Delta Tau Acc-8A Owner's manual

Brand: Delta Tau

Model: Acc-8A

Type: Owner's manual

^1 USER MANUAL

^2 Accessory 8A

^3 Analog Interface with Sub-Count Interpolator Option

^4 3Ax-603476-xUxx

^5 June 21, 2006

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

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

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

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

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

conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656

Fax: (818) 998-7807

Email: support@deltatau.com

Website: http://www.deltatau.com

Operating Conditions

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

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

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

qualified personnel should be allowed to handle this equipment.

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

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

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

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

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

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

environments, we cannot guarantee their operation.

Dispose in accordance with applicable regulations.

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG

APPVD

MODIFIED E7 JUMPER FOR OPTION1 SETTINGS

06/21/06

S. FIERO

Accessory 8A 
Table of Contents  i 
Table of Contents 
 
INTRODUCTION ....................................................................................................................................................... 1 
Configuration ............................................................................................................................................................ 1 
Connectors and Terminal Blocks .............................................................................................................................. 1 
Indicators ................................................................................................................................................................... 1 
HARDWARE SETUP ................................................................................................................................................. 3 
Jumpers ..................................................................................................................................................................... 3 
Connector to Chassis Ground Jumpers (Buss Wires) ........................................................................................... 3 
Encoder Type Select Jumpers ............................................................................................................................... 3 
Sinusoidal Encoder Jumper Settings (for Option 1 only) ..................................................................................... 3 
T, U, V and W Flags Direction Jumpers ............................................................................................................... 3 
Digital Power Supply Selection ............................................................................................................................ 3 
Axes Pair Selector (for Option 1 only) ................................................................................................................. 3 
Resistor Packs ........................................................................................................................................................... 3 
Fuse ........................................................................................................................................................................... 3 
Acc-8A Layout Diagram: Part Number 603476-10x ................................................................................................ 4 
CONNECTIONS ......................................................................................................................................................... 5 
PMAC2 Connection .................................................................................................................................................. 5 
Power Supplies .......................................................................................................................................................... 5 
Digital Power Supply ............................................................................................................................................ 5 
Analog Power Supply ........................................................................................................................................... 5 
Flags Power Supply (Optional) ............................................................................................................................ 5 
Over-Travel Limits and Home Switches ................................................................................................................... 5 
Types of Over-Travel Limits ................................................................................................................................. 5 
Feedback Signals Connections .................................................................................................................................. 6 
Incremental Encoder Connection ......................................................................................................................... 6 
MLDT Feedback Connection ................................................................................................................................ 7 
Sinusoidal Encoder Connection ............................................................................................................................ 7 
Amplifier Connections .............................................................................................................................................. 8 
Analog ±10V Command Signals ........................................................................................................................... 8 
Pulse and Direction (Stepper) Drivers ................................................................................................................. 8 
Amplifier Enable and Fault Signals ...................................................................................................................... 9 
Connections Example: Analog Amplifier with Incremental Encoder ..................................................................... 10 
NON-TURBO PMAC2 SOFTWARE SETUP ........................................................................................................ 11 
Analog Outputs Configuration ................................................................................................................................ 11 
I9n6, Output n Mode Select ................................................................................................................................ 11 
I905/I909, DAC Strobe Word (DAC Resolution Configuration) ........................................................................ 11 
Configuration Example and Test Procedure ...................................................................................................... 11 
Sinusoidal Encoder Setup (Option-1 Required) ...................................................................................................... 12 
Modifying the SCLK Clock ................................................................................................................................. 12 
Setting Input Sensitivity for Encoder .................................................................................................................. 13 
Reading the Sub-Counts...................................................................................................................................... 14 
Setting up the MACRO Station for Sub-Count Interpolation .............................................................................. 14 
Setting up the PMAC2 for Sub-Count Interpolation ........................................................................................... 15 
TURBO PMAC2 SOFTWARE SETUP .................................................................................................................. 17 
Analog Outputs Configuration ................................................................................................................................ 17 
I7mn6, Output n on Servo IC m Mode Select ...................................................................................................... 17 
I7m05, DAC Strobe Word (DAC Resolution Configuration) .............................................................................. 17 
Configuration Example and Test Procedure ...................................................................................................... 17 
Sinusoidal Encoder Setup (Option-1 Required) ...................................................................................................... 18 
Modifying the SCLK Clock ................................................................................................................................. 18 

