Delta Tau Acc-4E User manual

Delta Tau Data Systems, Inc.

Accessory 84E

HARDWARE REFERENCE MANUAL

3A⏕-603927-⏕U⏕⏕

February 10, 2022

Document # MN-000150

Universal Serial Encoder Interface

COPYRIGHT INFORMATION

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, email: odt-support@omron.com.

For inquiries about the product, contact your local OMRON representative.

Trademarks

All encoder protocols and industrial networks mentioned in this manual are registered trademarks to

their corresponding owners. They are only used in the purpose of product and technical description.

E.g. EtherCAT® is a registered trademark of Beckhoff.

OPERATING CONDITIONS

All Delta Tau Data Systems, Inc. motion controller, accessory, and amplifier products 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 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.

SAFETY INSTRUCTIONS

Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified

personnel are persons who are familiar with the transport, assembly, installation, and operation of

equipment. The qualified personnel must know and observe the following standards and regulations:

IEC364resp.CENELEC HD 384 or DIN VDE 0100

IEC report 664 or DIN VDE 0110

National regulations for safety and accident prevention or VBG 4

Incorrect handling of products can result in injury and damage to persons and machinery. Strictly

adhere to the installation instructions. Electrical safety is provided through a low-resistance earth

connection. It is vital to ensure that all system components are connected to earth ground.

This product contains components that are sensitive to static electricity and can be damaged by incorrect

handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the

product on a conductive surface. Discharge any possible static electricity build-up by touching an

unpainted, metal, grounded surface before touching the equipment.

Keep all covers and cabinet doors shut during operation. Be aware that during operation, the product

has electrically charged components and hot surfaces. Control and power cables can carry a high

voltage, even when the motor is not rotating. Never disconnect or connect the product while the power

source is energized to avoid electric arcing.

A Warning identifies hazards that could result in personal injury or

death. It precedes the discussion of interest.

Warning

Caution

A Caution identifies hazards that could result in equipment damage. It

precedes the discussion of interest.

Note

A Note identifies information critical to the understanding or use of the

equipment. It follows the discussion of interest.

MANUAL REVISION HISTORY

REV

DESCRIPTION

DATE

CHANGE

APPROVED

1

Manual Creation.

04/27/10

CP

SS

10

Added 1S and minor corrections

5/22/20

AA

RN

A

Manual rework, along with corrections and TBC

11/9/20

AA

RN

B

Corrected jumper section and removed obsolete

protocol

3/26/21

AA

RN

C

Added information about Tamagawa protocol

Added UKCA Marking to front cover and added

description in Agency of Approval section

09/03/21

AA

RN

D

Updated UKCA standard

02/10/22

AE

SF

ACC-84E User Manual   
 
Table of Contents 
COPYRIGHT INFORMATION ............................................................................................ I 
Trademarks ....................................................................................................................... i 
OPERATING CONDITIONS................................................................................................ II 
SAFETY INSTRUCTIONS ................................................................................................. III 
INTRODUCTION.................................................................................................................. 10 
Overview ........................................................................................................................ 10 
Compatibility ................................................................................................................... 12 
SPECIFICATIONS................................................................................................................ 12 
Environmental Specifications .......................................................................................... 12 
Physical Specifications ................................................................................................... 12 
Electrical Specifications .................................................................................................. 12 
Configuration .................................................................................................................. 13 
Agency Approval and Safety ........................................................................................... 14 
MOUNTING AND INSTALLATION ................................................................................. 15 
HARDWARE SETUP ........................................................................................................... 16 
Hardware Dimensions .................................................................................................... 16 
Diagnostic LEDs ............................................................................................................. 16 
Jumper Settings .............................................................................................................. 17 
Addressing the ACC-84E ................................................................................................ 18 
Signal Format ................................................................................................................. 18 
Connections ................................................................................................................... 19 
Encoder Specific Connection Information ................................................................................ 20 
SERIAL ENCODER SOFTWARE SETUP ........................................................................ 23 
Hardware-Control Parameter Setup ................................................................................ 23 
Multi-Channel Setup Element .................................................................................................... 25 
Single-Channel Setup Element .................................................................................................. 28 
Hardware-Status Data Structure ..................................................................................... 31 
Single-Channel Status Elements ................................................................................................ 31 
SSI Protocol ................................................................................................................... 33 
Configuration ............................................................................................................................ 33 
Reading the Data ....................................................................................................................... 34 
EnDat 2.1/2.2 Protocol .................................................................................................... 35 
Configuration ............................................................................................................................ 35 
Reading the Data ....................................................................................................................... 39 
Yaskawa Sigma II/III/V Protocol ...................................................................................... 42 
Configuration ............................................................................................................................ 42 
Reading the Data ....................................................................................................................... 44 
Alarm Code Description ............................................................................................................ 47 
Tamagawa Protocol ........................................................................................................ 48 
Configuration ............................................................................................................................ 48 

