Delta Tau Acc-4E User manual

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User manual

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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
© 2022 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, 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
DESCRIPTION
DATE
CHANGE
APPROVED
Manual Creation.
04/27/10
CP
SS
Added 1S and minor corrections
5/22/20
AA
RN
Manual rework, along with corrections and TBC
11/9/20
AA
RN
Corrected jumper section and removed obsolete
protocol
3/26/21
AA
RN
Added information about Tamagawa protocol
Added UKCA Marking to front cover and added
description in Agency of Approval section
09/03/21
AA
RN
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
기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서
가정 에서 용하 경우 파간 려가 습니.
한국 EMC 수사
제품 파법(KC 규정) 준수니다. 품을 사용려면 다음 사항에
유의하십. 무용 환경 사용할 목적으 적합성평
받은 기기 가정용 경에 경우 전파간섭 우려 있습니
. 력에 EMC 필터, 서지 호기, 페라 코어 또는 1차측 케이
블에 이즈 터를 으로 사용시오.
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
ON
ON
ON
ON
ON
Y:$79C00
Y:$9800
ACC84E[4]
ON
ON
ON
OFF
ON
ON
Y:$7AC00
Y:$A800
ACC84E[8]
ON
ON
OFF
ON
ON
ON
Y:$7BC00
Y:$B800
ACC84E[12]
ON
ON
OFF
OFF
ON
ON
CS12
Y:$78D00
Y:$8840
ACC84E[1]
ON
ON
ON
ON
ON
OFF
Y:$79D00
Y:$9840
ACC84E[5]
ON
ON
ON
OFF
ON
OFF
Y:$7AD00
Y:$A840
ACC84E[9]
ON
ON
OFF
ON
ON
OFF
Y:$7BD00
Y:$B840
ACC84E[13]
ON
ON
OFF
OFF
ON
OFF
CS14
Y:$78E00
Y:$8880
ACC84E[2]
ON
ON
ON
ON
OFF
ON
Y:$79E00
Y:$9880
ACC84E[6]
ON
ON
ON
OFF
OFF
ON
Y:$7AE00
Y:$A880
ACC84E[10]
ON
ON
OFF
ON
OFF
ON
Y:$7BE00
Y:$B880
ACC84E[14]
ON
ON
OFF
OFF
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
GND
BLK
GND
5
GND
COM
GND
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

Type
User manual
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