Delta Tau ACC-24M2A User Manual

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Single Source Machine Control
……………………………………………..…...……………….
Power // Flexibility // Ease of Use
21314 Lassen St. Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
^1 USER MANUAL
^2 Accessory 24M2A
^3 MACRO Analog Output Servo Module
^4 3Ax-603744-10x
^5 February 14, 2015
DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION …
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1 2 3 4 5 6 ... 100 101

Summary of Contents

Page 1 - ^2 Accessory 24M2A

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use 21314 Lassen St. Chatsworth, CA 91311 // Tel. (8

Page 2 - Operating Conditions

Accessory 24M2A Specifications 11 Environmental Specifications Description Unit Specifications Operating Temperature °C +0 to 45°C Rated Storage

Page 3 - Safety Instructions

Appendix C: Sinusoidal Interpolation 101 APPENDIX C: SINUSOIDAL INTERPOLATION AnalogPhotoCurrentAABBEncoderControllerDifferentialAmplifierSin / Co

Page 4

Appendix C: Sinusoidal Interpolation 102 The following equations express the relationships between the different units: 1 line = 4 hardware counts

Page 5

Accessory 24M2A Receiving and Unpacking 12 RECEIVING AND UNPACKING Unpacking Guidelines Delta Tau products are thoroughly tested at the factory and

Page 6 - Introduction 7

Accessory 24M2A Mounting 13 MOUNTING Installation Guidelines This product should be installed in an area that is protected from direct sunlight, co

Page 7 - Introduction 8

Accessory 24M2A Mounting 14 Connector Locations Below is a drawing of the product with its connectors labeled: J1024VDC INPUTJ2AMP2J1AMP1Option-BM

Page 8 - INTRODUCTION

Accessory 24M2A Connector Pinouts 15 CONNECTOR PINOUTS J10: 24 VDC Logic Power Input An external 24VDC power supply is required to power the logic,

Page 9 - SPECIFICATIONS

Accessory 24M2A Connector Pinouts 16 J1: Amplifier Channel 1 J1: DB-15 Female Mating: DB-15 Male 234567891011121314151 Pin # Symbol Description 1 D

Page 10 - Physical Specifications

Accessory 24M2A Connector Pinouts 17 J6: Flags and Limits J6: DB-15 Female Mating: DB-15 Male 234567891011121314151 Pin # Symbol Direction Descript

Page 11 - RECEIVING AND UNPACKING

Accessory 24M2A Connector Pinouts 18 J11 & J12: Encoder Feedback, Digital A Quad B ACC-24M2A accepts inputs from two digital encoders and provi

Page 12 - MOUNTING

Accessory 24M2A Connector Pinouts 19 J11 & J12: Encoder Feedback, SSI ACC-24M2A accepts inputs from two digital encoders and provides encoder p

Page 13 - Connector Locations

Accessory 24M2A Connector Pinouts 20 J11 & J12: Encoder Feedback, Sinusoidal ACC-24M2A accepts inputs from two digital encoders and provides en

Page 14 - CONNECTOR PINOUTS

Accessory 24M2A Copyright Information © 2/14/2015 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of D

Page 15 - J2: Amplifier Channel 2

Accessory 24M2A Connector Pinouts 21 J11 & J12: Encoder Feedback, EnDat The Acc-24M2A will read the absolute data from the EnDat (Encoder Data)

Page 16 - J6: Flags and Limits

Accessory 24M2A Connector Pinouts 22 J11 & J12: Encoder Feedback, HiperFace ACC-24M2A will read the absolute data from the Hiperface® interface

Page 17

Accessory 24M2A Connector Pinouts 23 J11 & J12: Encoder Feedback, Resolver The ACC-24M2A can interface to most industry standard resolvers if t

Page 18

Accessory 24M2A Connector Pinouts 24 Universal Serial Bus Port (USB Port) This connector uses a USB A-B cable to establish communication between th

Page 19

Accessory 24M2A Connector Pinouts 25 MACRO Fiber Connector Option A provides the following connector for MACRO communications: MACRO SC-Style Fibe

Page 20

Accessory 24M2A Connector Pinouts 26 Sample Wiring Diagrams J6: Flags Sourcing Flags Sinking Flags 2345678 11011121315 90 or 12-24 VDC

Page 21

Accessory 24M2A Connector Pinouts 27 Output IC Diagram ACC-24M2A allows the use of sinking or sourcing position limits and flags to the controller.