ACC-84E User Manual   
 
Reading the Data ....................................................................................................................... 50 
Alarm Code Description ............................................................................................................ 51 
Status Code Description ............................................................................................................ 51 
Panasonic Protocol ......................................................................................................... 52 
Configuration ............................................................................................................................ 52 
Reading the Data ....................................................................................................................... 54 
Alarm Code Description ............................................................................................................ 55 
Status Code Description ............................................................................................................ 55 
Mitutoyo Protocol ............................................................................................................ 56 
Configuration ............................................................................................................................ 56 
Reading the Data ....................................................................................................................... 57 
Alarm Code Description ............................................................................................................ 58 
Status Code Description ............................................................................................................ 58 
BiSS-B/C Protocol .......................................................................................................... 59 
Configuration ............................................................................................................................ 59 
Reading the Data ....................................................................................................................... 61 
Status Code Description ............................................................................................................ 61 
Mitsubishi Protocol.......................................................................................................... 62 
Configuration ............................................................................................................................ 62 
Reading the Data ....................................................................................................................... 64 
Alarm Code Description ............................................................................................................ 66 
Status Code Description ............................................................................................................ 66 
Omron 1S Protocol ......................................................................................................... 67 
Configuration ............................................................................................................................ 67 
Reading the Data ....................................................................................................................... 68 
Alarm Code Description ............................................................................................................ 70 
Status Code Description ............................................................................................................ 70 
USING THE RESULTING SERIAL ENCODER POSITIONS ....................................... 71 
Using the ACC-84E with Power PMAC ........................................................................... 71 
Ongoing Commutation Phase Position ..................................................................................... 71 
Power-On Commutation Phase Position ................................................................................... 72 
Ongoing Servo Position ............................................................................................................. 72 
Power-On Servo Position .......................................................................................................... 73 
Using the ACC-84E with Turbo PMAC ............................................................................ 74 
Setup Summary .......................................................................................................................... 75 
Technique 1 Example ................................................................................................................ 77 
Technique 2 Example ................................................................................................................ 81 
Technique 3 Example ................................................................................................................ 86 
Using the ACC-84E with MACRO ................................................................................... 98 
Addressing and Register Addresses ........................................................................................... 98 
Setting up the Global and Channel Registers on Power Up ..................................................... 98 
Encoder Conversion Table Setup .............................................................................................. 99 
Absolute Power-On Phasing and Servo Power on Position ...................................................... 99 
SERIAL LINK (XY2-100) SETUP ..................................................................................... 102 
Signal Description ......................................................................................................... 102 
Clock ........................................................................................................................................ 103 
Sync ......................................................................................................................................... 103 
X, Y & Z Data .......................................................................................................................... 103 

ACC-84E User Manual   
 
Status ....................................................................................................................................... 103 
Connections ................................................................................................................. 103 
DE-9 Connector Pin Out ......................................................................................................... 104 
DA-15 Connector Pin Out ....................................................................................................... 105 
Signal Termination .................................................................................................................. 106 
Setup Elements ............................................................................................................ 107 
Multi-Channel Setup Element .................................................................................................. 107 
Channel Specific Command Register ...................................................................................... 110 
Status Data Structures .................................................................................................. 114 
Single-Channel Status Elements .............................................................................................. 114 
ACC-84E Setup Element Example ........................................................................................... 121 
Encoder Conversion Table Example ....................................................................................... 122 
Power PMAC Motor Setup Example ....................................................................................... 123 
Motor Speed/Acceleration Limitations .................................................................................... 125 
Initializing Motor Position ...................................................................................................... 126 
Non-linearity of Scanheads ..................................................................................................... 127 
Corrections for Scanner/Optics Non-linearity ........................................................................ 129 
TABLE BASED POSITION COMPARE ......................................................................... 134 
Connections ................................................................................................................. 135 
DE-9 Connector Pin Out ......................................................................................................... 135 
DA-15 Connector Pin Out ....................................................................................................... 136 
Signal Termination .................................................................................................................. 136 
Setup Elements ............................................................................................................ 137 
Multi-Channel Setup Element .................................................................................................. 137 
Channel Specific Command Register ...................................................................................... 140 
Status Data Structures .................................................................................................. 142 
Single-Channel Status Elements .............................................................................................. 142 
Test Example ................................................................................................................ 145 
APPENDIX A: SERIAL ENCODER SETUP EXAMPLES ............................................ 147 
SSI Feedback Setup Example ...................................................................................... 147 
Multi-Channel Setup Element .................................................................................................. 147 
Single-Channel Setup Element ................................................................................................ 147 
EnDat 2.2 Feedback Setup Example: ........................................................................... 148 
Absolute phase and power-up/reset position ........................................................................... 150 
EnDat 2.2 with Incremental Encoders: ................................................................................... 151 
EnDat 2.2 Reference Mark Setup Example: ............................................................................ 153 
Yaskawa Sigma II/III/V Feedback Setup Example ........................................................ 156 
Channel Control Register Setup for Position Read ................................................................. 156 
Encoder Specific Settings ........................................................................................................ 158 
BiSS-C Feedback Setup Example: ............................................................................... 175 
Commutation with High Resolution Encoders (more than 23 bits per revolution) ................. 176 
Absolute Power-On Servo Position ......................................................................................... 177 
Absolute Power-On/Reset Phase Position ............................................................................... 178 
   

