor/Hydraulic Valve Driver

Acc-8R Option 5

Rail Mount

Acc-8H (horizontal) does not support any of the above options.

Acc-8V (vertical) supports options 1, 2, and 3.

Acc-8R can be used with SMCC, SMCC-PC, SMCC-VME, SMCC-STDbus. The term remote refers to

the fact that a 16” flat cable is provided with Acc-8R, which connects it to the SMCC, and thus mounts

the Acc-8R remotely from the SMCC.

Two types of flat cables are provided:

 P/N 30V-0ACC8R-OPT is used for SMCC and SMCC VME

 P/N 30P-0ACC8R-OPT is used for SMCC PC and SMCC STD bus.

Terminal Block Connections

Refer to the attached schematic and assembly drawing, together with the connection chart to make

connections between the Acc-8R and the various SMCC versions, and between the Acc-8Rs terminal

blocks and the machine.

Accessory 8R

2 Options

OPTIONS

Option 1: Third Phase Generator

Option 1 is used to generate a third phase (PHA2) for current amplifiers that do not have a built-in

current balance phase and that require all three phases to be driven directly by SMCC. PHA2 is simply

the negative summation of PH1 and PH3. It is used along with PHA1 and PHA3 to provide the current

commands for all three phases of current amplifiers that must be commutated in order to produce AC

induction or brushless motor rotation. PHA2 comes out on Terminal Block 3 (TB3) pin 1 while PHA2/

comes out on TB3 pin 2.

Option 2: V to F Converter

Note:

Before using the V to F converter with the SMCC VME card, consult the factory.

Option 2 allows a SMCC card to drive a stepper motor by converting the SMCC’s output voltage to a

series of pulses by using a voltage to frequency converter (V to F). Option 2 must be powered with

+15V, -15V, +5V, analog ground (AGND), and digital ground (GND). The +15V, -15V, and AGND

must be brought in through Terminal Block 2 (TB2) of Acc-8R; they cannot be jumpered over from the

SMCC card. (+15V comes in through TB2-Pin 57, -15V through TB2-Pin 49, and AGND through TB2-

Pin 59.) +5V comes from SMCC. AGND and GND must be tied together with Acc-8R jumper E6; this

is done at the factory.

The SMCC card must be jumpered for unipolar analog output in order to use the V to F. On the

standalone SMCC, E13 and E18 must connect pins 2 and 3. On SMCC-VME, E11 and E15 must

connect pins 2 and 3. On SMCC-PC and SMCC-STDbus, E11 and E15 must connect pins 1 and 2. To

bring out the sign (direction) signals on SMCC-PC and SMCC-STDbus, E47 and E48 must connect pins

2 and 3. On the standalone SMCC, the sign (direction) signals are always available (on JMACH-C18 for

X, JMACH-A18 for Y).

Also, the AENA (amplifier enable) signal must be set for high-true operation because a low signal will

disable the V to F. On the standalone SMCC, E14 must have a jumper on Pins 2 and 3. On the SMCC-

VME, SMCC-PC, and SMCC-STDbus, E12 must jumper Pins 2 and 3. These are not the default factory

settings.

Note:

On Acc-8R, E17-1 to 2 for X and E18-1 to 2 for Y, must be jumpered when using Acc-

8R with SMCC-PC, VME, or STDbus. E17-2 to 3, and E18-2 to 3, must be jumpered

when using Acc-8R with the standalone SMCC. E17 and E18 control the encoder pulse

and direction.

The unipolar analog output signal is applied to a VFC, which outputs a frequency proportional to the

output voltage. This output is then applied to the stepper motor drive, which can be a full/half/ or

microstepping type for actuating the stepper motor. A choice is provided for wrapping the frequency

output back to SMCC or using an actual encoder on the motor. When the frequency is sent back to

SMCC, it is necessary to place the SMCC in a pulse/direction mode for the encoder. When an actual

encoder is used on the stepper motor, the SMCC is used in its normal A/B quadrature encoder mode.

