Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use 21314 Lassen St. Chatsworth, CA 91311 // Tel. (8
Accessory 24M2A Specifications 11 Environmental Specifications Description Unit Specifications Operating Temperature °C +0 to 45°C Rated Storage
Appendix C: Sinusoidal Interpolation 101 APPENDIX C: SINUSOIDAL INTERPOLATION AnalogPhotoCurrentAABBEncoderControllerDifferentialAmplifierSin / Co
Appendix C: Sinusoidal Interpolation 102 The following equations express the relationships between the different units: 1 line = 4 hardware counts
Accessory 24M2A Receiving and Unpacking 12 RECEIVING AND UNPACKING Unpacking Guidelines Delta Tau products are thoroughly tested at the factory and
Accessory 24M2A Mounting 13 MOUNTING Installation Guidelines This product should be installed in an area that is protected from direct sunlight, co
Accessory 24M2A Mounting 14 Connector Locations Below is a drawing of the product with its connectors labeled: J1024VDC INPUTJ2AMP2J1AMP1Option-BM
Accessory 24M2A Connector Pinouts 15 CONNECTOR PINOUTS J10: 24 VDC Logic Power Input An external 24VDC power supply is required to power the logic,
Accessory 24M2A Connector Pinouts 16 J1: Amplifier Channel 1 J1: DB-15 Female Mating: DB-15 Male 234567891011121314151 Pin # Symbol Description 1 D
Accessory 24M2A Connector Pinouts 17 J6: Flags and Limits J6: DB-15 Female Mating: DB-15 Male 234567891011121314151 Pin # Symbol Direction Descript
Accessory 24M2A Connector Pinouts 18 J11 & J12: Encoder Feedback, Digital A Quad B ACC-24M2A accepts inputs from two digital encoders and provi
Accessory 24M2A Connector Pinouts 19 J11 & J12: Encoder Feedback, SSI ACC-24M2A accepts inputs from two digital encoders and provides encoder p
Accessory 24M2A Connector Pinouts 20 J11 & J12: Encoder Feedback, Sinusoidal ACC-24M2A accepts inputs from two digital encoders and provides en
Accessory 24M2A Copyright Information © 2/14/2015 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of D
Accessory 24M2A Connector Pinouts 21 J11 & J12: Encoder Feedback, EnDat The Acc-24M2A will read the absolute data from the EnDat (Encoder Data)
Accessory 24M2A Connector Pinouts 22 J11 & J12: Encoder Feedback, HiperFace ACC-24M2A will read the absolute data from the Hiperface® interface
Accessory 24M2A Connector Pinouts 23 J11 & J12: Encoder Feedback, Resolver The ACC-24M2A can interface to most industry standard resolvers if t
Accessory 24M2A Connector Pinouts 24 Universal Serial Bus Port (USB Port) This connector uses a USB A-B cable to establish communication between th
Accessory 24M2A Connector Pinouts 25 MACRO Fiber Connector Option A provides the following connector for MACRO communications: MACRO SC-Style Fibe
Accessory 24M2A Connector Pinouts 26 Sample Wiring Diagrams J6: Flags Sourcing Flags Sinking Flags 2345678 11011121315 90 or 12-24 VDC
Accessory 24M2A Connector Pinouts 27 Output IC Diagram ACC-24M2A allows the use of sinking or sourcing position limits and flags to the controller.
