Delta Tau Acc-77 Owner's manual

Delta Tau
Brand
Delta Tau
Model
Acc-77
Type
Owner's manual
^1 USER MANUAL
1^ USER MANUAL
^2 Accessory 77
Preliminary Documentation
^3 64 Inputs Interface for SNAP I/O from Opto-22™
^4 3A0-603774-xUxx
^5 November 12, 2004
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2003 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or handling
Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only
qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.
EN
Dispose in accordance with applicable regulations.
Accessory 77 User Manual – Preliminary Documentation
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
Parity Checking ......................................................................................................................................................... 1
Port Headers .............................................................................................................................................................. 1
Interconnecting Cable Options .................................................................................................................................. 2
Reference Documents................................................................................................................................................ 2
INSTALLATION......................................................................................................................................................... 3
Hardware ................................................................................................................................................................... 3
Quick Setup Guide .................................................................................................................................................... 3
ACC-77 LED indicators........................................................................................................................................ 4
Internal Jumpers ................................................................................................................................................... 4
SNAP I/O MODULES ................................................................................................................................................. 5
Inputs .................................................................................................................................................................... 5
I/O Map Inputs ...................................................................................................................................................... 6
MULTIPLEX ADDRESS MAP ................................................................................................................................. 9
JTHW Address Control (DIP Switch Setting, SW1) ................................................................................................. 9
PROCESSING ACC-77 INPUTS ............................................................................................................................. 11
When to Access ACC-77 ........................................................................................................................................ 11
Software .................................................................................................................................................................. 11
Development Tools ............................................................................................................................................. 11
Quick Start .......................................................................................................................................................... 11
Map the I/O Points to PMAC M-Variables ............................................................................................................. 12
Things to Know: .................................................................................................................................................. 12
ACC-77 SETUP ......................................................................................................................................................... 13
Image Word Variables............................................................................................................................................. 13
PMAC Location of Image Words............................................................................................................................ 13
Open Memory — Standard PMAC ..................................................................................................................... 13
DPRAM — Standard PMAC ............................................................................................................................... 13
Turbo PMAC Location of Image Words ................................................................................................................. 14
Open Memory Turbo PMAC ............................................................................................................................... 14
DPRAM Standard Turbo PMAC ......................................................................................................................... 14
Image Words ........................................................................................................................................................... 15
Individual Pieces of Image Words .......................................................................................................................... 15
PMAC Memory Locations .................................................................................................................................. 15
PMAC Dual-Ported RAM Locations .................................................................................................................. 16
Parity Error Bit ........................................................................................................................................................ 16
Update the Inputs Using a PLCC ............................................................................................................................ 16
M-Variable Assignments ......................................................................................................................................... 17
CONNECTOR PINOUTS......................................................................................................................................... 19
P1 and P2 (DB25-Pin Header) ........................................................................................................................... 19
SNAP I/O COMPONENT INSTALLATION ......................................................................................................... 21
Standard Panel Mounting ........................................................................................................................................ 21
Preferred Method: Template .............................................................................................................................. 21
Alternate Method: Prefabrication of Panels ....................................................................................................... 21
Center-to-Center Length: All SNAP Rack Models .............................................................................................. 22
Digital Input Modules ............................................................................................................................................. 22
Features .............................................................................................................................................................. 23
AC Input Modules Specifications ........................................................................................................................ 24
DC Input Modules Specifications ....................................................................................................................... 25
AC and DC Input Modules.................................................................................................................................. 26
Accessory 77 User Manual – Preliminary Documentation
ii Table of Contents
All Models except MA ......................................................................................................................................... 27
All MA Modules .................................................................................................................................................. 28
All Models ........................................................................................................................................................... 28
SNAP Digital Module Mounted on SNAP Rack — All Models ........................................................................... 29
SNAP-D64RS Rack ................................................................................................................................................ 29
Specifications for All Models .............................................................................................................................. 30
Operating Requirements ..................................................................................................................................... 30
Dimensional Drawings for All Models ............................................................................................................... 30
PREVENTING CONFLICTS .................................................................................................................................. 33
Accessory 77 User Manual – Preliminary Documentation
Introduction 1
INTRODUCTION
PMAC’s ACC-77 is a brain module that plugs into the OPTO SNAP I/O rack (D64RS) in place of the
OPTO 22-brain module. This I/O Accessory connects the PMAC1 or PMAC2, Turbo or non-Turbo,
JTHW Port to the industry standard OPTO22 SNAP family of I/O racks. Each rack provides 64 input
digital I/O fixed per each interface module. One ACC-77 is required for each rack.
A three foot cable is included to connect between PMAC’s JTHW port and the ACC-77 (IDC26 to DB25
connectors). This module plugs into the OPTO22 SNAP-D64RS rack and is compatible with all SNAP
Digital I/O Modules.
ACC-77 is one of a series of I/O accessories for PMAC that connects to the OPTO SNAP I/O. The other
version is ACC-76 – the 64-bit SNAP I/O Interface board, DB25 connector.
