^1 HARDWARE REFERENCE MANUAL
^2 MACRO CPU BOARD
^3 HRM for UMAC MACRO & MACRO Stack
^4 4Ax-602804-xHxx
^5 January 29, 2003
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
MACRO-CPU Hardware Reference
CONTENTS
INTRODUCTION ....................................................................................................................... 1
3U Product Configurations (General Description) .................................................................................................................2
MACRO CPU Specifications ....................................................................................................................................................4
Physical Specifications............................................................................................................................................................4
Electrical Specifications ..........................................................................................................................................................4
3U MACRO-CPU CONFIGURATION........................................................................................ 5
3U MACRO CPU BOARD HARDWARE SETUP...................................................................... 7
3U MACRO CPU Board Jumper & Switch Setup .................................................................................................................7
MACRO CPU Board Connections...........................................................................................................................................8
3U MACRO-CPU JUMPER AND SWITCH CONFIGURATIONS ........................................... 11
3U MACRO-CPU Card Layout .............................................................................................................................................11
E1: Watchdog Timer Disable ...............................................................................................................................................12
E2: CPU Mode Operation ....................................................................................................................................................12
E3: Serial Port Baud Rate.....................................................................................................................................................12
E4: Power Supply-Loss Control (±15Vdc Supply Monitor) ................................................................................................12
E5: MACRO Received Signal Detect/Bypass Mode (rev -105 and 106 only). Does not exist on rev 107 and later models.
...............................................................................................................................................................................................13
E40: MACRO Input (Fiber/Wired) Selector ........................................................................................................................13
JP3: MACRO Loop back Test Select For Copper Only (rev -104 and earlier) ....................................................................13
JP4: Reserved for Future Use...............................................................................................................................................13
JP5-JP6: MACRO Copper EQ Select (rev -104 and earlier)................................................................................................14
Switch Configurations .............................................................................................................................................................15
SW1: MACRO Slave Node Configure.................................................................................................................................15
SW2: MACRO Master Number Select ................................................................................................................................15
Connector Summary ...............................................................................................................................................................16
MACRO STATION CHARACTER DISPLAY .......................................................................... 17
HARDWARE RE-INITIALIZATION ......................................................................................... 18
FIRMWARE UPDATES........................................................................................................... 20
3U MACRO-CPU BOARD CONNECTOR PIN-OUTS............................................................. 22
J6: (JTHW) Multiplexer Port Connector..............................................................................................................................22
J7: (JRS232) Serial Port Connector......................................................................................................................................24
J14, J17: MACRO COPPER I/O (OPT C)............................................................................................................................25
P1: UBUS Interface Connector .............................................................................................................................................26
TB1: (JPWR) 4-Pin Terminal Block.....................................................................................................................................27
U73: MACRO Fiber Optic Connector (OPT A)....................................................................................................................27
Contents i
MACRO-CPU Hardware Reference
U MACRO-CPU HARDWARE MEMORY MAP ...................................................................... 28
ACCESSORIES ...................................................................................................................... 30
ii Contents
MACRO-CPU Hardware Reference
INTRODUCTION
The 3U MACRO-CPU board is the processor and MACRO interface board that is used in a 3U MACRO Station
(in either UMAC MACRO or MACRO Stack configuration).
Note
There are 3 documents that describe the operation of Delta Tau Data Systems Inc. 3U MACRO
Station products:
•
UMAC System Manual (General Product Overview)
•
3U MACRO Station User’s Manual
•
3U MACRO Station Software Reference
This manual describes the interfaces and physical hardware that is used on the
3U MACRO CPU.
The UMAC MACRO and the MACRO Stack provide a remote interface for encoders, flags, direct-PWM digital
drives, analog drives, stepper drives, analog I/O, and digital I/O for Delta Tau Data's PMAC products that have a
MACRO interface.
