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^1 USER MANUAL
^2 Accessory 16D
^3 PMAC Control Panel Box
^4 4Ax-602177-xUxx
^5 October 1 2003
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2003 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or handling
Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only
qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.
EN
Dispose in accordance with applicable regulations.
Accessory 16D
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
OPTIONAL PROGRAMMING: ............................................................................................................................... 3
PMAC I/O MAP FOR CONTROL PANEL: ............................................................................................................ 4
Power Requirements ................................................................................................................................................. 4
CONNECTORS ........................................................................................................................................................... 5
Headers and Power Switch Connector ...................................................................................................................... 5
JDISP (14-Pin Connector) .................................................................................................................................... 5
JPAN (26-Pin Connector) ..................................................................................................................................... 6
Power Switch Connector ...................................................................................................................................... 6
DIAGRAMS ................................................................................................................................................................. 7
Accessory 16D
Introduction 1
INTRODUCTION
Accessory 16D, the Control Panel Box, is a general-purpose operator interface device for PMAC. This
control panel is useful for both development and normal operation applications. The control panel
provides a means for using PMAC’s dedicated hardware control inputs and display outputs. It has the
following features:
9 toggle switches for jog, step, run, etc.
10 way rotary switch for motor/coordinate system select
Handwheel encoder
Analog potentiometer that can be used as an input to PMAC’s on-board voltage to frequency
converter
Separate frequency generator that may be the input to any of PMAC’s encoder channels
80 character LCD display.
The control panel communicates to PMAC through PMAC’s JPAN (J2) port and its JDISP (J1) port.
Control panel functions are summarized below:
Display
40 characters x 2 lines LCD display unit, can display position, velocity, following
error, status, etc. for any axis. See the DISPLAY command in the PMAC User
Manual.
Reset
Input INIT/ (reset) affects the entire card. It has the same effect as a host $$$
command.
LEDs
IPOS: In position (lit when all motors in selected coordinate system are in
position)
B/F: Buffer Data Request (lit when open buffer is awaiting data)
ERROR: System Error FERR 1: Warning following error (lit when any motor in
selected coordinate system exceeds its warning following error limit)
W/D: Watchdog Timer (lit when watchdog timer has tripped, shutting down
PMAC operation)
PWR: Lit when power is on
Note: When I2=1, disabling normal control board operation, IPOS and FERR1
reflect the status of the host-addressed coordinate system.
Selector Rotary
Switch
Position 1-8: Selects one of the eight possible motors and one of the eight possible
coordinate systems simultaneously. When the RUN switch is flipped, a &n
(where n is the corresponding number on the rotary switch) command is
effectively issued before the R (RUN command is issued).
When the JOG switch is used, a #nJ+ or #Nj- command is effectively issued.
Thus, jogging the corresponding motor. However, this selector switch does affect
the motor or the coordinate system addressed by the host.
Note: The Bn command is not sent before the R command when the RUN switch
is flipped. The switches may be reprogrammed. To do this, set I2 to 1 and write a
PLC program to implement the switch functions.
Position OFF: With the rotary switch in this position, the entire switch panel is
disabled, i.e. all the switches are ignored by PMAC. This may also be
accomplished through software by setting I2=1 in PMAC (for PROM versions
1.07 and later).
Dir
Direction (CW or CCW) of A/B Quadrature frequency generator. When the
FREQ-H/W switch is in the FREQ position, the handwheel is disabled and the
frequency generator is substituted for output on the A encoder channel (pin 16 on
the 26 pin connector). The direction sent (CW or CCW) over the A encoder
channel is controlled by this switch. This signal must be connected to the ENC2
counter by jumpering E22 and E23.
Accessory 16D
2 Introduction
Step
Execute program one step at a time. Also used to stop a continuous run. Flipping
this button effectively issues a &nS (step) command, where n is the corresponding
coordinate system number as selected by the Selector rotary switch.
Run
Execute program in normal, continuous mode. This button effectively issues a
&nR (run) command, where n is the corresponding coordinate system number as
selected by the Selector rotary switch.
Pre Jog
Jogs the corresponding motor as selected by the Selector rotary switch to its
previous position. This button is like issuing a #nJ= command (where n is the
selected motor number) to PMAC.