    Accessory 8A 
ii  Table of Contents 
Setting Input Sensitivity for Encoder .................................................................................................................. 19 
Reading the Sub-Counts...................................................................................................................................... 20 
Setting up the MACRO Station for Sub-Count Interpolation .............................................................................. 20 
Setting up the PMAC2 for Sub-Count Interpolation ........................................................................................... 21 
JUMPERS CONFIGURATION ............................................................................................................................... 23 
Connector to Chassis Ground Jumpers (Buss Wires) .............................................................................................. 23 
Encoder Type Select Jumpers ................................................................................................................................. 23 
Sinusoidal Encoder Jumper Settings (for Option 1 Only) ....................................................................................... 24 
T, U, V and W Flags Direction Jumpers ................................................................................................................. 24 
CONNECTOR DESCRIPTIONS ............................................................................................................................ 25 
P1: DB-15 Connector, Channel 1 Encoder Inputs .................................................................................................. 25 
P3: DB-15 Connector, Channel 1 Amplifier Connections ...................................................................................... 25 
P2: DB-15 Connector, Channel 2 Encoder Inputs .................................................................................................. 26 
P4: DB-15 Connector, Channel 2 Amplifier Connections ...................................................................................... 26 
TB1: 5-Pin Terminal Block, Channel 1 Flags ......................................................................................................... 26 
TB2: 5-Pin Terminal Block, Channel 2 Flags ......................................................................................................... 27 
TB4: 4-Pin Terminal Block, Analog Power Supply ................................................................................................ 27 
TB3: 2-Pin Terminal Block, Digital Power Supply................................................................................................. 27 
 
 
 
 

Accessory 8A

Introduction 1

INTRODUCTION

PMAC2’s Accessory 8A (Acc-8A) is a 2-channel interface board designed to interface with analog

amplifiers, quadrature encoders, sinusoidal encoders, hall-effect sensors, position limits, and home flags.

It also can provide pulse-and-direction outputs for stepper drives, MLDTs and other uses.

The Acc-8A may be ordered with either one analog (DAC) output per channel or, through the Option-2,

with two analog (DAC) outputs per channel for a total of four on-board DACs. Two DACs per channel

may be required, for example, for controlling motors through sinusoidal commutation. DACs not used

for servo purposes maybe used as general-purpose outputs.

This board has an optional interface for sinusoidal encoders, allowing you to take advantage of using our

sub-count interpolation process. For example, if the user had a 10,000 line sinusoidal encoder, PMAC2

would essentially read 2,560,000 increments per revolution.

The main input flags (HOME, PLIM, MLIM, and USER) for both channels pass through AC Opto

modules, which provide optical isolation with sinking or sourcing capability from 5 to 24V. Resistor

sockets are provided for selecting input ranges from 12 to 24 Volts or 5 Volts operation.

Configuration

 The standard configuration without options provides 2 channels each with:

 One isolated 18-bit analog output with amplifier enable relay output and amplifier fault input

 3-channel quadrature encoder feedback

 Set of isolated flag inputs

 T, U, V, and W Hall Effects inputs or pulse-and-direction outputs

 Option-1: This option adds a 256x sine wave encoder interpolator circuit for each channel (key

components U11 and U12).

 Option-2: This option adds a second isolated 18-bit analog output per channel (key components U27

and U28). This results in two DAC ±10 Volts outputs per channel for a total of 4 on-board DACs.

 Option-3: Rail mount.

Connectors and Terminal Blocks

P1 DB-15 female connector for Channel 1 encoder and Hall Effects

P2 DB-15 female connector for Channel 2 encoder and Hall Effects

P3 DB-15 male connector for Channel 1 amplifier

P4 DB-15 male connector for Channel 2 amplifier

TB1 5-pin terminal block for Limits and Flags for Channel 1

TB2 5-pin terminal block for Limits and Flags for Channel 2

TB3 2-pin terminal block for optional 5 Volts power connection

TB4 4-pin terminal block for ±15 Volts power connection

JMACH1 100-pin high-density connector to PMAC2

Indicators

LED1 (red): Sinusoidal Encoder1 Out of Range

LED2 (orange): Sub-count Channel1 Active

LED3 (red): Sinusoidal Encoder2 Out of Range

LED4 (orange): Sub-count Channel2 Active

LED5 (amber): Amplifier Enable1 Status

LED6 (amber): Amplifier Enable2 Status

LED7 (green): Power Good LED

Accessory 8A

2 Introduction

Accessory 8A

Hardware Setup 3

HARDWARE SETUP

Jumpers

Connector to Chassis Ground Jumpers (Buss Wires)

Jumpers E1, E2, E11 and E12 connect the P1, P2, P3 and P4 DB connector shells to the chassis ground.