The UMAC MACRO and MACRO Stack configurations communicate with PMAC2 Ultralites or Turbo PMAC2
Ultralites solely through the MACRO ring, interfacing to standard drives, encoders, flags, and I/O through onboard connectors. This MACRO Station integrated packaging and connectivity strategy provides revolutionary
flexibility and ease of use.
A 3U MACRO Station consists of a set of “3U” format Euro-cards (100 x 160 mm) that can be assembled in a
variety of configurations. When used in the rack configuration, connected through a backplane bus, the backplane
is UBUS format, designed by Delta Tau Data Systems Inc. for motion control and I/O interfaces.
When using the fiber optic MACRO interface, the 3U MACRO Station can be up to 3 kilometers (2 miles) away
from the PMAC2 controller or any other station on the ring. When using the RJ-45 copper electrical interface, it
can be up to 100 meters (~330 feet) away.
The 3U MACRO Station allows PMAC2 MACRO controllers to control servo axes and I/O just as if they were
directly connected to the PMAC2, even though they may be a great distance away. The only interface needed
from the PMAC2 is the electrically isolated MACRO ring.
Typically, a PMAC2 “Ultralite” board, one without any of its own servo interface circuitry, is used with the
MACRO Station to provide the most cost-effective solution.
Introduction
1
MACRO-CPU Hardware Reference
3U MACRO-CPU Board (3A0-602804-10x):
•
80MHz DSP56303 CPU
•
512k x 8 flash memory for user backup & firmware
•
Latest released firmware version
•
RS-232 serial interface for setup and debugging
•
Stack connectors for servo and I/O accessory boards
•
UBUS connector for backplane connection to servo
and I/O accessory boards
•
JTHW multiplexed I/O port with 26-pin IDC header
The 3U MACRO Station can be configured in either of two fundamental assemblies – “UMAC MACRO” and
“MACRO Stack”:
•
UMAC MACRO – In this configuration (once called
"Pack") the 3U-format boards are put together to
communicate through a backplane bus called the UBUS.
All boards are installed in a Euro-card rack. In this
configuration, all 3U-format boards or modules can be
installed or withdrawn from the pack individually,
providing ease of installation, debugging, and repair.
The photo at the upper right shows a UMAC rack with power
supply and I/O boards that are connected through a backplane.
This system allows for an easier integration of the 3U
MACRO-CPU for larger (up to 8 axes) applications.
•
MACRO Stack – In the Stack configuration the 3U-format
boards are put together as a stack of piggyback boards,
(right, below). This configuration is ideal for compact,
cost-sensitive embedded applications.
UMAC MACRO Station
Configuration
4 Axis Stack Configuration
Note:
The Stack boards and related breakout boards can be installed in a Euro-card rack,
creating a hybrid “stack/pack” configuration. This requires a special backplane
configuration that makes removing stack boards difficult.
This hybrid configuration is now recommended for existing “legacy” systems only.
3U Product Configurations (General Description)
Introduction
2
MACRO-CPU Hardware Reference
Assemblies of 3U-format boards can be made with either of two CPU processor boards – a 3U MACRO-CPU
board, or a 3U Turbo PMAC2 CPU board. Most other 3U-format boards, labeled “Accessory” boards, can be
used with either CPU board.
•
When the 3U MACRO-CPU board is used, the resulting assemblies are called “UMAC MACRO” or "3U
MACRO Stack."
•
When the 3U Turbo PMAC2 CPU board is used, the resulting assemblies are called “UMAC Turbo” or
"Turbo Stack."
Refer to the "UMAC & 3U Stack Products Selection Guide" for more detailed descriptions of how the rack and
stack products are integrated.
UMAC and 3U-Stack Products
UMAC Products Stack Products
UMAC Turbo UMAC MACRO Turbo Stack MACRO Stack
The UMAC Turbo is composed of
a 3U-format Turbo PMAC2 CPU
board and a set of accessory boards
in 3U-format, all plugged in a
common UBUS backplane and
installed inside a 3U format rack. A
PC/104 computer and several
optional communication
accessories (including all of the
major FieldBuses, MACRO and
Ethernet) can be inst alled inside the
UMAC system providing
convenient flexibility and virtually
unlimited expandability.