Accessory 24M2A Connector Pinouts 28 J11 & J12: Encoder Feedback, Digital A Quad B The following wiring diagram shows an example of how to con
Accessory 24M2A Connector Pinouts 29 J11 & J12: Encoder Feedback, Sinusoidal Differential Format The differential format provides a means of u
Accessory 24M2A Connector Pinouts 30 Below is the wiring diagram for Single Ended Format 1: 23451415161716718198920211011222312132425Sinusoidal Enc
Accessory 24M2A Safety Instructions Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified personnel
Accessory 24M2A Connector Pinouts 31 The wiring diagram for Single Ended Format 2 is below: 23451415161716718198920211011222312132425Sinusoidal Enc
Accessory 24M2A Connector Pinouts 32 J11 & J12: Encoder Feedback, EnDat 23451415161716718198920211011222312132425EnDat InterfaceSin+Cos-Sin-Co
Accessory 24M2A Connector Pinouts 33 J11 & J12: Encoder Feedback, Resolver ResOutGNDSin+Sin-Cos+Cos-Notes:Terminate shields on pins 13 and 25Tw
Accessory 24M2A Troubleshooting 34 TROUBLESHOOTING Status LED Indicators Status Display Color Description 7-segment LED Red 16 numeric codes plus
Accessory 24M2A Configuring with Turbo PMAC 35 CONFIGURING WITH TURBO PMAC Quick Review: Nodes and Addressing Each MACRO IC consists of 16 nodes: 2
Accessory 24M2A Configuring with Turbo PMAC 36 Note Non-Turbo PMAC2 Ultralite (legacy) I/O node addresses are the same as Station MACRO IC#0 node
Accessory 24M2A Configuring with Turbo PMAC 37 Setup Overview This setup assumes that the Ring Master has already been properly configured to run i
Accessory 24M2A Configuring with Turbo PMAC 38 Setup Step 1: MACRO Connectivity ACC-24M2A requires that the same number of servo nodes be activate
Accessory 24M2A Configuring with Turbo PMAC 39 Setup Step 2: Communicating with ACC-24M2A over MACRO ASCII ACC-24M2A has no rotary switches to dete
Accessory 24M2A Configuring with Turbo PMAC 40 7. Hit CTRL+T (^T) to exit MACRO ASCII Mode. Setup Step 3: Motor Setup Clocks For simplicity, set
Accessory 24M2A REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 CHANGED 7-SEGMENT DISPLAY DESCRIPTIONS REMOVED DUPLICATE SECTIONS FOR 7
Accessory 24M2A Configuring with Turbo PMAC 41 Motor Feedback First, the user must make Encoder Conversion Table (ECT) entries on the Ring Controll
Accessory 24M2A Configuring with Turbo PMAC 42 Digital A Quad B The user must configure the Encoder Conversion Table on the ACC-24M2A itself as fol
Accessory 24M2A Configuring with Turbo PMAC 43 SSI ACC-24M2A can be configured to process SSI encoder feedback as a binary parallel word in 12, 16,
Accessory 24M2A Configuring with Turbo PMAC 44 Example: ACC-24M2A with two motors, each with a 20-bit SSI encoder, one on Node 0, one on Node 1 #de
Accessory 24M2A Configuring with Turbo PMAC 45 Resolver ECT Setup ACC-24M2A has up to two channels of resolver inputs. The inputs may be used as
Accessory 24M2A Configuring with Turbo PMAC 46 Note If the direction decode variable, MS<node>, MI910, is changed the user must save the set
Accessory 24M2A Configuring with Turbo PMAC 47 Configuring the Excitation Signal’s Gain Additionally, the user needs to set the Excitation output g
Accessory 24M2A Configuring with Turbo PMAC 48 Procedure for Configuring MI980 on Channel 2 The procedure for configuring MI980 for Channel 2 is as
Accessory 24M2A Configuring with Turbo PMAC 49 Flags On the Ring Controller, the flags (Ixx25) must point to the servo node used f
Accessory 24M2A Configuring with Turbo PMAC 50 I2T Settings The I2T overcurrent protection should be configured for each motor on ACC-24M2A. Below
Accessory 24M2A Configuring with Turbo PMAC 51 DAC Calibration WARNING Before performing the DAC Calibration, make sure there is no load attached
Accessory 24M2A Configuring with Turbo PMAC 52 Open Loop Test WARNING Before performing the Open Loop Test, make sure there is no load attached t
Accessory 24M2A Configuring with Turbo PMAC 53 Servo Loop Tuning
Accessory 24M2A Configuring with Turbo PMAC 54 Steps 2 and 3 should be performed in the Interactive Tuning window in PMAC Tuning Pro2: Step 2 (t
Accessory 24M2A Configuring with Turbo PMAC 55 Observing the table below, match your actual position response to one of the response shapes below,
Accessory 24M2A Configuring with Turbo PMAC 56 If you see a truncation of the servo command at the beginning of each move, you have reached the max
Accessory 24M2A Configuring with Turbo PMAC 57 Negative Vel./F.E. Correlation Cause: Too much Velocity Feedforward Fix: Decrease Kvff (Ixx32)
Accessory 24M2A Configuring with Power PMAC 58 CONFIGURING WITH POWER PMAC Quick Review: Nodes and Addressing Two different types of MACRO interfac
Accessory 24M2A Configuring with Power PMAC 59 Data Organization within Servo Nodes When controlling non-Gate3 MACRO Stations, each MACRO interface
Accessory 24M2A Configuring with Power PMAC 60 Gate3[i].MacroInB[j][0] 24 bits of feedback information 8 bits of 0Gate3[i].MacroInB[j][1]Gate3[i]
Accessory 24M2A Introduction 7 Table of Contents INTRODUCTION ...