Page 22

Accessory 24M2A Connector Pinouts 28 J11 & J12: Encoder Feedback, Digital A Quad B The following wiring diagram shows an example of how to con

Page 23

Accessory 24M2A Connector Pinouts 29 J11 & J12: Encoder Feedback, Sinusoidal Differential Format The differential format provides a means of u

Page 24 - MACRO RJ-45 Copper Connector

Accessory 24M2A Connector Pinouts 30 Below is the wiring diagram for Single Ended Format 1: 23451415161716718198920211011222312132425Sinusoidal Enc

Page 25 - Sample Wiring Diagrams

Accessory 24M2A Safety Instructions Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified personnel

Page 26 - Output IC Diagram

Accessory 24M2A Connector Pinouts 31 The wiring diagram for Single Ended Format 2 is below: 23451415161716718198920211011222312132425Sinusoidal Enc

Page 27 - Connector Pinouts 28

Accessory 24M2A Connector Pinouts 32 J11 & J12: Encoder Feedback, EnDat 23451415161716718198920211011222312132425EnDat InterfaceSin+Cos-Sin-Co

Page 28 - Single Ended Format 1

Accessory 24M2A Connector Pinouts 33 J11 & J12: Encoder Feedback, Resolver ResOutGNDSin+Sin-Cos+Cos-Notes:Terminate shields on pins 13 and 25Tw

Page 29 - Single Ended Format 2

Accessory 24M2A Troubleshooting 34 TROUBLESHOOTING Status LED Indicators Status Display Color Description 7-segment LED Red 16 numeric codes plus

Page 30 - Sinusoidal

Accessory 24M2A Configuring with Turbo PMAC 35 CONFIGURING WITH TURBO PMAC Quick Review: Nodes and Addressing Each MACRO IC consists of 16 nodes: 2

Page 31 - Connector Pinouts 32

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

Page 32 - Accessory 24M2A

Accessory 24M2A Configuring with Turbo PMAC 37 Setup Overview This setup assumes that the Ring Master has already been properly configured to run i

Page 33 - TROUBLESHOOTING

Accessory 24M2A Configuring with Turbo PMAC 38 Setup Step 1: MACRO Connectivity ACC-24M2A requires that the same number of servo nodes be activate

Page 34 - CONFIGURING WITH TURBO PMAC

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

Page 35

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

Page 36 - Setup Overview

Accessory 24M2A REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 CHANGED 7-SEGMENT DISPLAY DESCRIPTIONS REMOVED DUPLICATE SECTIONS FOR 7

Page 37

Accessory 24M2A Configuring with Turbo PMAC 41 Motor Feedback First, the user must make Encoder Conversion Table (ECT) entries on the Ring Controll

Page 38 - MI995=$80

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

Page 39 - Setup Step 3: Motor Setup

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,

Page 40 - Motor Feedback

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

Page 41 - Digital A Quad B

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

Page 42

Accessory 24M2A Configuring with Turbo PMAC 46 Note If the direction decode variable, MS<node>, MI910, is changed the user must save the set

Page 43

Accessory 24M2A Configuring with Turbo PMAC 47 Configuring the Excitation Signal’s Gain Additionally, the user needs to set the Excitation output g

Page 44 - ECT Setup

Accessory 24M2A Configuring with Turbo PMAC 48 Procedure for Configuring MI980 on Channel 2 The procedure for configuring MI980 for Channel 2 is as

Page 45

Accessory 24M2A Configuring with Turbo PMAC 49 Flags On the Ring Controller, the flags (Ixx25) must point to the servo node used f

Page 46 - (Direct Read/Write Format

Accessory 24M2A Configuring with Turbo PMAC 50 I2T Settings The I2T overcurrent protection should be configured for each motor on ACC-24M2A. Below

Page 48 - Output Commands

Accessory 24M2A Configuring with Turbo PMAC 51 DAC Calibration WARNING Before performing the DAC Calibration, make sure there is no load attached

Page 49 - I2T Settings

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

Page 50 - DAC Calibration

Accessory 24M2A Configuring with Turbo PMAC 53 Servo Loop Tuning 

Page 51 - Open Loop Test

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

Page 52 - Servo Loop Tuning

Accessory 24M2A Configuring with Turbo PMAC 55 Observing the table below, match your actual position response to one of the response shapes below,

Page 53 - Interactive Tuning

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

Page 54

Accessory 24M2A Configuring with Turbo PMAC 57 Negative Vel./F.E. Correlation Cause: Too much Velocity Feedforward Fix: Decrease Kvff (Ixx32)

Page 55

Accessory 24M2A Configuring with Power PMAC 58 CONFIGURING WITH POWER PMAC Quick Review: Nodes and Addressing Two different types of MACRO interfac

Page 56

Accessory 24M2A Configuring with Power PMAC 59 Data Organization within Servo Nodes When controlling non-Gate3 MACRO Stations, each MACRO interface

Page 57 - Servo Nodes

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]

Page 58

Accessory 24M2A Introduction 7 Table of Contents INTRODUCTION ...

Page 59

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

Page 60

Accessory 24M2A Configuring with Power PMAC 62 Setup Overview This setup assumes that:  The Ring Master has already been properly configured to

Page 61

Accessory 24M2A Configuring with Power PMAC 63 Setup Step 1: MACRO Connectivity ACC-24M2A requires that the same number of servo nodes be activated

Page 62

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

Page 63

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

Page 64

Accessory 24M2A Configuring with Power PMAC 66 c

Page 65

Accessory 24M2A Configuring with Power PMAC 67 Activating Motors and Disabling Commutation The user must activate the motor he or she wants to use,

Page 66

Accessory 24M2A Configuring with Power PMAC 68 Motor Feedback First, the user must make Encoder Conversion Table (ECT) entries on the Ring Controll

Page 67

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

Page 68

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

Page 69

Accessory 24M2A Introduction 8 Status LED Indicators ...