All of the above accessories use the JTHW multiplex address scheme, and several of them may be daisy-
chained to a single PMAC.
Up to 32 ACC-77 may be connected to a single PMAC, which gives a possible 2048 input output lines in
addition to those available on the PMAC board and on the parallel I/O expansion boards (ACC-14).
ACC-77 communicates to PMAC via its JTHW connector through the supplied flat cable.
ACC-77 also supports a local watchdog timer feature independent of PMAC.
Individual optical isolation of all Input points
RC filter with 1 msec time constant on all inputs
Parity checking on serial communications with PMAC
Parity Checking
Parity checking is done on all serial communications between the PMAC and the ACC-77. This requires
PMAC firmware version 1.16 or newer.
When PMAC sends data to the ACC-77 32-bit output word by writing to the TWS M-Variable pointing to
that word, the ACC-77 evaluates the parity bits sent with that word and compares them to the parity bits it
calculated itself. If there is a difference, the output word is ignored (the outputs stay in the state of the
last successful write) and PMAC is notified of a parity error. PMAC shows this error by setting bit 6 of
the global status register X:$0003 (X:$000006 in Turbo PMAC). The program can check this bit with an
M-Variable to see if the data must be sent again.
When the ACC-77 sends the 32-input word to PMAC, PMAC reads the TWS M-Variable pointing to that
word and the ACC-77 creates parity bits that are sent with the word. PMAC evaluates the parity bits sent
with that word and compares them to the parity bits it calculated itself. If there is a difference, PMAC
shows the error by setting this parity error bit. The program can check this bit with an M-Variable to see
if the data must be sent again.
Port Headers
The ACC-77 has two 25-pin DB headers (female), P1 and P2, that can be used for connection of boards to
the PMAC JTHW Multiplexer port. The identical signals are present on both connectors with a simple
pass-through on the board, so it is possible to use the second header to connect to the next accessory
board daisychained to the multiplexer port, instead of a multi-drop cable.
Accessory 77 User Manual – Preliminary Documentation
2 Introduction
Interconnecting Cable Options
MDI Part
Number
Part Number
MDI-PBSC-030
200-603773-0120
MDI-PBSC-060
200-603773-0240
MDI-PBSC-090
200-603773-0360
MDI-PBSC-180
200-603773-0720
Reference Documents
Have the following reference documentation available:
Non-Turbo
PMAC User Manual and Software Reference Manual
PMAC Hardware Reference Manual (use the Hardware reference of the board being used)
Turbo
Turbo User manual and Software Reference Manual
Turbo PMAC/UMAC/QMAC Hardware reference Manual (use the Hardware reference of the board
being used)
Opto22’s SNAP I/O Reference Manuals
Accessory 77 User Manual – Preliminary Documentation
Introduction 3
INSTALLATION
Hardware
The following checklist provides a quick start for hardware installation. Refer to the appropriate PMAC
Hardware Reference manual and the appropriate Opto22 Snap I/O Hardware manual for more detailed
information.
Install the backplane-mounting track on the panel.
Install the Opto22 backplane in the track.
Connect 5Vdc/0Vdc(Digital GND)/P.E. to the terminal block on the Opto22 rack.
Set the address switches on ACC-77 (SW1).
Install ACC-77 on the backplane.
Install the Input Modules in slots 0 thru 15.
Connect one end (DB) of the 25-conductor ribbon cable provided to ACC-77 (P1 is closer to the Dip
Switch).
Connect one end (IDC) of the 25-conductor ribbon cable provided to PMAC’s JTHW port.
Connect the field wiring to each I/O module as required.
The following interconnection diagram illustrates the connection of multiple ACC-77s to a PMAC. The
connection for a ACC-77 is the same except ACC-77 supports only inputs. The location of the JTHW
interface connector on PMAC varies depending on which PMAC is used. Refer to the appropriate PMAC
Hardware Reference manual to confirm the location and designation of the JTHW port on the PMAC.
ACC-77/76
ACC-77/76
Quick Setup Guide
Use the following procedure to begin the process of integrating ACC-77 into the application:
1. Remove all power from the system.
2. Install the SNAP I/O and ACC-77 interface.
3. Install the interconnecting cabling.
4. Set the Address of the ACC-77 interface to Board #1.
5. Disable all motors, drives, hydraulics or other devices that can cause motion.
6. Connect a PC to the PMAC either serially or via a bus connection.
7. Apply power to the PMAC and to the SNAP I/O rack.
8. Set I5=0 to disable all PLC programs.
9. Verify that Firmware version 1.16x or later is used. (Enter ver in the terminal window.)
Accessory 77 User Manual – Preliminary Documentation
4 Installation
10. There should be two green LEDs and one red LED illuminated on ACC-77.
11. Back-up the existing PMAC Setup and Programs.
12. Verify the back up.
13. Set up the ACC-77 (Use the manual and the examples that follow).
14. ACC-77 implements watchdog circuitry that turns all inputs off if PMAC fails to communicate to
ACC-77 for more than one second. This feature can be disabled by installing E18 jumper in ACC-77,
but it is not recommended.