The UMAC MACRO is composed
of a MACRO Interface/CPU board
and a set of accessory boards in 3Uformat, all plugged in a common
UBUS backplane and installed
inside a 3U fo rmat rack. The UMAC
MACRO must receive commands
from an external MACRO
compatible device like a PMAC2
Ultralite or a UMAC Turbo system.
The UMAC MACRO does not
support a PC/104 or communication
accessories and it is preferred for
distributed control over a MACRO
ring connection.
The Turbo stack is composed of a
3U-format Turbo PMAC2 CPU
board and a set of ac cessory boards
in 3U-format plugged to it in a stack
configuration. The Turbo stack
configuration is less expensive than
the UMAC Turbo system but it is
limited to eight axes of motion
control versus 32 axes on a UMAC
Turbo system. The Turbo Stack is
selected over a UMAC Turbo
system because is more compact,
allowing its installation inside
already existing cabinets with some
space limitations.
The MACRO stack is composed of
a MACRO Interface/CPU board
and a set of accessory boards in
3U-format plugged to it in a stack
configuration. The UMAC
MACRO must receive commands
from an external MACRO
compatible device like a PMAC2
Ultralite or a UMAC Turbo
system. The MACRO Stack is
selected ove r a UMAC MACRO
sys te m because it is more compact,
allowing i ts installation inside
already existing cabinets with some
space limitations.
Introduction
3
MACRO-CPU Hardware Reference
MACRO CPU Specifications
Physical Specifications
Size: 33.5cm x 9.9cm x 3.8cm (13.2" x 3.9" x 1.4")
Weight: ½ lb.
Temperature
Operating: 0°C to 60°C (32°)F to 140°F)
Storage: 12°C to 82°C (10°F to 180°F)
Humidity: 10% to 95%, noncondensing
Electrical Specifications
Power: 1.5A @ +5V (±5%) (7.5W) Pertains to 8-channel configuration, with a typical load of
encoders.
Introduction
4
MACRO-CPU Hardware Reference
5
3U MACRO-CPU CONFIGURATION
The purchase of the 3U MACRO CPU board provides a 3U-format (100mm x 160mm) board with a DSP
processor, MACRO ring circuitry, “piggyback” connectors onto which “stack” accessory boards can be mounted,
and a backplane connector through which other 3U-format boards can be connected by means of a “UBUS”
passive-backplane board.
The MACRO CPU board went through an extensive redesign in the –105 revision, because key components on
the –104 and older revisions became obsolete. Both the older and the newer versions are described in this
manual. The only system change required is a slight change in the DIP-switch addressing of ACC-24E2x and
ACC-51E backplane axis boards when using the new MACRO CPU boards.
Note
It is recommended that only the new MACRO CPU boards, which have stronger backplane bus
drivers, be used in “UMAC” pack configurations.)
The 3U MACRO-CPU can be purchased in two physical configurations, distinguished by part number prefix:
• 300-602804-10x provides the 3U MACRO-CPU board without a front plate. This configuration is
recommended for “stack” assemblies.
• 3R0-602804-10x provides the 3U MACRO-CPU board with a front plate. This configuration is
recommended for “UMAC” rack assemblies. The top and bottom plates are provided with the ACC-Px
rack.
There are a few options available for the MACRO CPU board.
One of the Options A or C must be present on a MACRO CPU board to provide the actual MACRO ring interface
circuitry; both may be present:
Option A provides an SC-style fiber-optic transceiver to connect into the MACRO ring. Its main component is
the U73 transceiver.
Option C provides RJ-45 electrical input and output connectors for the MACRO ring. Its main components are
J14 and J17.
Option 10 permits a specified revision of the MACRO Station firmware to be installed in the flash memory in the
card. Without this option, the latest released revision is installed. A label on the flash memory IC indicates the
firmware revision installed at the factory (but not necessarily which revision is presently installed in the IC). The
presently installed revision can be ascertained by using the MSVER{node #} command.