Home
Homes the corresponding motor as selected by the Selector rotary switch to its
previous position. This button is like issuing a "#nHM" command (where n is the
selected motor number) to PMAC.
Hold
Feed hold. This button issues a feed hold for the corresponding coordinate system
as selected by the Selector rotary switch.
Abort
Stops all motion programs or other moves in the corresponding coordinate system
as selected by the Selector rotary switch. This is like issuing a &nA command to
PMAC.
H/W
Typically, Hand Wheel Encoder’s HEDs 7501 are 256 lines per revolution, A/B
Quadrature. PMAC may multiply the H/W encoder input by 1, 2 or 4. Also, the
H/W encoder may be scaled to represent any number of encoder counts to the
motor. Usually, there will be motors doing position following of this handwheel
using Ix05 and Ix06 (where x is the motor number). In order to function, the
signal must be connected to the ENC2 counter by jumpering E22 and E23.
Freq. Pot
POT controls the pulse train frequency from 0 to 100KHz when the FREQ-H/W
switch is flipped to the FREQ position. It generates A/B Quadrature pulses,
simulating an encoder. Use of this signal is the same as for the handwheel (i.e.
using ENC2 by jumpering E22 and E23).
Feedrate Pot
Controls the feedrate by generating a DC voltage from 0 to 10V. This variable
voltage is applied to pin 20 of the 26-pin connector. To actually implement this
pot for feedrate control, jumpers E72 and E73 should be installed on the PMAC
board. Also, set the time base source address I-variable (Ix93 for coordinate
system x) to 1833 ($729). To use this value generated by the feedrate pot for
some other purpose, assign an M-variable to it (e.g. M60->X:$729,0,24,U). Refer
to the attached drawing entitled Using PMAC’s Control Panel Analog (Wiper)
Input.
Jog
Jogs a motor. When this switch is flipped upward, the corresponding motor as
selected by the Selector rotary switch is jogged in the positive direction. A #nJ+
command is effectively issued. Similarly, when this switch is flipped downward,
the same selected motor is jogged in the negative direction (i.e. #nJ-).
Freq-Hw
Selects between the internal frequency generator and the hand wheel. When the
FREQ-H/W switch is in the FREQ position, the handwheel is disabled and the
frequency generator is substituted for output on the A/B encoder channel channels
(pins 16 and 22 on the 26-pin connector).
Pwr On/Off
System power control. This requires an external relay latch to operate correctly.
Refer to the attached drawings numbered 602177-001 and 003 for details.
Accessory 16D
Optional Programming 3
OPTIONAL PROGRAMMING:
To reprogram the switches, set I2 to 1 to disable the automatic panel functions and assign M-variables to
point to these switches. All the switches can be read at PMAC’s memory location Y:$FFC0, bits 0
through 19. Refer to the attached memory map sheet for the bit assignments.
Example: To reprogram the RUN switch, simply assign an M-variable in this fashion:
M20->Y:$FFC0,11,1
If reading M20, it will return 0 if the RUN switch is flipped on and 1 when it is flipped off. A PLC
program can be written to poll these switches and act upon them. Notice that the position of Select rotary
switch is decoded into four bits. To assign an M-variable to this, use a definition such as:
M21->Y:$FFC0,16,4,C
If reading M21, it will return 1 if 1 on the rotary switch is selected, 2 if 2 is selected, and so on. The C
format specified is to complement the bits read in at J2, since a low level indicates a binary 1 and a high
level indicates a binary 0.
Accessory 16D
4 PMAC I/O Map for Control Panel
PMAC I/O MAP FOR CONTROL PANEL:
Bits 0-7
Display and EAROM I/O (dedicated)
Y:$FFC0
(65472)
8
Jog Minus Input
(J2-4)
9
Jog Plus Input
(J2-6)
10
Prejog Input
(J2-7)
11
Start (Run) Input
(J2-8)
12
Step Input
(J2-9)
13
Stop (Abort) Input
(J2-10)
14
Home Command Input
(J2-11)
15
Feed Hold Input
(J2-12)
16
Motor/CoordSys Select Inp. Bit 0
(J2-3)
17
Motor/CoordSys Select Inp. Bit 1
(J2-5)
18
Motor/CoordSys Select Inp. Bit 2
(J2-13)
19
Motor/CoordSys Select Inp. Bit 3
(J2-14)
Power Requirements
5V
15V
-15V
Other 24V etc.