The integration of the I/O into the application can begin.
ACC-77 LED indicators
LED
Description
+5Vdc (On the Left)
This green LED indicates the presence of 5Vdc from PMAC. ACC-77
provides optical isolation between PMAC and the logic side of the Opto22
SNAP modules. The 5V required for the PMAC side of the interface is
present on the 26-conductor ribbon cable connected to the JTHW port of
PMAC (Board #1).
+5Vdc (On the Right)
This green LED indicates the presence of 5Vdc from the Opto22
backplane. The system will not work without this connected.
5Vdc must be supplied to this terminal strip to power the logic side of the
SNAP I/O modules (Board #2).
Watchdog (On the Right)
The red/WD LED is illuminated if the watchdog is tripped (Board #2).
ACC-77 incorporates a watchdog circuit that turns the outputs off if
communication with PMAC is lost for more that one second. Installing
jumper E18, in ACC-77 can disable this feature, but it is not recommended.
Internal Jumpers
E Point
Default
Description
E1
OFF
Connects ACC-76 data to PMAC DAT0 Line, SDI_2 Inputs 33-64
E2
ON
Connects ACC-76 data to PMAC DAT1 Line, SDI_2 Inputs 33-64
E3
OFF
Connects ACC-76 data to PMAC DAT2 Line, SDI_2 Inputs 33-64
E4
OFF
Connects ACC-76 data to PMAC DAT3 Line, SDI_2 Inputs 33-64
E5
OFF
Connects ACC-76 data to PMAC DAT4 Line, SDI_2 Inputs 33-64
E6
OFF
Connects ACC-76 data to PMAC DAT5 Line, SDI_2 Inputs 33-64
E7
OFF
Connects ACC-76 data to PMAC DAT6 Line, SDI_2 Inputs 33-64
E8
OFF
Connects ACC-76 data to PMAC DAT7 Line, SDI_2 Inputs 33-64
E9
ON
Connects ACC-76 data to PMAC DAT0 Line, SDI_0 Inputs 1-32
E10
OFF
Connects ACC-76 data to PMAC DAT1 Line, SDI_0 Inputs 1-32
E11
OFF
Connects ACC-76 data to PMAC DAT2 Line, SDI_0 Inputs 1-32
E12
OFF
Connects ACC-76 data to PMAC DAT3 Line, SDI_0 Inputs 1-32
E13
OFF
Connects ACC-76 data to PMAC DAT4 Line, SDI_0 Inputs 1-32
E14
OFF
Connects ACC-76 data to PMAC DAT5 Line, SDI_0 Inputs 1-32
E15
OFF
Connects ACC-76 data to PMAC DAT6 Line, SDI_0 Inputs 1-32
E16
OFF
Connects ACC-76 data to PMAC DAT7 Line, SDI_0 Inputs 1-32
E17
ON:1-2
Factory use only
E18
OFF
Install to disable ACC-76 watchdog circuitry
Note: Only one of the jumpers E1 thru E8 should be installed and only one of the jumpers
E9 to E16 should be installed.
The OEM should never have to adjust the E-point jumpers from their factory default
settings.
*All the jumpers are on Board #1, P/N 603771-10x
Accessory 77 User Manual – Preliminary Documentation
SNAP I/O Modules 5
SNAP I/O MODULES
Field wiring is connected to the terminals of the Opto22 SNAP I/O modules. The purpose of the SNAP
module is to isolate real world signals from PMAC. The isolation is achieved by using optical isolation
components in the SNAP module to separate PMAC’s ground from the I/O ground. In addition, the
SNAP modules provide the opportunity to condition the I/O signals. Typical I/O devices operate a 24Vdc
or 120VAC which is incompatible with PMAC, as well as most other electronic devices operating at
5VDC. A wide variety of SNAP modules are available to accommodate different I/O characteristics.
Each SNAP I/O module regardless of its output characteristics, conditions the I/O to a 5VDC signal.
These 5Vdc signals are communicated along the back plane to ACC-77.
ACC-77 interacts with the 5Vdc signals communicated along the backplane from the SNAP I/O modules
and communicates them to PMAC. Since many need to connect more I/O to PMAC than there are I/O
lines on PMAC, a multiplexed I/O interface (ACC-34 family of I/O devices) using the JTHW port of
PMAC was developed. ACC-77 emulates an ACC-34AA device, except that it supports inputs only.
The original use of the JTHW interface was to multiplex thumb-wheel switch data into PMAC using
address lines and an 8-bit data bus. A serial communication method was developed for this interface to
allow more I/O to be interfaced to PMAC. The TWS data format is used in PMAC programs to acquire
this serial thumb-wheel data. Refer to the PMAC Software Reference for more details on this format and
its usage.
ACC-77 implements the circuitry to do the serial to parallel and parallel to serial data conversion required
by the interface. In addition, ACC-77 implements error detection in the form of parity around the data
packets communicated to PMAC.
The JTHW connector provides the 5Vdc, powering the interface electronics providing optical isolation
between PMAC and ACC-77.