3U MACRO-CPU Configuration
MACRO-CPU Hardware Reference
6
3U MACRO-CPU Configuration
MACRO-CPU Hardware Reference
7
3U MACRO CPU BOARD HARDWARE SETUP
The hardware setup of the 3U MACRO CPU Board consists of the setting of 2 rotary switches, the setting of
several E-point jumpers on each board, followed by power supply and signal connections.
Note
E-Point Jumper numbers are shown in white ink on the legend of each board. Pin numbers for
each number can be determined either from the legend on the component side on the board, or by
looking at the solder side of the board, where pin 1 has a square solder pad.
3U MACRO CPU Board Jumper & Switch Setup
The MACRO Station has two 16-way rotary switches on the MACRO CPU board that establish the station’s basic
configuration on the MACRO ring.
SW1 Rotary Switch Setting: SW1 establishes how many servo nodes, and which servo nodes, will be used on
the MACRO station. It also establishes the mapping of MACRO node numbers to MACRO Station channel
numbers. This mapping information will be important in establishing the software setup.
The following table shows possible MACRO Station axis configurations and the appropriate settings of SW1:
# of
Servo
Chan’s
&
Nodes
Which
MACR
O Servo
Nodes
Used
Used
2 0, 1 1x ACC-1E -- 8
2 4, 5 1x ACC-1E -- 9
2 8, 9 1x ACC-1E -- 10 ($A)
2 12, 13 1x ACC-1E -- 11 ($B)
2 0, 1 1x ACC-2E* 1x ACC-24E2x or 51E 2
2 4, 5 1x ACC-2E* 1x ACC-24E2x or 51E 3
2 8, 9 1x ACC-2E* 1x ACC-24E2x or 51E 4
2 12, 13 1x ACC-2E* 1x ACC-24E2x or 51E 5
4 0, 1, 4, 5 1x ACC-2E 1x ACC-24E2x w/ Opt 1x or 1x
4 8, 9, 12,
13
6 0, 1, 4, 5,
8, 9
6 0, 1, 4, 5,
8, 9
8 0, 1, 4, 5,
8, 9, 12,
13
More detailed information on the SW1 settings is presented in the Jumper/Switch description in the back of this
manual.
Stack Axis
Boards Used
1x ACC-2E 1x ACC-24E2x w/ Opt 1x or 1x
1x ACC-1E,
1x ACC-2E
2x ACC-2E* 1x ACC-24E2x w/ Opt 1x or 1x
2x ACC-2E 2x ACC-24E2x w/ Opt 1x /
Backplane (UMAC) Axis
Boards Used
ACC-51E w/ Opt 1
ACC-51E w/ Opt 1
1x ACC-24E2x w/ Opt 1x or 1x
ACC-51E w/ Opt 1;
plus 1x ACC-24E2x or 51E
ACC-51E w/ Opt 1;
plus 1x ACC-24E2x or 51E
ACC-51E w/ Opt 1
SW1 Setting
0
1
12 ($C)
6
7
3U MACRO CPU Board Hardware Setup
MACRO-CPU Hardware Reference
SW2 Rotary Switch Setting: SW2 establishes the number of the master IC to which the MACRO station will
respond. The values of 0 to 15 correspond to Master numbers 0 to 15, respectively. For a non-Turbo PMAC2
master, this value must match the master number value in the first hexadecimal digit of PMAC2’s I996. For a
Turbo PMAC2, this value must match the master number value in the first hexadecimal digit of the Turbo
PMAC2’s I6840, I6890, I6940, or I6990, for MACRO ICs 0, 1, 2, or 3, respectively, on the Turbo PMAC2. The
default switch setting is 0, so the station will respond to Master 0.
Watchdog Timer Enable Jumper: For normal operation of the Compact MACRO Station, jumper E1 should be
OFF to enable the watchdog timer (an important safety feature).