The chassis ground remains floating if the related jumper is not installed. The default jumper consists of

a buss wire soldered in at the factory.

Encoder Type Select Jumpers

If jumpers E3A to E3F are in the position 1-2, a quadrature encoder interface will be selected for channel

number 1.

If jumpers E3A to E3F are in the 2-3 position, a sinusoidal encoder interface will be selected for channel

number 1.

Jumpers E5A to E5F select between a quadrature encoder and a sinusoidal encoder type for channel

number 2. The sinusoidal encoder type can be used only if the Option-1 is ordered.

Sinusoidal Encoder Jumper Settings (for Option 1 only)

Jumpers JP-1 to JP-16 and JP-19 to JP-34 are used for setting the range of the optional sinusoidal

interpolator circuits, which are provided with Option-1. See the detailed instructions for Option-1 later in

this manual.

T, U, V and W Flags Direction Jumpers

When jumpers E4A to E4D are installed, a set of pulse-and-direction signals can be output on the T, U, V

and W lines of the P1 connector. If E4A to E4D are removed, the T, U, V and W lines on the P1

connector will be set as inputs, commonly used to read hall effect sensors or to use a sinusoidal encoder.

When jumpers E6A to E6D are installed, a set of pulse-and-direction signals can be output on the T, U, V

and W lines of the P2 connector. If E6A to E6D are removed, the T, U, V and W lines on the P2

connector will be set as inputs, commonly used to read hall effect sensors or to use a sinusoidal encoder.

Setting the T, U, V and W lines as pulse-and-direction outputs allows controlling a stepper motor or

exciting an MLDT sensor device.

Digital Power Supply Selection

If jumper E10 is installed, the Acc-8A will obtain the digital 5V power supply from PMAC2 board

through the JMACH1 (100-pin connector). If E10 is removed, a separate 5V DC power supply must be

connected to the TB3 terminal block.

Axes Pair Selector (for Option 1 only)

If the Acc-8A is connected through the PMAC2 JMACH1 or JMACH3 connector, set E7 to the 1-2

position. Otherwise, set E7 to position 2-3. E7 is only installed if the ACC-8A Option 1 is ordered.

Resistor Packs

The Acc-8A is provided with 8-pin sockets for SIP resistor packs for the input flag sets. RP28 is for Flag

set 1; RP27 is for Flag set 2. Acc-8A boards are shipped with no resistor packs installed. If the flag

circuits are in the 12V to 24V range, no resistor pack should be installed in these sockets. For flags at 5V

levels, quad 1k SIP resistor packs (1KSIP8I) should be installed in these sockets.

Fuse

The 5V connection through the TB3 terminal block is protected by F1, a 2-Amp fuse.

Accessory 8A

4 Hardware Setup

Acc-8A Layout Diagram: Part Number 603476-10x

0.000

0.125

0.000

0.125

2.700

2.875

Mounting holes are

0.125” in diameter

9.075

9.200

TB4

TB2

TB1

TB3

JP12

JP11

JP10

JP9

E5F

E5E

E5D

E5C

E5B

E5A

E6D

E6C

E6B

E6A

JP16

JP15

JP14

JP13

JP5

JP6

JP7

JP8

E3A

E3B

E3C

E3D

E3E

E3F

JP1

JP2

JP3

JP4

E4A

E4B

E4C

E4D

LED6

LED5

LED4

LED3

JP18

RP27

RP28

JMACH

FUSE

E10

JP22

JP19

JP23

JP36

JP21

JP17

JP20

LED1

LED2

LED7

Accessory 8A

Connections 5

CONNECTIONS

PMAC2 Connection

The Acc-8A connects to the Delta Tau PMAC2-type board through the JMACH1 connector with a

provided high-density 100-pin flat cable. This cable must not exceed 36 inches in length.

Power Supplies

Digital Power Supply

If jumper E10 is installed, the Acc-8A will obtain the digital 5V power supply from PMAC2 through the

JMACH1 (100 pin connector). If E10 is removed, a separate 5VDC power supply must be connected to

the TB3 terminal block.