Inputs
ACC-77 adds a parity bit to the outgoing data. PMAC accepts the new input data and sets a bit in its
global status word indicating a parity error if there is one. The user (programmer) must decide if utilizing
this information is important. This bit be should be evaluated after each read from ACC-77. If a parity
error exists, the software should ignore the current input data and re-read the input until no parity exists.
If good input data is not received within a certain time or after a number of tries, a global fault flag should
be set indicating the existence of a fatal communication fault. An example of this technique is given in
the Software section of this manual.
Note:
Error detection was added to the serial data frames transmitted by the interface
hardware in Version 1.16 of the PMAC firmware. If the PROM version is not
version 1.16 or later, obtain an update.
Accessory 77 User Manual – Preliminary Documentation
6 SNAP I/O Modules
I/O Map Inputs
The following table summarizes the mapping of the inputs from the SNAP modules to ACC-77:
ACC-77
Input Bit
Backplane
Slot #
SNAP
Module
Channel
Name
Usage
0
0
1
In0
General Purpose Input
1
0
2
In1
General Purpose Input
2
0
3
In2
General Purpose Input
3
0
4
In3
General Purpose Input
4
1
1
In4
General Purpose Input
5
1
2
In5
General Purpose Input
6
1
3
In6
General Purpose Input
7
1
4
In7
General Purpose Input
8
2
1
In8
General Purpose Input
9
2
2
In9
General Purpose Input
10
2
3
In10
General Purpose Input
11
2
4
In11
General Purpose Input
12
3
1
In12
General Purpose Input
13
3
2
In13
General Purpose Input
14
3
3
In14
General Purpose Input
15
3
4
In15
General Purpose Input
16
4
1
In16
General Purpose Input
17
4
2
In17
General Purpose Input
18
4
3
In18
General Purpose Input
19
4
4
In19
General Purpose Input
20
5
1
In20
General Purpose Input
21
5
2
In21
General Purpose Input
22
5
3
In22
General Purpose Input
23
5
4
In23
General Purpose Input
24
6
1
In24
General Purpose Input
25
6
2
In25
General Purpose Input
26
6
3
In26
General Purpose Input
27
6
4
In27
General Purpose Input
28
7
1
In28
General Purpose Input
29
7
2
In29
General Purpose Input
30
7
3
In30
General Purpose Input
31
7
4
In31
General Purpose Input
33
8
1
In 33
General Purpose Input
34
8
2
In 34
General Purpose Input
35
8
3
In 35
General Purpose Input
36
8
4
In 36
General Purpose Input
37
9
1
In 37
General Purpose Input
38
9
2
In 38
General Purpose Input
39
9
3
In 39
General Purpose Input
Accessory 77 User Manual – Preliminary Documentation
SNAP I/O Modules 7
ACC-77
Input Bit
Backplane
Slot #
SNAP
Module
Channel
Name
Usage
40
9
4
In 40
General purpose Input
41
10
1
In 41
General purpose Input
42
10
2
In 42
General purpose Input
43
10
3
In 43
General purpose Input
44
10
4
In 44
General purpose Input
45
11
1
In 45
General purpose Input
46
11
2
In 46
General purpose Input
47
11
3
In 47
General purpose Input
48
11
4
In 48
General purpose Input
49
12
1
In 49
General purpose Input
50
12
2
In 50
General purpose Input
51
12
3
In 51
General purpose Input
52
12
4
In 52
General purpose Input
53
13
1
In 53
General purpose Input
54
13
2
In 54
General purpose Input
55
13
3
In 55
General purpose Input
56
13
4
In 56
General purpose Input
57
14
1
In 57
General purpose Input
58
14
2
In 58
General purpose Input
59
14
3
In 59
General purpose Input
60
14
4
In 60
General purpose Input
61
15
1
In 61
General purpose Input
62
15
2
In 62
General purpose Input
63
15
3
In 63
General purpose Input
64
15
4
In 64
General purpose Input
Accessory 77 User Manual – Preliminary Documentation
8 SNAP I/O Modules
Accessory 77 User Manual – Preliminary Documentation
Multiplex Address Map 9
MULTIPLEX ADDRESS MAP
Each ACC-77 occupies eight bytes of address space on the PMAC’s JTHW multiplex memory space.
This memory space is 8-bits wide which provides the ability to daisy chain 32 (256/8) ACC-34Xs
together (or a combination of ACC-76/77, ACC-34XS, ACC-18s and ACC-8D OPT7s). The 5-bit DIP-
switch, SW1, determines the address of each ACC-77 board on the allocated memory space. Port A
occupies the base address (i.e. bytes 0, 8, 16 etc.) and Port B occupies the base address plus 4 (i.e. bytes 4,
12, 20 etc.). The following table shows how SW1 should be set for one or more ACC-77 boards
connected to the same PMAC.