ACC-84E User Manual

Introduction 10

INTRODUCTION

Overview

The ACC-84E Universal Serial Encoder Interface Board can be configured for one of many different

purposes. The most common use provides up to four channels of serial encoders to be read by the

UMAC and Ultralite/MACRO Station controllers, however other purposes include communicating with

galvanometers using protocols such as XY2-100 or maintaining a table of points for use as an expanded

position compare output. The ACC-84E is part of the UMAC or MACRO Pack family of expansion

cards and these accessory cards are designed to plug into an industrial 3U rack system. The information

from these accessories is passed directly to either the UMAC or MACRO Station CPU via the high

speed JEXP expansion bus. ACC-84E supports different protocols depending on the option ordered.

These protocols are programmed into an on-board FPGA upon manufacturing. Multiple common

protocols are supported at the moment and future developments of additional protocols are feasible.

Currently, ACC-84E supports the following encoder protocols:

 SSI Synchronous Serial Interface

 EnDat 2.2 EnDat 2.2 Interface from HEIDENHAIN

 Yaskawa Yaskawa Sigma II/III/V Feedback Support

 Tamagawa Tamagawa OAS and SA Absolute Encoders

 Panasonic A4 and A5 Encoder Series

 Mitutoyo Mitutoyo ENSIS® high-speed serial protocol (AT503/AT503A/ST70X)

 BiSS B/C BiSS B/C Unidirectional

 Mitsubishi Mitsubishi Serial Encoder Protocol for HG-X Servo Motors

 Omron 1S Omron 1S Series Serial Encoders

Alternately, the ACC-84E additionally could be ordered for one of the following alternate uses.

 XY2-100 XY2-100 Interface for X and Y Coordinate Communication

 TBC Table-Based Position Compare for expanded position compare functionality

Each ACC-84E can only support one of the protocols mentioned above for all four channels. If the

customer has two different protocols in the system, two separate ACC-84E cards should be used.

Since ACC-84E when used to read serial encoders is strictly a feedback input card, if the feedback is

intended to be used as the feedback for closed loop servo control, the servo command should be sent

out to the amplifier using a UMAC axis interface card depending on the signal and control type required

by amplifier. Here is a list of possible axis interface cards available for UMAC systems:

 ACC-24E2 Digital amplifier breakout w/ TTL encoder inputs or MLDT

 ACC-24E2A Analog amplifier breakout w/ TTL encoder inputs or MLDT

 ACC-24E2S Stepper amplifier breakout w/ TTL encoder inputs or MLDT

 ACC-24E3 Analog/Digital Output (Power PMAC Compatible Only)

Up to 12 ACC-84E boards can be connected to one UMAC. Because each MACRO Station CPU can

service only eight channels of servo data, only two fully populated ACC-84E boards can be connected

to the MACRO-Station. The ACC-84E board will take the data from a serial encoder and process it as

up to four 24-bit binary parallel words depending on protocol specifications. This data can then

ACC-84E User Manual

Introduction 11

processed in the UMAC or MACRO Station encoder conversion table for position and velocity

feedback. With proper setup, the information can also be used to commutate brushless and AC

induction motors.