Analog Power Supply

The Acc-8A requires a power supply from ±12 to ±15V to power the analog circuits. This power supply

is connected on the TB4 terminal block.

Flags Power Supply (Optional)

Each channel of PMAC2 has dedicated digital inputs or flags on the machine connector: PLIMn, MLIMn

(over-travel limits), and HOMEn (home flag). These inputs can be kept isolated from other circuits. A

power supply from 12 to 24V could be used to power the corresponding opto-isolator circuits related to

these inputs. Alternatively, the analog power supply connected to the TB4 terminal block could be used

to power the flags opto-isolated circuits. If the use of 5V flags is desired, a 1k SIP resistor pack

(1KSIP8I) should be installed in the RP28 or RP27 sockets for channel 1 or channel 2, respectively. In

this case, the flags’ opto-isolation circuits will be powered with a 5 Volts power supply instead.

Over-Travel Limits and Home Switches

When assigned for the dedicated uses, these signals provide important safety and accuracy functions.

PLIMn and MLIMn are direction-sensitive over-travel limits that must conduct current (either sinking or

sourcing) to permit motion in that direction. If no over-travel switches will be connected to the particular

motor, this feature must be disabled in the software setup through the non-Turbo PMAC Ix25 variable or

the Turbo PMAC Ixx24 variable.

Types of Over-Travel Limits

The Acc-8A board has a bipolar opto-isolating circuitry (chip PS-2705-4NEC) for the flag connections.

This allows using either a sinking or sourcing sensor in the 5 to 24V range. This includes proximity

sensors and dry (passive) normally closed contacts.

Flag

Return Signal

Sinking Signal

(Gnd) Gnd

Flag

Return Signal

Sourcing Signal

(+V)

PMAC2 Flag Inputs Circuit

Accessory 8A

6 Connections

Examples: These examples show the connection of the most common types of end-of-travel sensors.

The power supply from the TB4 connector could be used instead of the optional power supply shown. If

the use of 5V flags is desired, a 1k SIP resistor pack (1KSIP8I) should be installed in the RP28 or RP27

sockets for channel 1 or channel 2, respectively. In this case, the flags’ opto-isolation circuits will be

powered with a 5V power supply instead.

Sinking Sensors

Sourcing Sensors

Feedback Signals Connections

Incremental Encoder Connection

Each encoder connector provides a +5V output and logic ground for powering the encoders. Connect the

A and B (quadrature) encoder channels to the appropriate terminal block pins. If there is a single-ended

signal, leave the complementary signal pins floating – do not ground them. By default, PMAC2 is

configured for connections of either single ended or differential line driver encoders. Resistor packs

allow the configuration of the encoder inputs for other encoder types.

Example: differential quadrature encoder connected to channel #1 of an Acc-8A:

In this configuration, jumpers E3A to E3F for channel 1 or jumpers E5A to E5F for channel 2 will be set

in the 1-2 position, configuring the appropriate feedback input circuitry for a quadrature encoder.

Accessory 8A

Connections 7

MLDT Feedback Connection

The PMAC2 can provide direct interface to magnetostrictive linear displacement transducers (MLDTs)

through its encoder connectors. This interface is for MLDTs with an external excitation format (often

called RS-422 format because of the signal levels), because the PMAC2 provides the excitation pulse, and

receives the echo pulse, both with RS-422 signal formats. The PULSE+ (high during the pulse) and

PULSE- (low during the pulse) outputs from the encoder connector are connected to the differential pulse

inputs on the MLDT. The echo pulse differential outputs from the MLDT are connected to the CHA+

and CHA- input pins on the same encoder connector. If the MLDT uses RPM format, in which there is a

brief “start” echo pulse, and a brief stop echo pulse, the “+” output from the MLDT should be connected

to the CHA+ input, and the “-” output should be connected to the CHA- input. If the MLDT uses DPM

format, in which there is a single long echo pulse, with the delay to the trailing edge measuring the

position, the “+” output from the MLDT should be connected to the CHA- input, and the “-” output

should be connected to the CHA+ input. A PMAC2 channel controlling a pulse and direction (stepper)

driver cannot use a MLDT feedback device. In this configuration the jumpers E4A to E4F for channel 1

or the jumpers E6A to E6F for channel 2 will be installed, allowing the output of the pulse-and-direction

signals on the appropriate encoder connector.