JTHW Address Control (DIP Switch Setting, SW1)
Each I/O device connected to the JTHW port must be set up at a specific base address. The following
table gives the valid switch settings and the corresponding M-Variable setup:
Board
#
Byte
(Port A &
Port B)
SW1 Dip Switch
Inputs 1 to 32
Inputs 33 to 64
#1
#2
#3
#4
#5
1
0 & 4
ON
ON
ON
ON
ON
Mxxx->TWS:1
Mxxx->TWS:3
2
8 & 12
OFF
ON
ON
ON
ON
Mxxx->TWS:9
Mxxx->TWS:11
3
16 & 20
ON
OFF
ON
ON
ON
Mxxx->TWS:17
Mxxx->TWS:19
4
24 & 28
OFF
OFF
ON
ON
ON
Mxxx->TWS:25
Mxxx->TWS:27
5
32 & 36
ON
ON
OFF
ON
ON
Mxxx->TWS:33
Mxxx->TWS:35
6
40 & 44
OFF
ON
OFF
ON
ON
Mxxx->TWS:41
Mxxx->TWS:43
7
48 & 52
ON
OFF
OFF
ON
ON
Mxxx->TWS:49
Mxxx->TWS:51
8
56 & 60
OFF
OFF
OFF
ON
ON
Mxxx->TWS:57
Mxxx->TWS:59
9
64 &68
ON
ON
ON
OFF
ON
Mxxx->TWS:65
Mxxx->TWS:67
10
72 & 76
OFF
ON
ON
OFF
ON
Mxxx->TWS:73
Mxxx->TWS:75
11
80 & 84
ON
OFF
ON
OFF
ON
Mxxx->TWS:81
Mxxx->TWS:83
12
88 &92
OFF
OFF
ON
OFF
ON
Mxxx->TWS:89
Mxxx->TWS:91
13
96 & 100
ON
ON
OFF
OFF
ON
Mxxx->TWS:97
Mxxx->TWS:99
14
104 & 108
OFF
ON
OFF
OFF
ON
Mxxx->TWS:105
Mxxx->TWS:107
15
112 & 116
ON
OFF
OFF
OFF
ON
Mxxx->TWS:113
Mxxx->TWS:115
16
120 & 124
OFF
OFF
OFF
OFF
ON
Mxxx->TWS:121
Mxxx->TWS:123
17
128 & 132
ON
ON
ON
ON
OFF
Mxxx->TWS:129
Mxxx->TWS:131
18
136 & 140
OFF
ON
ON
ON
OFF
Mxxx->TWS:137
Mxxx->TWS:139
19
144 & 148
ON
OFF
ON
ON
OFF
Mxxx->TWS:145
Mxxx->TWS:147
20
152 & 156
OFF
OFF
ON
ON
OFF
Mxxx->TWS:153
Mxxx->TWS:155
21
160 & 164
ON
ON
OFF
ON
OFF
Mxxx->TWS:161
Mxxx->TWS:163
22
168 & 172
OFF
ON
OFF
ON
OFF
Mxxx->TWS:169
Mxxx->TWS:171
23
176 & 180
ON
OFF
OFF
ON
OFF
Mxxx->TWS:177
Mxxx->TWS:179
24
184 &188
OFF
OFF
OFF
ON
OFF
Mxxx->TWS:185
Mxxx->TWS:187
25
192 & 196
ON
ON
ON
OFF
OFF
Mxxx->TWS:193
Mxxx->TWS:195
26
200 & 204
OFF
ON
ON
OFF
OFF
Mxxx->TWS:201
Mxxx->TWS:203
27
208 & 212
ON
OFF
ON
OFF
OFF
Mxxx->TWS:209
Mxxx->TWS:211
28
216 & 220
OFF
OFF
ON
OFF
OFF
Mxxx->TWS:217
Mxxx->TWS:219
29
124 & 228
ON
ON
OFF
OFF
OFF
Mxxx->TWS:225
Mxxx->TWS:227
30
232 & 236
OFF
ON
OFF
OFF
OFF
Mxxx->TWS:233
Mxxx->TWS:235
31
240 & 244
ON
OFF
OFF
OFF
OFF
Mxxx->TWS:241
Mxxx->TWS:243
32
248 & 252
OFF
OFF
OFF
OFF
OFF
Mxxx->TWS:249
Mxxx->TWS:251
This table shows the daisy-chain board address relationship with respect to the 5-bit (SW1) DIP position
setting.
Note: ON=Closed, OFF=Open. To turn off a switch, push down on the open side. To turn on a switch, push
down on the numbered side.
Accessory 77 User Manual – Preliminary Documentation
10 Multiplex Address Map
Accessory 77 User Manual – Preliminary Documentation
Processing ACC-77 Inputs 11
PROCESSING ACC-77 INPUTS
Because the PMAC interface to the ACC-77 I/O board is by full 32-bit words transmitted serially (even
when access to only a single bit is desired), consider carefully how the interface is done and how
frequently. Care must be taken also to work efficiently with the data so that PMAC is not bogged down
with slow serial reads and writes and time-consuming logic to assemble and disassemble I/O words.