ACC-84E User Manual

Specifications 12

Compatibility

The ACC-84E can be used with any type of CPU available for UMAC systems. These CPUs include:

 Power PMAC UMAC CPU

 Turbo PMAC UMAC CPU

 MACRO16 UMAC CPU

SPECIFICATIONS

Environmental Specifications

Description

Specification

Notes

Operating Temperature

0°C to 55°C,

Storage Temperature

-25°C to 70°C

No condensation, icing, or corrosive gasses

Humidity

10% to 95 %

Non-condensing

Physical Specifications

Description

Specification

Notes

Dimensions

Length: 16.279 cm (6.41 in.)

Height: 9.997 cm (3.94 in.)

Width: 2.007 cm (0.79 in.)

Weight

192g

DB Connectors

DB9 Female

UL-94V0

The width is the width of the front plate. The length and height are the dimensions of the PCB.

Electrical Specifications

Description

Specification

Notes

ACC-84E

Power

Requirements

5V @ 360mA (10%)

+15V @ 0 A

-15V @ 0 A

5V current requirement mentioned is the consumption of

the ACC-84E without any encoders connected.

ACC-84E User Manual

Specifications 13

Configuration

The ACC-84E can support different serial encoder protocols depending on the selected option. The

following figure shows its part number scheme:

3 - 3 9 2 7 A - 0 0 - 0 - 2

UMAC ACC-84EK L

H

00 - No Additional* Options

xx - Factory assigned digits

for Additional* Options

KL

Factory Assigned Options

I

B – BLACK Front, top and

bottom plates (Standard)

F - BLACK Front plate only

Order as Spare Only

R – SILVER Front, top and

bottom plates Obsolete

A - SILVER Front plate only

Order as Spare Only

Obsolete

Plate Options

I

002 – SSI Protocol

003 – EnDat 2.2 Protocol

006 – Yaskawa Sigma II & III & V

007 – Tamagawa Protocol

008 – Panasonic Protocol

009 – Mitutoyo Protocol

00B – BISS-B & C Protocol

00D – Miitsubishi Protocol

00E – 1S Encoder Protocol

TBC – TBC (Table Based Position Compare) Protocol

XY2 – XY2-100 Protocol

Serial Protocol Options

F

G H

H

* If Any Additional Option is required, contact factory for digits

K and L (Factory Assigned digits).

G

F

ACC-84E User Manual

Specifications 14

Agency Approval and Safety

Item

Description

CE Mark

EN61326-1

EMC

EN55011 Class A Group 1

EN61000-4-2

EN61000-4-3

EN61000-4-4

EN61000-4-5

EN61000-4-6

UL

UL 61010-1 File E314517

cUL

CAN/CSA C22.2 No. 1010.1-92 File E314517

Flammability Class

UL 94V-0

KC

EMI: KN 11

EMS: KN 61000-6-2

UKCA

2016 No. 1091

사 용 자 안 내 문

이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서

가정용 환경에서 사용하는 경우 전파간섭의 우려가 있습니다.

한국 EMC적용제품 준수사항

본 제품은 전파법(KC 규정)을 준수합니다. 제품을 사용하려면 다음 사항에

유의하십시오. 이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를

받은 기기로서 가정용 환경에서 사용하는 경우 전파간섭의 우려가 있습니

다. 입력에 EMC 필터, 서지 보호기, 페라이트 코어 또는 1차측의 케이

블에 노이즈 필터를 입력으로 사용하십시오.

ACC-84E User Manual

Mounting and Installation 15

MOUNTING AND INSTALLATION

To connect a UMAC accessory, simply slide the board into any open slot of the UMAC rack.

Customarily, accessories are installed from left to right as follows:

CPU

Fieldbus

Axes Cards

I/O Cards

Power Supply

10, 15, or 21-slot rack

Prior to installation, make sure that you have set the jumpers and address settings to your desired

requirements. Use the guide tracks that have been installed in the empty slots of your UMAC system

when installing a board.

As you slide the board into the rack, use caution to ensure none of the components on the board make

contact with the front plates of the boards on either side. Getting the front plate flush with the front of

the rack and turning the front screws firmly will ensure a good connection with the backplane.

When removing a board from the system, the user must first pull out any wired connections from the

top, bottom, and front panels then loosen the pem-nuts on the front of the rack. Next, the user can gently

pull the board from the rack and use caution to ensure that none of the components on the board make

contact with the boards on either side.

Caution

This product contains D-SUB style connectors. Do

not overtighten any screws on mating connectors,

and when possible, only tighten by hand.