Also, be sure to hold the + and – X and Y limits low (tie to ground if not using limit switches); otherwise,

SMCC will not function.

Accessory 8R

Options 3

For an open-loop stepper drive, you must place jumpers on E1, E2 for X, and E3, E4 for Y on the Acc-8R

board. This will enable the pulse and direction outputs from the Acc-8R board to provide the encoder

feedback for the SMCC. The I39 and I59 parameters of SMCC must be set to the pulse and direction

mode; see SMCC Manual’s I-Parameter descriptions for required set-up. The SMCC is therefore in a

mode in which it is actually deriving its own position feedback via the voltage to frequency (V to F)

converter output, which is applied to the stepper motor driver and the SMCC. As a result, SMCC

generates a nearly ideal, monotonic frequency sweep, which is precisely controlled by the SMCC’s

acceleration/ deceleration times (I08 or t) feedrate (F) or time to move (T) and desired position (X/Y).

Note:

Each pulse output from the V to F represents the equivalent of one encoder count to the

SMCC.

The output frequency range is controlled by the RC network of the V to F (see table below). The

maximum standard output frequency (at +/-10V) is 1 MHz. The default factory setting is for 100kHz at

+/-10V. The lowest standard factory setting is for 10kHz at +/-10V. Typically, the duty cycle (percent

on-time) at any setting is 20%. Zero volts input to the V to F should mean no output pulses; balance

potentiometers R5 for the X axis and R6 for the Y axis can be used to adjust this null setting.

Note:

All of the SMCC’s servo parameters, I20 (Proportional Gain), I21 (Differential Feedback

Gain), I22 (*Velocity Feedforward Gain), I23 (Integral Gain), and I30 (*Acceleration

Feedforward Gain) may be used to “tune” the stepper motor as if a normal tachometer

servomotor with encoder feedback were used. (The * denotes availability with Parabolic

Option only.) Typically, parameter values are as follows for a 0 to 100 kHz output

range:

For X axis

I20=1000

I21=0

*I22=7

I23=10

*I30=0

For Y axis

I40=1000

I41=0

*I42=7

I43=10

*I50=0

Note:

When using the V to F converter’s output to close the position loop, “tuning” the output

really means that you are tuning the V to F’s response (which can be nearly ideal). The

stepper motor may not be able to follow the commanded velocity profile. Therefore, it is

necessary to use appropriate I08 (acceleration) and velocity values within the capabilities

of the motor.

As the V to F’s output frequency range is changed, the proportional gain, I20, also

changes. The higher the output frequency, the lower I20 and vice versa.

In some applications, the maximum 100-kHz default output frequency is too high, and the alternate at 10

kHz is too low. In such cases, if the 100 kHz output version is used and the maximum required frequency

is 20 kHz, it is possible to set I06 so that the output is limited to 20 kHz. However, this implies that the

SMCC’s output is also limited to +/- volts, which causes a loss of dynamic operating range for the SMCC

since it now operates 7-bit output resolution rather than the 9 bits it can provide. In order to provide a

better dynamic range for the SMCC, the user may elect to adjust the Acc-8R’s V to F converter resistor

and capacitor network so as to increase the SMCC’s output voltage and yet maintain the maximum

output frequency at the selected upper limit.

The maximum output frequency is user adjustable as follows:

Accessory 8R

4 Options

Maximum Output Frequency for 10V Input

F Out

Pulse Width

R1, R3

C3, C6

C1, C2

1 MHz

200 ns

40.2 k

150 pF

No Capacitor

500 kHz

400 ns

40.2 k

330 pF

1800 pF

*100 kHz

2 s

44.2 k

2200 pF

.01 F

50 kHz

4 s

68.1 k

2200 pF

0.1 F

10 kHz

20 s

44.2 k

.022 F

0.1F

* Default, factory setting

It is good practice to adjust the output frequency so that it matches the application to within 20% of the

desired goal.