The recommended strategy is to keep images of each input or output word in PMAC’s internal memory,
or in the dual-ported RAM (DPR). The input words are copied into their image words, and the output
words are copied from their image words. Most program operations deal with these image words; this
way, slow transfer to or from an ACC-77 board is performed less frequently. During the act of copying,
bit inversion can be performed also with the exclusive-or function.
When to Access ACC-77
The actual reads and writes for an ACC-77 board can be done only in a background PLC program (PLC
1-31) or through on-line commands which are executed between PLC programs. Motion programs and
PLC 0 cannot directly access this I/O (they can work only with the image words). Reading an input word
from an ACC-77 is simply a question of using the TWS-form M-Variable for that word on the right side
of an equation. Usually, this operation simply copies the input word into its internal image variable.
Usually, ACC-77 I/O is treated the same way that a traditional PLC treats its I/O; all of the inputs are read
at the beginning of a PLC software scan. In between, all the processing of the variables is done while
working with the internal image words.
Software
The OEM is responsible for developing the software to access the SNAP I/O and to utilize this
information in a system. During the development and testing of the ACC-77, there are a number of
routines, which may be helpful in the development of the OEM software. These routines are provided for
informational purposes only. Delta Tau, Inc., does not accept any responsibility for the OEM application
or equipment. The OEM must review the software provided, decide how much is applicable to a specific
application, and develop the software appropriate to the application at hand.
Development Tools
The PMAC Executive (Pro or non-Pro) is required to communicate to the PMAC and to download
programs/settings to PMAC. In addition, program files may be edited with the PMAC Executive Editor
or with editors available from others.
Quick Start
The simplest way to illustrate how to use the I/O in a real application is to present the following example.
A few points to remember are:
1. Map the I/O points to PMAC M-Variables.
2. Use a PMAC PLC to read in the inputs, process them and write the outputs.
3. Do not read from ACC-77 more often than necessary.
4. Keep an image of the inputs.
5. Use the images in the programs.
6. Check the Parity Error bit on each read of the inputs.
Usually, ACC-77 I/O is treated the same way that a traditional PLC treats its I/O:
The inputs are read at the beginning of a PLC software scan.
The processing of the variables is done working with the internal image words (The logic is solved
based on the current input image).
Accessory 77 User Manual – Preliminary Documentation
12 Processing ACC-77 Inputs
Note:
The following examples are applicable to all PMACs. The specific memory
locations used are fine for all PMACs including PMAC PC, PMAC VME,
PMACLite, PMAC Universal Lite, and MiniPMAC. If using a PMAC2 or a Turbo
PMAC, consult the PMAC Manual for available memory locations.
In a typical PMAC application, PLCs are used as follows:
PLC1 is used as a power-up PLC (runs once at power up)
PLC2 can be used to read all the inputs.
PLC3 thru 30 as required are used to process the inputs and perform other functions as required.
PLC31 could be used to write the outputs.
Depending on the nature of the application, this approach may or may not be acceptable. An alternative
approach is to use PLCC1 to read the inputs, process them and write the outputs. Internal variables can
be used to communicate to and from other PLCs. The compiled PLC (PLCC1) will run in between the
other PLCs. thus updating the I/O more often than the previous method.
Map the I/O Points to PMAC M-Variables
Review the On-Line Command section of the PMAC Software Reference manual as a supplement to this
section.
Things to Know:
ACC-77 works just like ACC-34C, except that it supports inputs only.
TWS addresses should be setup as read only.
Do not write to a read only variable.
Only read the hardware when necessary.
The individual bits of a TWS device like ACC-77 cannot be written to individually. Only 32-bit
words can be accessed.
Accessory 77 User Manual – Preliminary Documentation
ACC-77 Setup 13
ACC-77 SETUP
For the purpose of ACC-77 setup, the following example will demonstrate how to utilize all 64 inputs of
an ACC-77. The following three variables will be used during the ACC-77 I/O procedure:
Actual Word Variable
Variable which is read or written to by ACC-77 and PMAC
Image Word Variable
Variable assigned set equal to (Image) actual word variable
Image Bit Variable
Single bit of image word variable
Image Word Variables
It is best to use fixed-point M-Variables as the internal image variables for the I/O words. When this is
done, a single M-Variable representing the entire I/O word can be used for the copying operation. Then
separate M-Variables can be used to access individual bits or segments of the image word. Use of these
smaller M-Variables allows PMAC’s efficient firmware to do the masking and logic necessary to pick out
portions of the I/O word, rather than slower user program code.
PMAC Location of Image Words
The internal images reside in PMAC’s memory as follows:
Open Memory — Standard PMAC
For a standard PMAC with no DPRAM on board, the image word will be in an otherwise unused double
register in PMAC’s own memory. There are 16 open registers at PMAC addresses $0770 to $077F that
are set to zero automatically on power-up. There are 16 more open registers at PMAC addresses $07F0 to
$07FF, whose values are held when power is off. It is possible to use the registers of otherwise unused P
and Q-Variables for this purpose.