Overtightening, such as with manual or electric

tools, may lead to the mating nut detaching when

subsequently unscrewed, which may result in

damage to the product, other electronics, and/or

injury.

Screw

Hex nut

(Risk of falling)

off)

ACC-84E User Manual

Hardware Setup 16

HARDWARE SETUP

The ACC-84E uses expansion port memory locations defined by the type of PMAC (Power, Turbo, or

MACRO) to which it is directly communicating.

Hardware Dimensions

While the connector locations and board size will be identical across all revisions of the ACC-84E,

jumpers changed in both label and location from revision 102 to 104 and as such are not shown below.

Similarly, the LEDs on the front of the accessory are only present on revision 104 and later.

Dimensions listed 



Diagnostic LEDs

Starting in Rev. 104 and later, there are 4 diagnostic LEDs on the front of the ACC-84E labeled “ENC1”

through “ENC4”. During normal operation, all four LEDs should remain lit. If any are not lit, this

indicates an issue with the +5V signal on the corresponding encoder, such as a short. If the LED remains

unlit without any connector attached, this likely indicates a hardware issue.

1.96

[49.89] 1.37

[34.80]

1.96

[49.89] 1.37

[34.80]

3.94

[99.97]

6.41

[162.79]

0.79

[20.07]

5.07

[128.90]

ACC-84E User Manual

Hardware Setup 17

Jumper Settings

The function and numbers of the jumpers changed in Rev. 104, so verify your revision number before

using the tables below. All jumpers not listed for should be off, and all options not listed should have

all jumpers off.

Option

Jumper Configuration (Before Rev. 104)

Option 2: SSI

JP2 ON

Option 3: EnDat 2.2

JP1 ON, JP2 ON

Option 6: Yaskawa Sigma II/III/V

JP2 ON, JP3 ON, JO11 ON, JP14 ON, JP17 ON, JP20 ON

Option 7: Tamagawa

JP1 ON, JP2 ON, JP3 ON

Option 8: Panasonic & Omron G5

JP4 ON

Option 9: Mitutoyo

JP1 ON, JP4 ON

Option B: BiSS-C

JP1 ON, JP2 ON, JP4 ON

Option D: Mitsubishi

JP1 ON, JP3 ON, JP4 ON

Option E: Omron 1S

JP2 ON, JP3 ON, JP4 ON

Option 24: XY2-100

JP4 ON, JP5 ON, JP10-21 ON

Option

Jumper Configuration (Rev. 104 or Later)

Option 6: Yaskawa Sigma II/III/V

JP2 ON, JP12 ON, JP22 ON, JP32 ON

Option 24: XY2-100

JP1-3 ON, JP11-13 ON, JP21-23 ON, JP31-33 ON

Some jumpers before Rev. 104 and all of the jumpers at and after Rev. 104 add 120 Ohm termination

resistors between differential pairs of signals. On early revisions, these were jumpers 10-21, and on

later revisions, they were jumpers 1-3, 11-13, 21-23, and 31-33. While some protocols require these

resistors at all times, in certain cases it may be beneficial to add the jumpers and use them even when

not required, such as when using excessively long cables.

Jumper (Before Rev. 104)

Jumper (Rev. 104 or Later)

Affected Signal

JP10

JP1

Ch. 1 (i=0) Clock (Pins 1-6)

JP11

JP2

Ch. 1 (i=0) Data (Pins 2-7)

JP12

JP3

Ch. 1 (i=0) Enable (Pins 3-8)

JP13

JP11

Ch. 2 (i=1) Clock (Pins 1-6)

JP14

JP12

Ch. 2 (i=1) Data (Pins 2-7)

JP15

JP13

Ch. 2 (i=1) Enable (Pins 3-8)

JP16

JP21

Ch. 3 (i=2) Clock (Pins 1-6)

JP17

JP22

Ch. 3 (i=2) Data (Pins 2-7)

JP18

JP23

Ch. 3 (i=2) Enable (Pins 3-8)

JP19

JP31

Ch. 4 (i=3) Clock (Pins 1-6)

JP20

JP32

Ch. 4 (i=3) Data (Pins 2-7)

JP21

JP33

Ch. 4 (i=3) Enable (Pins 3-8)

ACC-84E User Manual

Hardware Setup 18

Addressing the ACC-84E

The Switch 1 (SW1) settings will allow you to select the starting address location for data from the first

encoder. Data from encoders 2 through 4 will be placed at +4 memory locations from the base address

and so on and so forth.