Sinusoidal Encoder Connection

If Option-1 is ordered, the Acc-8A includes a sinusoidal encoder interpolator circuit per channel. In this

configuration, jumpers E3A to E3F for channel 1 or jumpers E5A to E5F for channel 2 will be set in

position 2-3, configuring the appropriate feedback input circuitry for a sinusoidal encoder. In addition,

jumpers E4A to E4F for channel 1 or jumpers E6A to E6F for channel 2 will be removed, allowing input

to the sub-count interpolated data on the T, U, V, and W flag inputs. Jumpers JP-1 to JP-23 and JP-36

must be setup appropriately for using the sinusoidal interpolator circuit.

Note:

For the sinusoidal encoder connections, it is essential to use double-shielded

twisted pair cable.

SIN+

SIN-

SHIELD

COS+

COS-

SHIELD

INDEX+

INDEX-

SHIELD

ENC PWR

GND

SHIELD

OUTER

SHIELD

EXAMPLE OF DOUBLE SHIELDED

4 TWISTED PAIR CABLE

COS

SIN

Index

Accessory 8A

8 Connections

Amplifier Connections

Analog ±10V Command Signals

PMAC2 provides either one or two DAC ±10V signals per channel when using the interface Acc-8A

board. Two DAC outputs per channels are ordered through the Option-2.

If PMAC is not performing the commutation for the motor, only one analog output channel is required to

command the motor. This output channel can be either single-ended or differential, depending on what

the amplifier is expecting. For a single-ended command, connect DACnA+ to the command input on the

amplifier. Connect the amplifier's command signal return line to the AGND line. In this setup, leave the

DACnA- pin floating; do not ground it. For a differential command, connect DACnA+ to the plus

command input on the amplifier. Connect DACnA- to the minus command input on the amplifier. The

AGND line should still be connected to the amplifier common.

If using PMAC to commutate the motor, use the two analog outputs provided by the PMAC2 channel:

DACnA+, DACnA-, DACnB+ and DACnB-. Each output may be single-ended or differential, just as for

the DC motor. Connect DACnA+ and DACnB+ to the analog inputs of the amplifier. If using the

complements as well, connect DACnA- and DACnB- to the minus command inputs; otherwise leave the

complementary signal outputs floating. To limit the range of each signal to +/- 5V, use parameter Ix69.

Any analog output not used for dedicated servo purposes may be utilized as a general-purpose analog

output. In general, this is done by defining the digital-to-analog-converter register through an M-variable

(suggested M-variable definitions M102, M104, M202, M204 etc.), and then writing values to the M-

variable. The analog outputs are intended to drive high-impedance inputs with no significant current

draw. PMAC2 cannot control an amplifier that is expecting separate sign and magnitude signals.

Example: connections of the DAC ±10V command signals from an Acc-8A:

Pulse and Direction (Stepper) Drivers

Any motor using the Acc-8A board could be setup for pulse-and-direction outputs instead of analog ±10

Volts DAC outputs. The pulse-and-direction signals can be connected on the T, U, V, and W lines of the

P2 encoder connector. In this configuration the jumpers E4A to E4F for channel 1 or the jumpers E6A to

E6F for channel 2 will be installed, allowing the output of the pulse-and-direction signals on the

appropriate encoder connector.

Accessory 8A

Connections 9

Amplifier Enable and Fault Signals

Most amplifiers have an enable/disable input that permits complete shutdown of the amplifier regardless

of the command signal voltage. PMAC’s AENA line is meant for this purpose. For early tests, this

amplifier signal may be under manual control. The amplifier enable signal of the Acc-8A interface board

is controlled by a relay with normal open and normal close dry contacts:

AE_NO

AE_COM

AE_NCAENA

Acc-8A

This example shows the connection of an Acc-8A to an amplifier which in order to be enabled requires

the enable line to be closed to ground. To indicate a fault condition, the amplifier closes to ground the

single ended amplifier fault line.

Amplifier

Enable

Fault

AGND

P3 DB-15 Connector

Pin# Symbol

AE_NO_1

AE_COM_1

AFAULT_1+

AFAULT_1-

AGND

7 AA+15V

Acc-8A

This example shows the connection of an Acc-8A to an amplifier which in order to be enabled requires

the enable line to be closed to the voltage source. To indicate a fault condition, the amplifier uses a single

ended sourcing line.