Accessory 24M2A Configuring with Power PMAC 61 In Gate2-style MACRO, the contents of each servo node are arranged in each MACRO IC as follows: Gat
Accessory 24M2A Configuring with Power PMAC 62 Setup Overview This setup assumes that: The Ring Master has already been properly configured to
Accessory 24M2A Configuring with Power PMAC 63 Setup Step 1: MACRO Connectivity ACC-24M2A requires that the same number of servo nodes be activated
Accessory 24M2A Configuring with Power PMAC 64 Setup Step 2: Communicating with ACC-24M2A over MACRO ASCII ACC-24M2A has no rotary switches to dete
Accessory 24M2A Configuring with Power PMAC 65 Setup Step 3: Motor Setup Clocks For simplicity, set the max phase and clock dividers the same as th
Accessory 24M2A Configuring with Power PMAC 66 c
Accessory 24M2A Configuring with Power PMAC 67 Activating Motors and Disabling Commutation The user must activate the motor he or she wants to use,
Accessory 24M2A Configuring with Power PMAC 68 Motor Feedback First, the user must make Encoder Conversion Table (ECT) entries on the Ring Controll
Accessory 24M2A Configuring with Power PMAC 69 Example: Motors 1–2 on Nodes 0 and 1, respectively, with a Gate3-Style MACRO Interface on card index
Accessory 24M2A Configuring with Power PMAC 70 Digital A Quad B The user must configure the Encoder Conversion Table on the ACC-24M2A itself as fol
Accessory 24M2A Introduction 8 Status LED Indicators ...
Accessory 24M2A Configuring with Power PMAC 71 SSI ACC-24M2A can be configured to process SSI encoder feedback as a binary parallel word in 12, 16,
Accessory 24M2A Configuring with Power PMAC 72 Example: ACC-24M2A with two motors, each with a 20-bit SSI encoder, one on Node 0, one on Node 1 #de
Accessory 24M2A Configuring with Power PMAC 73 Resolver ECT Setup ACC-24M2A has up to two channels of resolver inputs. The inputs may be used as f
Accessory 24M2A Configuring with Power PMAC 74 Note If the direction decode variable, MacroSlave<node>, MI910, is changed the user must save
Accessory 24M2A Configuring with Power PMAC 75 Configuring the Excitation Signal’s Phase Offset Finally the resolver excitation phase time offset,
Accessory 24M2A Configuring with Power PMAC 76 Procedure for Configuring MI980 on Channel 2 The procedure for configuring MI980 for Channel 2 is as
Accessory 24M2A Configuring with Power PMAC 77 Flags On the Ring Controller, tpointers
Accessory 24M2A Configuring with Power PMAC 78 Example: Motors 1–2 on Nodes 0 and 1, respectively, with overtravel limits disabled Motor[1].pLimits
Accessory 24M2A Configuring with Power PMAC 79 I2T Settings The I2T overcurrent protection should be configured for each motor on ACC-24M2A. Below
Accessory 24M2A Configuring with Power PMAC 80 calcdacbias should appear as a program in the list. This is a program that receives two arguments as
Accessory 24M2A Introduction 9 INTRODUCTION The ACC-24M2A is a two (2) axis servo peripheral designed to work with Turbo PMAC2 Ultralite, Power PMA
Accessory 24M2A Configuring with Power PMAC 81 Open Loop Test WARNING Before performing the Open Loop Test, make sure there is no load attached
Accessory 24M2A Configuring with Power PMAC 82 You should see the actual velocity increasing positively while the commanded velocity is positive, t
Accessory 24M2A Configuring with Power PMAC 83 Servo Loop Tuning
Accessory 24M2A Configuring with Power PMAC 84 Steps 2 and 3 should be performed in the Interactive Tuning window in Tuning: Step 2 (tuning Kp,
Accessory 24M2A Configuring with Power PMAC 85 Observing the table below, match your actual position response to one of the response shapes below,
Accessory 24M2A Configuring with Power PMAC 86 Step 3 (Tuning Kvff, Kaff, and Kfff) S
Accessory 24M2A Configuring with Power PMAC 87 Negative Vel./F.E. Correlation Cause: Too much Velocity Feedforward Fix: Decrease Kvff High Ve
Accessory 24M2A layout 88 LAYOUT All main dimensions are in units of inches (millimeters are in square brackets).