Chip

Select

Base Address

SW1 Positions

TURBO

MACRO

POWER

6

5

4

3

2

1

CS10

Y:$78C00

Y:$8800

ACC84E[0]

ON

Y:$79C00

Y:$9800

ACC84E[4]

ON

OFF

ON

Y:$7AC00

Y:$A800

ACC84E[8]

ON

OFF

ON

Y:$7BC00

Y:$B800

ACC84E[12]

ON

OFF

ON

CS12

Y:$78D00

Y:$8840

ACC84E[1]

ON

OFF

Y:$79D00

Y:$9840

ACC84E[5]

ON

OFF

ON

OFF

Y:$7AD00

Y:$A840

ACC84E[9]

ON

OFF

ON

OFF

Y:$7BD00

Y:$B840

ACC84E[13]

ON

OFF

ON

OFF

CS14

Y:$78E00

Y:$8880

ACC84E[2]

ON

OFF

ON

Y:$79E00

Y:$9880

ACC84E[6]

ON

OFF

ON

Y:$7AE00

Y:$A880

ACC84E[10]

ON

OFF

ON

OFF

ON

Y:$7BE00

Y:$B880

ACC84E[14]

ON

OFF

ON

Note

ON designates Closed. OFF designates Open. Factory default is all

ON.

Signal Format

The signal format for the encoder is dependent on the particular protocol, but in all protocols, there is a

“strobe” and/or “clock” output from the controller, and a data channel into the processor from the

encoder. The encoder is queried synchronously with the Power/Turbo PMAC’s phase or servo clock,

and the incoming serial data is latched into a memory-mapped register for the processor to read.

ACC-84E User Manual

Hardware Setup 19

Connections

Encoders are connected to the ACC-84E through four 9-pin D-sub connectors. Two connectors on the

top side of the rack for encoders 1 and 2, and two connectors in the bottom side for encoders 3 and 4.

D-Sub DE9 Female

Mating: D-Sub DE9 Male

Pin # / Function

SSI /

EnDat

Yaskawa

Tamagawa

Panasonic

Mitutoyo/

Mitsubishi

BiSS B/C

Omron

1S

1

CLOCK–

OUT

CLK-

–





–

MA-

–

2

DATA–

IN/OUT

DAT-

SDI

BLU/BLK

SD



PS



MRR

(*RQ/*DT)

SLO-

SDI

3

ENA–

OUT

–

SENA



–

4

GND

COM

GND

BLK

GND

5

GND

COM

GND

BLK

GND

6

CLOCK+

OUT

CLK+

–

CLK

–

MA+

–

7

DATA+

IN/OUT

DAT+

SDO

BLU

SD

PS

MR

(RQ/DT)

SLO+

SDO

8

ENA+

OUT

–

SENA

–

9

+ 5V

OUT

+ 5V

Note

In most cases, only DATA lines are needed for Tamagawa encoders.

See “Encoder Specific Connection Information” for more details.

12345

6789

ACC-84E User Manual

Hardware Setup 20

Encoder Specific Connection Information

Yaskawa Sigma II/III/V Encoders

Yaskawa Sigma II/III/V absolute encoders require a 3.6V battery to maintain the multi-turn data while

the controller is powered down. This battery should be placed outside of the ACC-84E and the Yaskawa

Sigma II/III/V encoder, possibly on the cable. The battery should be installed between orange (+3.6V)

and orange/black wires (GND). Use of ready-made cables by Yaskawa is recommended. (Yaskawa part

number: UWR00650)

135

2 4 6

+5VDC (Red)

BAT+ (Orange)

SDO (Blue)

GND (Black)

BAT-

(Orange/Black)

SDI (Blue/Black)

12345 6789

The previous diagram shows the pin assignment from mating IEEE 1394 Yaskawa Sigma II connector

to ACC-84E encoder input. The Molex connector required for IEEE 1394 can be acquired as receptacle

kit from Molex, 2.00mm (.079") Pitch Serial I/O Connector, Receptacle Kit, Wire-to-Wire, Molex Part

Number: 0542800609.

Note

Yaskawa Encoder expects a supply voltage of 5V with less than

5% tolerance. Make sure voltage drop is not caused by excessive

wire length.

Note

Encoder wire shield must be connected to chassis ground on both

encoder and connector ends.

Note

Yaskawa Sigma II/III/V require a 120Ω termination resistor

between SDI and SDO twisted pair lines on ACC-84E side.

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Delta Tau Acc-4E User manual

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Delta Tau Acc-4E User manual

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