Amplifier

Enable

Fault

AGND

P3 DB-15 Connector

Pin# Symbol

AE_NO_1

AE_COM_1

AFAULT_1+

AFAULT_1-

AGND

7 AA+15V

Acc-8A

Accessory 8A

10 Connections

Connections Example: Analog Amplifier with Incremental Encoder

Digital Amplifier

Motor

Amplifier

Encoder

Load

Flags

+15V Power

Supply 12-24V Power

Supply

TB1 Terminal Block

Pin# Symbol

1 USER1

2 PLIM1

3 MLIM1

4 HOME1

5 FL_RET_1

P1 DB-15 Connector

Pin# Symbol

3 CHA1+

11 CHA1-

4 CHB1+

12 CHB1-

5 CHC1+

13 CHC1-

1 VDD (5V)

2 VSS (GND)

P3 DB-15 Connector

Pin# Symbol

1 DAC1A+

9 DAC1A-

2 DAC1B+

10 DAC1B-

3 AE_NC_1

11 AE_COM_1

4 AE_NO_1

12 AFAULT_1+

5 AFAULT_1-

14 AGND

TB4 Terminal Block

Pin# Symbol

1 AGND

2 AA+15V

4 AA-15V

Jumper setup for this configuration:

Jumpers E3A-E3F or E5A-E5F: position 1-2

Jumpers E4A-E4F or E6A-E6F: removed

Jumper E10: installed

The optional 15V power supply for powering the flag circuits could be replaced by the ±15V power

supply connected to TB4, this way powering both the flag and analog circuits with a single power supply.

Accessory 8A

Non-Turbo PMAC2 Software Setup 11

NON-TURBO PMAC2 SOFTWARE SETUP

Analog Outputs Configuration

I9n6, Output n Mode Select

I9n6 selects the output formats to be used on the command output signal lines for machine interface

channel n. For the Acc-8A operation, I9n6 must be set to a value of either 1 or 3 (These are not the

default values):

I9n6 = 1 (Outputs A and B are DAC; Output C is PWM)

I9n6 = 3 (Outputs A and B are DAC; Output C is PFM)

Note:

The odd-numbered channel for the Acc-8A must be set to DAC mode for the

analog outputs in either channel to work.

I905/I909, DAC Strobe Word (DAC Resolution Configuration)

I905 controls the DAC strobe signal for machine interface channels 1-4. I909 controls the DAC strobe

signal for machine interface channels 5-8. For using the 18-bits DAC circuits on the Acc-8A board,

variable I905 (channels 1-4) or variable I909 (channels 5-8) must be set to its default value of $7FFFC0.

I905 = $7FFFC0 (PMAC2 channels 1-4 are 18-bit)

I909 = $7FFFC0 (PMAC2 channels 5-8 are 18-bit)

Configuration Example and Test Procedure

Acc-8A is connected to the PMAC2 JMACH1 connector using channels 1 and 2. These are the

appropriate I-variables values:

I916=3 ; channel 1 is set for DAC outputs

I926=3 ; channel 2 is set for DAC outputs

I905=$7FFFC0 ; channels 1-4 are set for 18-bits DAC circuits (Acc-8A)

WARNING:

Make sure the motor/amplifier is not powered during this test; otherwise,

unexpected machine movement could occur.

To test this configuration, perform the following steps, typing the indicated commands on a terminal

window communicating with PMAC2.

1. Make sure a ±15V is applied to the TB4 terminal block.

2. Make sure the PMAC2 is connected to the Acc-8A and that jumper E10 is properly installed.

3. Type these commands on the terminal window:

I916=3 ; channel 1 is set for DAC outputs

I905=$7FFFC0 ; channels 1-4 are set for 18-bits DAC circuits (Acc-8A)

I100=0 ; disables motor #1. Allows direct access to the DAC register

M102->Y:$C002,8,16,S ; OUT1A DAC command value

M102=32767 ; Measure about 10V between pins 1 and 14 of P3

M102=-32767 ; Measure about -10V between pins 1 and 14 of P3

M102=0 ; Measure about 0V between pins 1 and 14 of P3

I100=1 ; enables motor #1

SAVE ; SAVEs this configuration in PMAC’s memory

Accessory 8A

Non-Turbo PMAC2 Software Setup

Sinusoidal Encoder Setup (Option-1 Required)

The Interpolator accepts two sinusoidal or quasi-sinusoidal inputs and provides an AquadB digital output

signal and five bits of parallel signal to PMAC2. This creates 128 states or 256 states per sine-wave cycle

depending upon the setting of a jumper (JP36 for channel 1 and JP18 for channel 2).