Accessory 24M2A appendix A: Jumpers 89 APPENDIX A: JUMPERS Jumper Name Description Default E0 21 Lattice Download Remove jumper to disable ability
Accessory 24M2A Appendix B: Schematics 90 APPENDIX B: SCHEMATICS MACRO Fiber Connection MACRO RJ45 Connection U35HFBR-5803RXVEE1RD+2RD-3SD4RXVCC
Accessory 24M2A Specifications 10 SPECIFICATIONS Part Number 4 - 3 7 4 4 - 0 0 - 0 0 - 0 00ACC-24M2AMACRO Communication Options* If Any Additiona
Accessory 24M2A Appendix B: Schematics 91 Limit Inputs FLAG_C2FLAG_C1FLAG_B2C146 .1C153 .1U63APS2505L-1NEC(SMT4)ACI1A1ACI1B2E13C14FLAG_B1U63BPS250
Accessory 24M2A Appendix B: Schematics 92 Digital Quadrature Encoder Inputs RP161KSIP8I1 23 45 67 8QL_1-2QL_2-2GNDGNDGNDGNDRP151KSIP8I1 23 45 67
Accessory 24M2A Appendix B: Schematics 93 Pulse and Direction Outputs Hall Sensor Inputs C135.1UFGND +5VPWM_C_T1C136.1UFPWM_C_B1PWM_C_T2PWM_C_B2
Accessory 24M2A Appendix B: Schematics 94 Position Compare Outputs RESET-EQU_1C123.1UF+5VR81330R80330GNDEQU_2BEQU2U43ADS75451N(DIP8)(IN SOCKET)12
Accessory 24M2A Appendix B: Schematics 95 Motor Thermal Inputs C2120.1uFTo J10 pin 23 Encoder connectorHas to be KTY84_130 and not KTY84_1502.23
Accessory 24M2A Appendix B: Schematics 96 SSI Inputs C203 0.1uF040212ssi_io1+ALTCOS1+ssi_io2+ALTCOS2+ssi_io1-ALTCOS1-ssi_io2-ALTCOS2-C202 0.1uF040
Accessory 24M2A Appendix B: Schematics 97 Resolver Outputs Analog Feedback Voltage Reference Circuit +5VR1044.99KR1054.99KR10910ohmR10810ohm.1u
Accessory 24M2A Appendix B: Schematics 98 Sin/Cos Inputs Note: Sin/Cos inputs for Channel #2 are identical to Channel #1. Encoder Power +-U91BAD
Accessory 24M2A Appendix B: Schematics 99 Sinusoidal Encoder Input Note: Encoder #2 is identical to Encoder #1. Amplifier Output Note: Amplifie
Accessory 24M2A Appendix B: Schematics 100 DAC Outputs +-U115BLF347M(SO14)567OFFSETU111AD1868R(SOL16)VL1LL2DL3CK4DR5LR6DGND7VBR8VS9VOR10NRR11AGND
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