^1 USER MANUAL
^2 Accessory 8DP
^3 Signal Line / Power Line Routing Board
^4 3Ax-602687-xUxx
^5 October 27, 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: [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.
EN
Dispose in accordance with applicable regulations.
Accessory 8DP
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
CONNECTORS ........................................................................................................................................................... 3
J1 ............................................................................................................................................................................... 3
J2 ............................................................................................................................................................................... 3
J3 ............................................................................................................................................................................... 3
J4 ............................................................................................................................................................................... 3
J5 ............................................................................................................................................................................... 3
J6 ............................................................................................................................................................................... 4
J7 ............................................................................................................................................................................... 4
J8 ............................................................................................................................................................................... 4
J9 ............................................................................................................................................................................... 4
J10 ............................................................................................................................................................................. 4
J11 ............................................................................................................................................................................. 4
J12 ............................................................................................................................................................................. 4
J13 ............................................................................................................................................................................. 4
J14 ............................................................................................................................................................................. 4
E-POINT JUMPERS ................................................................................................................................................... 5
E1 .............................................................................................................................................................................. 5
E2 .............................................................................................................................................................................. 5
E3 .............................................................................................................................................................................. 5
ACC-8DP MAIN BOARD .......................................................................................................................................... 7
CONNECTOR PINOUTS ........................................................................................................................................... 9
Molex and DB Connectors ........................................................................................................................................ 9
J1 (6-Pin Molex Connector) ................................................................................................................................. 9
J3 (15-Pin DB15S Connector) .............................................................................................................................. 9
J4 (9-Pin DB9S Connector) ................................................................................................................................ 10
J5 (9-Pin DB9P Connector) ............................................................................................................................... 10
J6 (15-Pin DB15S Connector) ............................................................................................................................ 10
J7 (9-Pin DB9S Connector) ................................................................................................................................ 11
J8 (9-Pin DB9P Connector) ............................................................................................................................... 11
J9 (15-Pin DB15S Connector) ............................................................................................................................ 12
J10 (9-Pin DB9S Connector) .............................................................................................................................. 12
J11 (9-Pin DB9P Connector) ............................................................................................................................. 13
J12 (15-Pin DB15S Connector) .......................................................................................................................... 13
J13 (9-Pin DB9S Connector) .............................................................................................................................. 14
J14 (9-Pin DB9P Connector) ............................................................................................................................. 14
DIAGRAMS ............................................................................................................................................................... 15
Accessory 8DP
ii Table of Contents
Accessory 8DP
Introduction 1
INTRODUCTION
PMAC Accessory 8DP (ACC-8DP) (P/N 602687-32x) provides a convenient means for routing PMAC’s
JMACH connector signals and power supply lines to a series of DB9 and DB15 connectors. The
DB9/DB15 connectors facilitate PMAC’s connection to amplifiers and feedback signals. Each ACC-8DP
provides all the pinouts from a single JMACH connector on PMAC. The JMACH connector consists of
four I/O channels -- analog outputs, encoder feedback, and associated flags. The base version of PMAC
(four channels) has only one JMACH connector, therefore only needing one ACC-8DP. A PMAC with
an Option 1 (additional four channels) has two JMACH connectors, therefore requiring two ACC-8DPs.
If you intend to use the ACC-24 axis expansion board, an additional ACC-8DP will be required for each
additional 4 channels.
Accessory 8DP
2 Introduction
Accessory 8DP
Connectors 3
CONNECTORS
J1
This is a 6-pin (0.156 Molex Type) connector used for:
1. Connectivity of the required external ±15V analog power supply for PMAC’s circuitry,
2. An external 5V power supply if desired for the encoder circuitry(see jumper E1),
3. PMAC’s FEFCO/ output (Fatal Error Fault Condition Output).
The FEFCO/ output is controlled by PMAC’s Watchdog safety timer and is useful for shutting down
your system’s power circuitry when the timer is triggered. If the Watchdog timer trips, the open collector
FEFCO/ output is taken low (100 mA sinking capability) and can be used to trip power relays, etc. (See
Watchdog Timer in your PMAC User’s Manual for more information)
J2
This is a 60-pin flat cable connector that provides the link between PMAC-PC, PMAC-Lite, PMAC-Mini
or PMAC-STD's JMACH connector and ACC-8DP.
J3
The DB15S connector provides inputs for the channel 1 encoder signals and +5V power output for the
encoder circuitry.