A good rule of thumb is to adjust the SMCC’s output so that 7 to 10V of output (input to the V to F) can

represent maximum output frequency for the application. The above table is provided as a guide. The

user may change R and C values to optimize Acc-8R to a given application.

In order to prevent the generated pulse and direction signal from being fed back to SMCC, for a closed-

loop stepper drive (encoder on the motor), you must remove the two jumpers associated with that axis:

E1 and E2 for X axis, and E3 and E4 for Y axis. It is then necessary to connect the encoder on the

stepper motor to SMCC as shown on the normal closed-loop encoder connections for SMCC with A/B

quadrature encoder input.

Option 3: Fault Inverter

To invert the Fault/ input to SMCC, use the E5 jumper (Option 3)

E5-1 to 2 = Low True Fault (inversion)

E5-2 to 3 =High True Fault (no inversion)

The selection of the Fault signal’s polarity depends upon the requirements of the amplifier unit that is

being driven. Most amplifiers output a low true fault output, which does not require an inversion.

Option 4: Motor/Hydraulic Valve Driver

Option 4 provides an X and Y-axis low power DC amplifier for driving small motors or proportional

hydraulic valves. The driver amplifiers are essentially high power operational amplifiers, which are

The maximum output voltage to the load (motor or valve) is + or – 10 V and the maximum current

capability is 2 amperes. The amplifiers can be set up to be voltage mode or current mode as follows:

Mode

Jumper

Output

Current

E19-2,3 (X axis)

E20-2,3 (Y axis)

200mA out per volt of input

200mA out maximum

Voltage

E19-1,2 (X axis)

E20-1,2 (Y axis)

1V out per volt of input

10V out maximum

Even though it is not recommended, it is possible to adjust output voltage levels by changing the value of

R12, R13 (10 k nominal) and output current levels by changing R9, R16 (0.10  nominal). The

maximum output rating of the power operational amplifier is 30V at 2A.

It is generally preferable to operate both small motors and hydraulic valves in the current mode since this

results in faster, more accurate (less following error) and more repeatable (less subject to drift) control.

When controlling in the current mode, also referred to as tachless mode, set up the SMCC with I21 [I41]

at a non-zero value in order to make the SMCC provide stabilizing feedback derived from the encoder or

position measurement device. Refer to SMCC manual for complete tuning procedure.

Accessory 8R

Options 5

A hydraulic valve (proportional type) can be treated in the same basic manner as a small motor for tuning

purposes. A linear position-feedback device is required. Refer to drawing 602184-340 for an overview

of a hydraulic system.

Option 5: Rail Mount

This option allows the user to mount Acc-8R easily to standard, commercially available rail mounts.

Accessory 8R

6 Connector Pinouts

CONNECTOR PINOUTS

Terminal Blocks

TB2 (64-Pin Terminal Block)

Acc-8R Terminal Block

2 Pin #

SMCC

Signal Pin #

SMCC VME

Signal Pin #

SMCC PC SMCC STDbus

Signal Pin #

ANA2 (C1)

ANA2 (1)

AVSS (C2)

GND (11)

CUR0 (C3)

CUR0/SIGNX (3)

XPLL (C4)

XPLL (5)

XMIL (C5)

XMIL (7)

PL5V (C6)

+5V (C6)

+5V (9)

GRND (C7)

GND (C7)

GND (11)

GRND (C8)

GND (C8)

GND (11)

SPAR (C9)

MI3/ (C9)

MI3/ (13)

XUFL/ (C10)

XUFL/ (15)

XHFL/ (C11)

XHFL/ (17)

CHCX/ (C12)

CHCX/ (19)

CHCX (C13)

CHCX (21)

CHBX/ (C14)

CHBX/ (23)

CHBX (C15)

CHBX (25)

CHAX/ (C16)

CHAX/ (27)

CHAX (C17)

CHAX (29)

BSNX (C18)

XHWB (C18)

XHWB (31)

BP03/ (C19)

XHWB/ (C19)

XHWB/ (33)

BP02/ (C20)

XHWA/ (C20)

XHWA/ (35)

BP01 (C21)