Access these registers with fixed-point M-Variables, not floating-point P or Q-Variables. A double fixed-
point register in PMAC’s internal memory is defined by the D format of M-Variable (e.g. M61-
>D:$07F0). This is a 48-bit register (only the low 32 bits will be used). The low 24 bits of the I/O will
be in the Y-memory, and the high eight bits of the I/O will be in the low eight bits of X-memory.
DPRAM — Standard PMAC
If the system has dual-ported RAM, use a 32-bit register in DPRAM. This way, the host computer always
has immediate access to the I/O. In fact, PMAC can be used just as a pass-through between the host
computer and the ACC-77 boards, letting the host computer do all the processing. A 32-bit fixed-point
register in DPRAM is defined by the DP format of M-Variable (e.g. M60-> DP:$DF00). This type of
variable occupies the low 16 bits (bits 0 to 15) of PMAC Y-memory, and the low 16 bits of PMAC X-
memory at the same address, with the less significant bits in Y-memory. It appears to the host computer
as two 16-bit registers at consecutive even addresses, with the less significant bits at the lower address.
Accessory 77 User Manual – Preliminary Documentation
14 ACC-77 Setup
Turbo PMAC Location of Image Words
Open Memory Turbo PMAC
For a Turbo PMAC with no DPRAM on board, the image word will be in an unused double register in
Turbo PMAC’s own memory. There are 16 open registers at Turbo PMAC addresses $0010F0 to
$0010FF that are set to zero automatically on power-up. Also, use the registers of otherwise unused P
and Q-Variables for this purpose.
Access these registers with fixed-point M-Variables, not floating-point P or Q-Variables. A double fixed-
point register in PMAC’s internal memory is defined by the D format of M-Variable (e.g., M80-
>D:$0010F0). This is a 48-bit register (only the low 32 bits will be used). The low 24 bits of the I/O will
be in the Y-memory, and the high eight bits of the I/O will be in the low eight bits of X-memory.
When using the ACC-77 I/O with fixed-point image variables, the only software overhead is the actual
copying between image and I/O. Including program interpretation time, this amounts to approximately
100 microseconds per 32-bit word. Aside from this, working with the I/O through the image words is at
least as fast as direct (parallel) PMAC I/O. There is a potential latency of a full PLC scan on the actual
I/O which must be respected. Many systems will have a few critical I/O points that cannot tolerate this
latency; typically, these use PMAC’s JOPTO port or ACC-14 I/O for these time-critical points, then use
ACC-77 for I/O that do not need to be so fast.
DPRAM Standard Turbo PMAC
If the system has dual-ported RAM (Option 2 is required), use a 32-bit register in DPRAM. This way, the
host computer always has immediate access to the I/O. In fact, PMAC can be used just as a pass-through
between the host computer and the ACC-77 boards, letting the host computer do all the processing. A 32-
bit fixed-point register in DPRAM is defined by the DP format of M-Variable (e.g. M80-> DP:$060000).
This type of variable occupies the low 16 bits (bits 0 to 15) of PMAC Y-memory and the low 16 bits of
PMAC X-memory at the same address, with the less significant bits in Y-memory. It appears to the host
computer as two 16-bit registers at consecutive even addresses, with the less significant bits at the lower
address.
The following example illustrates the method of working with ACC-77 I/O. It describes the procedure
for memory allocation, for the inputs (Image Word Variables) that will work with either dual-ported
RAM or PMAC memory locations.
Example: This example shows the image variables both in DPRAM and several places in internal
memory. In a real application, a single location range probably would be chosen.
Set-up and Definitions
Actual ACC-77 Input Words
M1000->TWS:1
First side of first ACC-77 board; an input here
Location is at port address 0; added 1 for read only
M1002->TWS:3
Second side of first ACC-77 board; an input here
Location is at secondary port address 0; added 3 for read
only
M1004->TWS:9
First side of second ACC-77 board; an input here
Location is at port address 8; added 1 for read only
M1006->TWS:11
Second side of second ACC-77 board; an input here
Location is at secondary port address 8; added 3 for read
only
Accessory 77 User Manual – Preliminary Documentation
ACC-77 Setup 15
Image Words
PMAC
Turbo PMAC
Comments
M1001->DP:$D800
M1001->DP:$060800
32-bit fixed-point DPRAM register
M1003->D:$0770
M1003->D:$0010F0
48-bit fixed-point register, set to zero on
power-up
M1005->D:$07F0
* Power-down hold
registers are not available
in Turbo PMAC
M1005->D:$0061F0
PMAC: 48-bit fixed-point register, value held
through power-down
Turbo PMAC: use this register for P-variable,
treated as 48-bit fixed point value
M1007->D:$13FF
M1007->D:$0063FF
Register for P1023, treated as 48-bit fixed-point
value
* User Buffer Storage Space is same for the battery-backed Turbo PMAC.
Individual Pieces of Image Words
PMAC Memory Locations
Set up two M-Variables to contain the image of the I/O rack inputs (all 64 bits) and an M-Variable for
each bit. Typically, each bit of input is treated as a single bit, although other groupings make sense (e.g.,
four inputs treated as a binary value). Usually, the addresses D:$0770 and D:$0771 are available for use.
Check the application to make sure this memory location is available.