The Interpolator can accept either a current source or a voltage source signal from the encoder. A 1K

resistor is placed across the differential input for micro-current loading. Input sensitivity is jumper

selectable between 5.7µA (5.7mV) and 2.3mA (2.3V) for full-scale peak input. An ‘OUT OF

RANGE’ LED (D1 and D3) is provided to allow easy calibration and will indicate whether there are

sensor interface problems.

Whether it is a PMAC2 or a PMAC2 Ultralite/MACRO Station setup, do the following:

1. Set jumpers E3A-E3F to 2-3 (channel 1) and jumpers E5A-E5F to 2-3 (channel 2) to set the board up

for sinusoidal encoder interpolator mode. Also, jumpers E4A to E4D (channel 1) or E6A to E6D

(channel 2) must be removed.

2. Modify the SCLK clock via the hardware clock channels (I903 and I907 or MSn, MI903 or MI907 or

MI993 on the 2-Axis option).

3. Set the sensitivity level inputs.

4. Change the encoder conversion table to read the input as Parallel Extension of Incremental Encoder.

5. Toggle the Flags to read the T, U, V, W, and USERn Flags generated by interpolator.

6. Make sure the encoder decode (I9n0 or MSn, MI910) is set to 7.

Modifying the SCLK Clock

The PMAC2 encoder sample clock (SCLK) output is used for synchronization to the Interpolator. The

Sample clock signal frequency must be set to a value that does not exceed 3 MHz. By default, the SCLK

setting is at 9.8 MHz.

PMAC2 Modifications

To lower the SCLK to a value lower than 3 MHz, set I903 (for channels 1-4) or I907 (channels 5-8) to

2260 ($8D4). This will lower the value of the SCLK to 2.457 MHz. The default setting for I903 and

I907 is 2258 ($8D2). If there are any questions about the setting of I903 or I907, refer to the PMAC2

User manual or the PMAC Software Reference manual.

PMAC2 Ultralite/MACRO Station Modifications

The SCLK at the Ultralite does not need to be modified but the SCLK at the MACRO Station does.

4 Axis Option: At the MACRO Station, to set the SCLK to a value less than 3MHz the axes assigned to

that station will need to have MSn, MI903 set to 2260 for channels 1-4 and MSn, MI907 set to 2260 for

channels 5-8. Like the PMAC2, these changes to the MACRO Station will change the encoder sample

clock from the default (2258) setting of 9.8 MHz to 2.457 MHz.

2-Axis Option: At the MACRO Station, to set the SCLK to a value less than 3MHz, the axes assigned to

that station will need to have MSn, MI993 set to 2260 for channels 9-10. Like the PMAC2, these

changes to the MACRO Station will change the encoder sample clock from the default (2258) setting of

9.8 MHz to 2.457 MHz.

When used with a sample clock frequency of 2.4576 MHz, a 1000 line sinusoidal rotary encoder will spin

at a rate up to 9,180 RPM with 256,000 counts per revolution.

Accessory 8A

Non-Turbo PMAC2 Software Setup 13

Setting Input Sensitivity for Encoder

Since each interpolator uses two input signals that are relative to each other, two channels must be

adjusted for the same input sensitivity for each channel. This is done by selecting a single jumper each

from JP19 to JP34 for channel 1, and from JP1 through JP16 for channel 2. A waveform of the sinusoidal

encoder inputs is shown in the following diagram. Each of the inputs has its own sensitivity adjustment

jumper but typically both inputs are set to the same resistor value.

-90 -45 0 45 90 135 180 225 270 315 360

Signal Period (360°)

90° Shift

0°

360°

0°

360°

32 Fractional

Steps

Each channel has two resistors or sensitivity level adjustments to be set for each of the encoder channels.

The Delta Tau interpolator breaks these signals up as follows:

Channel 1

Channel 2

SIN

COS

SIN

COS

JP19

JP27

JP1

JP9

JP20

JP28

JP2

JP10

JP21

JP29

JP3

JP11

JP22

JP30

JP4

JP12

JP23

JP31

JP5

JP13

JP24

JP32

JP6

JP14

JP25

JP33

JP7

JP15

JP26

JP34

JP8

JP16

The Out of Range LED (D1 and D3) will illuminate if the wrong values are selected for input sensitivity.