XHWA (C21)

XHWA (37)

PHA2 (C22)

HWXDIS/ (C22)

HWXDIS/ (39)

PHA1/ (C23)

PHA1/ (41)

PHA1 (C24)

PHA1 (43)

M15A (C25)

-15A (C25)

-15A (45)

MAI7/ (C26)

MI2/ (C26)

MI2/ (47)

MAI6/ (C27)

MI1/ (C27)

MI1/ (49)

MAI5/ (C28)

FERROR/ (C28)

FERROR/ (51)

P15A (C29)

+15A (C29)

+15A (53)

AGND (C30)

AGND (57)

AENA (C31)

AENA (59)

FALT/ (C32)

FAULT/ (C32)

FAULT/ (61)

ANA3 (A1)

ANA3 (2)

AVSS (A2)

GND (12)

CUR1 (A3)

CUR1/SIGNY (4)

YPLL (A4)

YPLL (6)

YMIL (A5)

YMIL (8)

PL5V (A6)

+5V (A6)

+5V (10)

GRND (A7)

GND (A7)

GND (12)

GRND (A8)

GND (A8)

GND (12)

SPAR (A9)

MI4/ (A9)

MI4/ (14)

YUFL/ (A10)

YUFL/ (16)

YHFL/ (A11)

YHFL/ (18)

Accessory 8R

Connector Pinouts 7

TB2 (64-Pin Terminal Block) –

Continued

CHCY/ (A12)

CHCY/ (20)

CHCY (A13)

CHCY (22)

CHBY/ (A14)

CHBY/ (24)

CHBY (A15)

CHBY (26)

CHAY/ (A16)

CHAY/ (28)

CHAY (A17)

CHAY (30)

BSNY (A18)

YHWB (A18)

YHWB (32)

BP04/ (A19)

YHWB/ (A19)

YHWB/ (34)

BP06/ (A20)

YHWA/ (A20)

YHWA/ (36)

BP05/ (A21)

YHWA (A21)

YHWA (38)

PHA2/ (A22)

HWYDIS/ (A22)

HWYDIS/ (40)

PHA3/ (A23)

PHA3/ (42)

PHA3 (A24)

PHA3 (44)

M15A (A25)

M05/ (A25)

M05/ (46)

MAI7/ (A26)

M04/ (A26)

M04/ (48)

MAI6/ (A27)

M03/ (A27)

M03/ (50)

MAI5/ (A28)

M02/ (A28)

M02/ (52)

P15A (A29)

M01/ (A29)

M01/ (54)

AGND (A30)

IPOS (A30)

IPOS (56)

AENA (A31)

SYNC/ (A31)

SYNC/ (58)

FALT/ (A32)

INIT/ (A32)

INIT/ (60)

TB1 (6-Pin Terminal Block)

Pin #

Signal

Note

+5V

Not required; can provide beefier outputs

GND

Not required; goes with +5V above

PUL-X

Pulse output for X-axis stepper driver

DIR-X

Direction output for X-axis stepper driver

PUL-Y

Pulse output for Y-axis stepper driver

DIR-Y

Direction output for Y-axis stepper driver

TB3 (6-Pin Terminal Block)

Pin #

Signal

Note

PHASE 2

Balance phase for a 3-phase motor

PHASE 2/

Complementary balance phase (Not return)

X RETURN

X-axis motor or valve return

X VALVE

X-axis motor or valve output

Y VALVE

Y-axis motor or valve output

Y RETURN

Y-axis motor or valve return

Pins 1 and 2 are used with Option 1 only. Pins 3 through 6 are used with Option 4 only.

Accessory 8R

8 Layout Diagram and Schematics

LAYOUT DIAGRAM AND SCHEMATICS

Acc-18R Dimensions

Accessory 8R

Layout Diagram and Schematics 9

Accessory 8R

10 Layout Diagram and Schematics

Delta Tau Acc-8R Owner's manual

Delta Tau Acc-8R Owner's manual

Delta Tau Acc-8R Owner's manual

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