Port A Setup: Read Only
PMAC
Turbo PMAC
Comments
M1000->TWS:1
M1000->TWS:1
Port A (AIO 0-31)
M1001->D:$770
M1003->D:$0010F0
Image word for PLCs
M800->Y:$770,0
M800->Y:$0010F0,0
Bit0 (LSB)
M801->Y:$770,1
M801->Y:$0010F0,1
Bit1
M802->Y:$770,2
M802->Y:$0010F0,2
Bit2
M822->Y:$770,22
M822->Y:$0010F0,22
Bit22
M823->Y:$770,23
M823->Y:$0010F0,23
Bit23
M824->X:$770,0
M824->X:$0010F0,0
Bit24
M825->X:$770,1
M825->X:$0010F0,1
Bit25
M830->X:$770,6
M830->X:$0010F0,6
Bit30
M831->X:$770,7
M831->X:$0010F0,7
Bit31 (MSB)
Secondary Port Setup: Read Only
PMAC
Turbo PMAC
Comments
M1002->TWS:3
M1002->TWS:3
Port (IO 32-63)
M1003->D:$771
M1003->D:$0010F1
Image word for PLCs
M900->Y:$771,0
M900->Y:$0010F1,0
Bit00(LSB)
M901->Y:$771,1
M901->Y:$0010F1,1
Bit01
M902->Y:$771,2
M902->Y:$0010F1,2
Bit02
M922->Y:$771,22
M922->Y:$0010F1,22
Bit22
M923->Y:$771,23
M923->Y:$0010F1,23
Bit23
M924->X:$771,0
M924->X:$0010F1,0
Bit24
M925->X:$771,1
M925->X:$0010F1,1
Bit25
M930->X:$771,6
M930->X:$0010F1,6
Bit30
M931->X:$771,7
M931->X:$0010F1,7
Bit31 (MSB)
Accessory 77 User Manual – Preliminary Documentation
16 ACC-77 Setup
PMAC Dual-Ported RAM Locations
Port A Setup: Read Only
PMAC
Turbo PMAC
Comments
M1000->TWS:1
M1000->TWS:1
Port A (AIO 0-31)
M1001->DP:$D800
M1001->DP:$060800
Image word for PLCs
M800->Y:$D800,0
M800->Y:$060800,0
Bit0 (LSB)
M801->Y:$D800,1
M801->Y:$060800,1
Bit1
M802->Y:$D800,2
M802->Y:$060800,2
Bit2
M814->Y:$D800,14
M814->Y:$060800,14
Bit14
M815->Y:$D800,15
M815->Y:$060800,15
Bit15
M816->X:$D800,0
M816->X:$060800,0
Bit16
M817->X:$D800,1
M817->X:$060800,1
Bit17
M830->X:$D800,14
M830->X:$060800,14
Bit30
M831->X:$D800,15
M831->X:$060800,15
Bit31 (MSB)
Secondary Port Setup: Read Only
PMAC
Turbo PMAC
Comments
M1002->TWS:3
M1002->TWS:3
Port (IO 32-63)
M1003->DP:$D801
M1003->DP:$060801
Image word for PLCs
M900->Y:$D801,0
M900->Y:$060801,0
Bit0 (LSB)
M901->Y:$D801,1
M901->Y:$060801,1
Bit1
M902->Y:$D801,2
M902->Y:$060801,2
Bit2
M914->Y:$D801,14
M914->Y:$060801,14
Bit14
M915->Y:$D801,15
M915->Y:$060801,15
Bit15
M916->X:$D801,0
M916->X:$060801,0
Bit16
M917->X:$D801,1
M917->X:$060801,1
Bit17
M930->X:$D801,14
M930->X:$060801,14
Bit30
M931->X:$D801,15
M931->X:$060801,15
Bit31 (MSB)
Note:
The TWS:1 and TWS:3 addresses correspond to a ACC-77 with all the DIP
switches in the ON position. Refer to the table earlier in this manual for the
allowable address and corresponding switch settings.
Parity Error Bit
Set up an M-Variable to represent the TWS parity error bit in PMAC’s global status word.
M983->X:$0003,6 ; Parity Error Bit
Update the Inputs Using a PLCC
The simple compiled PLC listed below will update the input image and write the input image every time
it runs. The M-Variables mapped previously to individual bits can be used by other PMAC programs to
turn inputs on or off and to test inputs as required.
M1004->D:$0772 ; ACC-77 image word
M1005->D:$0773 ; ACC-77 image word
CLOSE
OPEN PLCC1 CLEAR
M1004=M1000 ; Get the first 32 inputs
IF(M983=0) ; Update the inputs if no parity error
M833=M1002 ; Save the Value at M833
ENDIF
M1005=m1002 ; Get the next 32 inputs
IF(M983=0) ; Update the inputs if no parity error
M933=M1005 ; Save the Value at M933
ENDIF
CLOSE
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Delta Tau Acc-77 Owner's manual

Delta Tau
Brand
Delta Tau
Model
Acc-77
Type
Owner's manual
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