J4
The DB9S connector provides inputs for the channel 1 flags – home flag, positive end limit flag, and
negative end limit flag. A±15V and AGND outputs are provided for your flag circuitry as well. The flag
inputs are Failsafe High True, and should be referenced to AGND. For a mechanical switch, an
open/closed contact between the flag pin and AGND is all that is required. Usually for an electronic
switch, an open-collector output is used. The flag is put into its ‘1’ state when the AGND reference is
broken.
J5
The DB9P connector provides analog ±10V DAC1 output, AENA1/DIR1 output, Amp Fault1 input,
A±15V output, and AMPGND. The AENA1/DIR1 (Amplifier-Enable/Direction) output can be
configured as an amplifier-enable line or as a direction bit signal output. The default configuration for
the AENA1/DIR1 output is open-collector (sinking) driver amplifier enable. This circuit can be also
configured for a sourcing driver or as direction (sign) bits for drive systems expecting sign-and-
magnitude commands (see Flag outputs in the PMAC User Manual). The default sinking amplifier-
enable drivers are rated to 100mA and 24V; internal diode protection circuits in the IC limit the high
voltage of the output to the analog positive supply voltage, usually A+15V (see Flag outputs in the
PMAC User Manual to modify this circuit to handle higher voltage). The amplifier circuitry must be
referenced to AMPGND in order for the amp-enable circuitry to work. AMPGND can be referenced to
PMAC’s analog GND, or digital GND depending on the ACC-8DP’s E2 setting.
Accessory 8DP
4 Connectors
J6
Channel 2 encoder connection (see J3).
J7
Channel 2 flag connection (see J4).
J8
Channel 2 amplifier connection (see J5).
J9
Channel 3 encoder connection (see J3).
J10
Channel 3 flag connection (see J4).
J11
Channel 3 amplifier connection (see J5).
J12
Channel 4 encoder connection (see J3).
J13
Channel 4 flag connection (see J4).
J14
Channel 4 amplifier connection (see J5).
Accessory 8DP
E-Point Jumpers 5
E-POINT JUMPERS
E1
Jumper E1 determines whether the encoders will receive +5V power from PMAC’s digital circuitry, or
from an external +5V power supply. With E1 jumper ON, the encoders will receive +5V power from
PMAC’s digital circuitry and no external supply will be needed. Likewise, if the PMAC is to be used
standalone, E1 should be on so that the PMAC will receive it’s digital +5V power supply from the ACC-
8DP. For most cases, where the isolation of the encoder circuitry from PMAC is not necessary, E1 will
be ON.
E2
Jumper E2 determines where the AMPGND (amplifier logic common) will be referenced to: PMAC’s
AGND (analog common), or GND (digital common).
E3
Jumpers 1 and 2 should be tied for almost all cases. Only users of DeltaTau’s Compact MACRO Station
should tie pins 2 and 3 together.
Accessory 8DP
6 E-Point Jumpers
Accessory 8DP
ACC-8DP Main Board 7
ACC-8DP MAIN BOARD
The ACC-8DP board provides connectivity of the JMACH pins through a series of DB style connectors.
The terminals follow the same order of signals as the pins on the JMACH connectors. For the PMAC-PC
and PMAC-STD, the numbers of the terminals match the numbers of the pins on the JMACH connector
directly (pins 1-60) in both the even row and the odd row.
Note:
The lines for the DACs, encoders, and flags on ACC-8DP are always numbered 1 to 4.
They may be connected to lines on the PMAC with higher numbers (5 to 8, 9 to 12, or 13
to 16) if the particular ACC-8DP is not connected to the first machine connector of
PMAC. The lines will always connect to a corresponding line on PMAC whose number
has the same modulo 4 (remainder when divided by four). For instance, line one of the
ACC-8DP can be connected only to PMAC lines numbered 1, 5, 9, or 13.
Accessory 8DP
8 ACC-8DP Main Board
Accessory 8DP
Connector Pinouts 9
CONNECTOR PINOUTS
Molex and DB Connectors
J1 (6-Pin Molex Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
GND
Input
Common
*External encoder power supply
2
+5V
Output
+5V Power
*External encoder power supply
3
A+15V
Input
Analog +15V supply
4
A-15V
Input
Analog -15V supply
5
AGND
Input
Analog common
6
FEFCO/
Output
Following Error/Fault output
* If E1 jumper is ON, no external encoder power supply is needed. The +5V will come from PMAC.
J3 (15-Pin DB15S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
+5V
Output
+5V Power
For encoder/stand-alone apps.