Page 70

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,

Page 71

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

Page 72

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

Page 73

Accessory 24M2A Configuring with Power PMAC 74 Note If the direction decode variable, MacroSlave<node>, MI910, is changed the user must save

Page 74

Accessory 24M2A Configuring with Power PMAC 75 Configuring the Excitation Signal’s Phase Offset Finally the resolver excitation phase time offset,

Page 75

Accessory 24M2A Configuring with Power PMAC 76 Procedure for Configuring MI980 on Channel 2 The procedure for configuring MI980 for Channel 2 is as

Page 76

Accessory 24M2A Configuring with Power PMAC 77 Flags On the Ring Controller, tpointers 

Page 77

Accessory 24M2A Configuring with Power PMAC 78 Example: Motors 1–2 on Nodes 0 and 1, respectively, with overtravel limits disabled Motor[1].pLimits

Page 78 - T Settings

Accessory 24M2A Configuring with Power PMAC 79 I2T Settings The I2T overcurrent protection should be configured for each motor on ACC-24M2A. Below

Page 79

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

Page 80

Accessory 24M2A Introduction 9 INTRODUCTION The ACC-24M2A is a two (2) axis servo peripheral designed to work with Turbo PMAC2 Ultralite, Power PMA

Page 81

Accessory 24M2A Configuring with Power PMAC 81 Open Loop Test WARNING Before performing the Open Loop Test, make sure there is no load attached

Page 82

Accessory 24M2A Configuring with Power PMAC 82 You should see the actual velocity increasing positively while the commanded velocity is positive, t

Page 83

Accessory 24M2A Configuring with Power PMAC 83 Servo Loop Tuning 

Page 84

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,

Page 85

Accessory 24M2A Configuring with Power PMAC 85 Observing the table below, match your actual position response to one of the response shapes below,

Page 86

Accessory 24M2A Configuring with Power PMAC 86 Step 3 (Tuning Kvff, Kaff, and Kfff) S

Page 87

Accessory 24M2A Configuring with Power PMAC 87 Negative Vel./F.E. Correlation Cause: Too much Velocity Feedforward Fix: Decrease Kvff High Ve

Page 88 - APPENDIX A: JUMPERS

Accessory 24M2A layout 88 LAYOUT All main dimensions are in units of inches (millimeters are in square brackets).

Page 89 - APPENDIX B: SCHEMATICS

Accessory 24M2A appendix A: Jumpers 89 APPENDIX A: JUMPERS Jumper Name Description Default E0 21 Lattice Download Remove jumper to disable ability

Page 90 - Limit Inputs

Accessory 24M2A Appendix B: Schematics 90 APPENDIX B: SCHEMATICS MACRO Fiber Connection MACRO RJ45 Connection U35HFBR-5803RXVEE1RD+2RD-3SD4RXVCC

Page 91

Accessory 24M2A Specifications 10 SPECIFICATIONS Part Number 4 - 3 7 4 4 - 0 0 - 0 0 - 0 00ACC-24M2AMACRO Communication Options* If Any Additiona

Page 92 - Appendix B: Schematics 93

Accessory 24M2A Appendix B: Schematics 91 Limit Inputs FLAG_C2FLAG_C1FLAG_B2C146 .1C153 .1U63APS2505L-1NEC(SMT4)ACI1A1ACI1B2E13C14FLAG_B1U63BPS250

Page 93 - Position Compare Outputs

Accessory 24M2A Appendix B: Schematics 92 Digital Quadrature Encoder Inputs RP161KSIP8I1 23 45 67 8QL_1-2QL_2-2GNDGNDGNDGNDRP151KSIP8I1 23 45 67

Page 94 - Input 1&2

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

Page 95 - SSI Inputs

Accessory 24M2A Appendix B: Schematics 94 Position Compare Outputs RESET-EQU_1C123.1UF+5VR81330R80330GNDEQU_2BEQU2U43ADS75451N(DIP8)(IN SOCKET)12

Page 96 - LT1963AEST-2.5

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

Page 97 - Appendix B: Schematics 98

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

Page 98 - AMP-OUT 1

Accessory 24M2A Appendix B: Schematics 97 Resolver Outputs Analog Feedback Voltage Reference Circuit +5VR1044.99KR1054.99KR10910ohmR10810ohm.1u

Page 99 - DAC Outputs

Accessory 24M2A Appendix B: Schematics 98 Sin/Cos Inputs Note: Sin/Cos inputs for Channel #2 are identical to Channel #1. Encoder Power +-U91BAD

Page 100 - Controller

Accessory 24M2A Appendix B: Schematics 99 Sinusoidal Encoder Input Note: Encoder #2 is identical to Encoder #1. Amplifier Output Note: Amplifie

Page 101 - One hardware count

Accessory 24M2A Appendix B: Schematics 100 DAC Outputs +-U115BLF347M(SO14)567OFFSETU111AD1868R(SOL16)VL1LL2DL3CK4DR5LR6DGND7VBR8VS9VOR10NRR11AGND

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