When adjusting the sensitivity of the inputs, it is possible that the LED will illuminate when the encoder

is moved.

Empirical Adjustment of Input Sensitivity

It is possible to adjust the input attenuation for proper levels through use of the Out of Range LED. When

moving the attenuation jumpers back and forth it is important to be sure that they are in the same relative

positions to each other.

Start by placing the shorting jumpers at JP19 and JP27 for channel 1. If the Out of Range LED is

illuminated, move the jumpers to JP20 and JP28. Continue working through the Channel 1 table

(preceding page) until the Out of Range LED is not illuminated. The encoder should not be moved while

performing this adjustment.

Accessory 8A

Non-Turbo PMAC2 Software Setup

Most sinusoidal encoders have an output voltage that decreases when the speed of the encoder increases.

This may result in an out-of-range indication while the encoder is moving. If this occurs, there may be

nothing wrong with the interpolator’s output, except that the fractional part of the interpolation value may

be inaccurate during this period. When the encoder slows down, the fractional part of the output will

become accurate again. The absolute count position of the encoder is not lost should this occur.

If the Out of Range LED illuminates too easily during fast encoder moves, try setting the interpolator to

low-resolution mode (JP36 for channel 1 and JP18 for channel 2). There is a wider range of voltage

inputs allowed at the lower resolution setting.

Reading the Sub-Counts

At this point, if the encoder is powered properly, quadrature readings can be read from the interpolator.

The fractional data or the sub-counts can be processed when the encoder conversion table has been set to

incremental encoder with sub-count extension.

The encoder conversion table is a user configurable list of entries that may be assigned to different

specific data processing inputs. The interpolator is assigned into the encoder conversion table as a

Parallel Extension of Incremental Encoder.

As an incremental encoder, the quadrature input is still seen as a whole number counter. The parallel data

is the fractional extension of the interpolator’s parallel data input. Therefore, each bit change of the

parallel data is seen by PMAC2 as a 1/32th (0.03125) step. Since PMAC2 uses floating-point arithmetic,

a calculated step distance result will be accurate to 1/32 of a whole number count.

For more information about the encoder conversion table, refer to the PMAC2 User manual or the

MACRO Station Users manual.

Setting up the MACRO Station for Sub-Count Interpolation

For Ultralite/MACRO Station configurations, the encoder conversion table to be modified is at the

MACRO Station. The encoder feedback information sent to the Ultralite from the MACRO Station will

be sent as a parallel word. By default, the Ultralite reads information processed at the MACRO Station as

a parallel word, so there will be no need to modify the encoder conversion table at the Ultralite.

At the MACRO Station, the encoder conversion table can be modified with the MACRO I-variables

MI120 through MI151. As with a PMAC encoder conversion table, there are 32 entries or locations. The

information is processed from a designated register (usually a gate on the 4 axis expansion), processed,

and then sent to Ultralite as a parallel word. The default setup of the MACRO encoder conversion table

resembles that of the PMAC2 family of controllers.

MSn, MI120=$00C000 ; 1/T interpolation of incremental encoder #1

MSn, MI121=$00C008 ; 1/T interpolation of incremental encoder #2

MSn, MI122=$00C010 ; 1/T interpolation of incremental encoder #3

MSn, MI123=$00C018 ; 1/T interpolation of incremental encoder #4

To set the MACRO Station to read the encoders as parallel extensions of incremental encoders, a mask of

$80 should be placed in front of the encoder feedback address. Modify the encoder conversion table in

the terminal window of the Executive program as shown below.

For the 4-Axis Option

MSn, MI120=$80C000 ;parallel extension of incremental encoder #1

MSn, MI121=$80C008 ; parallel extension of incremental encoder #2

MSn, MI122=$80C010 ; parallel extension of incremental encoder #3

MSn, MI123=$80C018 ; parallel extension of incremental encoder #4

For the 2-Axis Option

MSn, MI120=$80C090 ; parallel extension of incremental encoder #1

MSn, MI121=$80C098 ; parallel extension of incremental encoder #2

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Delta Tau Acc-8A Owner's manual

Delta Tau Acc-8A Owner's manual

Delta Tau Acc-8A Owner's manual

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