2
GND
Output
PMAC Common
For encoder
3
CHA1
Input
Encoder A Channel Positive
Axis #1
4
CHB1
Input
Encoder B Channel Positive
Axis #1
5
CHC1
Input
Encoder C Channel Positive
Axis #1
6
Not Used
7
Not Used
8
GND
Output
PMAC Common
For encoder (alternate)
9
+5V
Output
+5V Power
For encoder (alternate)
10
GND
Output
PMAC Common
For encoder (alternate)
11
CHA1/
Input
Encoder A Channel Negative
Axis #1 (Do not ground if not
used)
12
CHB1/
Input
Encoder B Channel Negative
Axis #1 (Do not ground if not
used)
13
CHC1/
Input
Encoder C Channel Negative
Axis #1 (Do not ground if not
used)
14
Not Used
15
Not Used
Accessory 8DP
10 Connector Pinouts
J4 (9-Pin DB9S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
Not Used
2
+LIM1
Input
Negative Limit 1
Failsafe high true
3
AGND
Output
Analog Common
For limit circuitry
4
A-15V
Output
Analog –15V
For limit circuitry
5
AGND
Output
Analog Common
For limit circuitry (alternate)
6
-LIM1
Input
Positive Limit 1
Failsafe high true
7
HMFL1
Input
HOME-FLAG 1
Programmable polarity
8
A+15V
Output
Analog +15V
For limit circuitry
9
AGND
Output
Analog Common
For limit circuitry (alternate)
J5 (9-Pin DB9P Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
DAC1
Output
Analog Out Positive
±10V to analog ground
2
AMPGND
Output
PMAC Common
For amplifier logic
3
ENA1/DIR1
Output
Amplifier-Enable/DIR1
*Jumperable polarity
4
A+15V
Output
Analog +15V
User Option
5
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
6
DAC1/
Output
Analog Out Negative
±10V to analog ground
7
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
8
FAULT1
Input
Amplifier-Fault 1
High true
9
A-15V
Output
Analog -15V
User option
* The settings of Ix02 and Ix25 determine whether these lines are amplifier-enable signals or direction bit
signals. Jumper E17 on PMAC determines the polarity of these signals.
J6 (15-Pin DB15S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
+5V
Output
+5V Power
For encoder
2
GND
Output
PMAC Common
For encoder
3
CHA2
Input
Encoder A Channel Positive
Axis #2
4
CHB2
Input
Encoder B Channel Positive
Axis #2
5
CHC2
Input
Encoder C Channel Positive
Axis #2
6
Not Used
7
Not Used
8
GND
Output
PMAC Common
For encoder (alternate)
9
+5V
Output
+5V Power
For encoder (alternate)
10
GND
Output
PMAC Common
For encoder (alternate)
11
CHA2/
Input
Encoder A Channel Negative
Axis #2 (Do not ground if not used)
12
CHB2/
Input
Encoder B Channel Negative
Axis #2 (Do not ground if not used)
13
CHC2/
Input
Encoder C Channel Negative
Axis #2 (Do not ground if not used)
14
Not Used
15
Not Used
Accessory 8DP
Connector Pinouts 11
J7 (9-Pin DB9S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
Not Used
2
+LIM2
Input
Negative Limit 2
Failsafe high true
3
AGND
Output
Analog Common
For limit circuitry
4
A-15V
Output
Analog –15V
For limit circuitry
5
AGND
Output
Analog Common
For limit circuitry (alternate)
6
-LIM2
Input
Positive Limit 2
Failsafe high true
7
HMFL2
Input
Home-Flag 2
Programmable polarity
8
A+15V
Output
Analog +15V
For limit circuitry
9
AGND
Output
Analog Common
For limit circuitry (alternate)
J8 (9-Pin DB9P Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
DAC2
Output
Analog Out Positive
±10V to analog ground
2
AMPGND
Output
PMAC Common
For amplifier logic
3
AENA2/DI
R2
Output
Amplifier-Enable/DIR2
*Jumperable polarity
4
A+15V
Output
Analog +15V
User option
5
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
6
DAC2/
Output
Analog Out Negative
±10V to analog ground
7
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
8
FAULT2
Input
Amplifier-Fault 2
High true
9
A-15V
Output
Analog -15V
User option
* The settings of Ix02 and Ix25 determine whether these lines are amplifier-enable signals or direction bit
signals. Jumper E17 on PMAC determines the polarity of these signals.