200 mA
N/A
N/A
N/A
Accessory 16D
Connectors 5
CONNECTORS
Headers and Power Switch Connector
JDISP (14-Pin Connector)
Top View
Pin
Symbol
Function
Description
Notes
1
Vdd
Input
+5V Power
Power Supply
2
Vss
Common
PMAC Common
3
Rs
Input
Read Strobe
TTL Signal Out
4
Vee
Input
Contrast Adjust
0 to +5Vdc
5
E
Input
Display Enable
High is Enable
6
R/W
Bidirectional
Read or Write
TTL Signal Out
7
DB1
Bidirectional
Display Data 1
Display Data 1 I/O
8
DB0
Bidirectional
Display Data 0
Display Data 0 I/O
9
DB3
Bidirectional
Display Data 3
Display Data 3 I/O
10
DB2
Bidirectional
Display Data 2
Display Data 2 I/O
11
DB5
Bidirectional
Display Data 5
Display Data 5 I/O
12
DB4
Bidirectional
Display Data 4
Display Data 4 I/O
13
DB7
Bidirectional
Display Data 7
Display Data 7 I/O
14
DB6
Bidirectional
Display Data 6
Display Data 6 I/O
This connector should be connected to PMAC’s JDISP connector (J1). Through this connector, PMAC drives
the 2 line x 24-character LCD display of Acc-16D.
Accessory 16D
6 Connectors
JPAN (26-Pin Connector)
Top View
Pin
Symbol
Function
Description
Notes
1
+5V
Input
+5V Power
From PMAC
2
GND
Common
PMAC Common
3
FPDO/
Output
Axis Select Bit 0
Low is true
4
JOG-/
Output
JOG Selected Axis IN-DIR
Low is JOG-
5
FPD1/
Output
Axis Select Bit 1
6
JOG+/
Output
JOG Selected Axis IN+DIR
7
PREJ/
Output
Return to PREJOG Position
Low is RETURN
8
STRT/
Output
Start Program Run
Low is START
9
STEP/
Output
Step through Program
Low is STEP
10
STOP/
Output
Stop Program Run
Low is STOP
11
HOME/
Output
Go Home
Low is Go HOME
12
HOLD/
Output
Hold motion
Low is HOLD
13
FPD2/
Output
Axis Select Bit 2
Low is True
14
FPD3/
Output
Axis Select Bit 3
Low is True
15
INIT/
Output
Resets PMAC
Low is RESET
16
HWC
Output
Handwheel Encoder A Channel
5V TTL SQ. Pulse
17
IPLD/
Input
IN Position Indicator
Low Lights LED
18
BFLD/
Input
Buffer Full Indicator Low
Lights LED
19
ERLD/
Input
Error Indicator
Low Lights LED
20
WIPER
Input
Feed Pot Wiper
0 to +10V Input
21
(SPARE)
N.C.
22
HWCB
Output
Handwheel Encoder
5V TTL SQ. Pulse
23
F1LD/
Input
Channel Following Error 1
Low Lights LED
24
F2LD/
Input
Watchdog Timer
Low Lights LED
25
+5V
Input
+5V Power
For Remote Panel
26
GND
Common
PMAC Common
This connector is used to connect the Acc-16D to PMAC’s JPAN (J2) connector.
Power Switch Connector
Top View
Pin
Symbol
Function
Description
1
On Switch
Normally Open
2
Common*
3
Off Switch
Normally Closed
4
Ground
*Refer to the recommended relay wiring diagram enclosed with this manual
for proper wiring of power relays through the ON and OFF switches of
ACC-16D.
Accessory 16D
Diagrams 7
DIAGRAMS
* There must be PMAC Option 15 (voltage to frequency converter) to use this feature.
Accessory 16D
8 Diagrams
Accessory 16D
Diagrams 9
Accessory 16D
10 Diagrams
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