Accessory 8DP
12 Connector Pinouts
J9 (15-Pin DB15S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
+5V
Output
+5V Power
For encoder
2
GND
Output
PMAC Common
For encoder
3
CHA3
Input
Encoder A Channel Positive
Axis #3
4
CHB3
Input
Encoder B Channel Positive
Axis #3
5
CHC3
Input
Encoder C Channel Positive
Axis #3
6
Not Used
7
Not Used
8
GND
Output
PMAC Common
For encoder (alternate)
9
+5V
Output
+5V Power
For encoder (alternate)
10
GND
Output
PMAC Common
For encoder (alternate)
11
CHA3/
Input
Encoder A Channel Negative
Axis #3 (Do not ground if not used)
12
CHB3/
Input
Encoder B Channel Negative
Axis #3 (Do not ground if not used)
13
CHC3/
Input
Encoder C Channel Negative
Axis #3 (Do not ground if not used)
14
Not Used
15
Not Used
J10 (9-Pin DB9S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
Not Used
2
+LIM3
Input
Negative Limit 3
Failsafe high true
3
AGND
Output
Analog Common
For limit circuitry
4
A-15V
Output
Analog –15V
For limit circuitry
5
AGND
Output
Analog Common
For limit circuitry (alternate)
6
-LIM3
Input
Positive Limit 3
Failsafe high true
7
HMFL3
Input
Home-Flag 3
Programmable polarity
8
A+15V
Output
Analog +15V
For limit circuitry
9
AGND
Output
Analog Common
For limit circuitry (alternate)
Accessory 8DP
Connector Pinouts 13
J11 (9-Pin DB9P Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
DAC3
Output
Analog Out Positive
±10V to analog ground
2
AMPGND
Output
PMAC Common
For amplifier logic
3
AENA3/DI
R3
Output
Amplifier-Enable/DIR3
*Jumperable polarity
4
A+15V
Output
Analog +15V
User option
5
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
6
DAC3/
Output
Analog Out Negative
±10V to analog ground
7
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
8
FAULT3
Input
Amplifier-Fault 3
High true
9
A-15V
Output
Analog -15V
User option
* The settings of Ix02 and Ix25 determine whether these lines are amplifier-enable signals or direction bit
signals. Jumper E17 on PMAC determines the polarity of these signals.
J12 (15-Pin DB15S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
+5V
Output
+5V Power
For encoder
2
GND
Output
PMAC Common
For encoder
3
CHA4
Input
Encoder A Channel Positive
Axis #4
4
CHB4
Input
Encoder B Channel Positive
Axis #4
5
CHC4
Input
Encoder C Channel Positive
Axis #4
6
Not Used
7
Not Used
8
GND
Output
PMAC Common
For encoder (alternate)
9
+5V
Output
+5V Power
For encoder (alternate)
10
GND
Output
PMAC Common
For encoder (alternate)
11
CHA4/
Input
Encoder A Channel Negative
Axis #4 (Do not ground if not used)
12
CHB4/
Input
Encoder B Channel Negative
Axis #4 (Do not ground if not used)
13
CHC4/
Input
Encoder C Channel Negative
Axis #4 (Do not ground if not used)
14
Not Used
15
Not Used
Accessory 8DP
14 Connector Pinouts
J13 (9-Pin DB9S Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
Not Used
2
+LIM4
Input
Negative Limit 4
Failsafe high true
3
AGND
Output
Analog Common
For limit circuitry
4
A-15V
Output
Analog –15V
For limit circuitry
5
AGND
Output
Analog Common
For limit circuitry (alternate)
6
-LIM4
Input
Positive Limit 4
Failsafe high true
7
HMFL4
Input
Home-Flag 4
Programmable polarity
8
A+15V
Output
Analog +15V
For limit circuitry
9
AGND
Output
Analog Common
For limit circuitry (alternate)
J14 (9-Pin DB9P Connector)
Term
No.
PMAC-
Symbol
Function
Description
Notes
1
DAC4
Output
Analog Out Positive
±10V to analog ground
2
AMPGND
Output
PMAC Common
For amplifier logic
3
AENA4/DIR4
Output
Amplifier-Enable/DIR4
*Jumperable polarity
4
A+15V
Output
Analog +15V
User option
5
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
6
DAC4/
Output
Analog Out Negative
±10V to analog ground
7
AMPGND
Output
PMAC Common
For amplifier logic (alternate)
8
FAULT4
Input
Amplifier-Fault 4
High true
9
A-15V
Output
Analog -15V
User option
*The settings of Ix02 and Ix25 determine whether these lines are amplifier-enable signals or direction bit
signals. Jumper E17 on PMAC determines the polarity of these signals.
Accessory 8DP
Diagrams 15
DIAGRAMS
Accessory 8DP
16 Diagrams
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