Operational Mode Jumper: Jumper E2 should connect pins 2 and 3 to tell the CPU it is in normal operational
mode, not in “bootstrap” mode. It should only connect pins 1 and 2 if you desire to load new firmware into the
flash IC through the serial port.
Baud Rate Jumper: Jumper E3 must be ON if you are connecting an ACC-8D Option 9 Yaskawa absolute
encoder converter to the J7 serial port (most users will connect it to the JTHW port instead). This sets the baud
rate to 9600. If E3 is OFF, the baud rate is 38400.
Power Supply Check Jumper: Remove jumper E4 if you are not bringing a +/-12V to +/-15V supply into the
Compact MACRO Station itself (5V only). If you are bringing these analog circuit supplies into the Compact
MACRO Station, it is best to have jumper E4 on, so that the servo outputs are disabled if either of the analog
supplies is lost.
MACRO Input Select Jumper: Because the MACRO CPU board can potentially accept MACRO ring input
from either the RJ-45 electrical input or the fiber input, you must select which input is used (even if only one of
the ring interface options is present). Jumper E40 must be ON to use the fiber input; it must be OFF to use the
electrical input. (If both interface options A and C are present, either ring output may be used, regardless of the
setting of E40.)
MACRO Signal-Loss Detect Jumper: Jumper E5 (board revisions –105 and newer only) should connect pins 1
and 2 so that the MACRO receiver’s (fiber or electrical) loss-of-signal detect is reported automatically as a byte
“violation” error. Older revisions (-104 and before) of the board could not use the receiver’s signal-loss detect as
a “violation” error (relying on higher-level detection schemes), and connecting pins 2 and 3 makes operation of
the new revision completely compatible with the old. This is not recommended.
MACRO CPU Board Connections
The connection of Compact MACRO Station to other stations on the MACRO ring is achieved by connecting the
output connector of the Compact MACRO Station to the input connector of the next station, and by connecting
the output connector of the previous station to the input connector of the Compact MACRO Station. There must
be a completely connected ring, with all stations powered up, for any communications to occur on the ring.
Optical Fiber Ring Connection: The U73 integrated fiber optic transceiver is used for both the optical fiber
input and the optical fiber output connections to the MACRO ring. With the component side of the board up, and
the opening facing you, the input socket is on the right, and the output socket is on the left (these are marked on
the component).
RJ45 Electrical Ring Connection: The J14 connector is used for the input from the previous station on the
MACRO ring if electrical connection is used, and the J17 connector is used for the output to the next station on
the MACRO ring.
Multiplexer Port: The J6 26-pin header is used to connect to multiplexer port accessories such as the ACC-8D
Opt 7 resolver-to-digital converter board and the ACC-8D Opt. 9 Yaskawa absolute encoder interface board. This
port can be used alternately to provide 8 inputs and 8 outputs (non-multiplexed) at TTL levels.
Backplane “UBUS” Expansion Port: The P2 96-pin DIN header is used to connect to expansion port
accessories such as the ACC-9E, 10E, 11E, 12E, and 14E I/O boards, or the ACC-24E2x axis boards, through an
3U MACRO CPU Board Hardware Setup
8
MACRO-CPU Hardware Reference
ACC-Ux “UBUS” backplane board. It can also be used to bring in 5V power, and optionally +/-15V power, from
a backplane or breakout board, to the entire MACRO Station.
Note
When interfacing to accessory boards across the UBUS backplane, it is strongly recommended to
use a new revision (-105 or higher) of the MACRO CPU board, and an ACC-Ux backplane board
(not an older ACC-Jx backplane board). The newer revision MACRO CPU boards have stronger
bus driver ICs, but they do not work well with the termination of the ACC-Jx backplane boards.
Power Terminal Block: The TB1 4-point terminal block can be used to bring in 5V power, and optionally
+/-15V power, to the entire MACRO Station. In a UMAC (pack) configuration, the power is more likely to be
brought in through the backplane.
3U MACRO CPU Board Hardware Setup
9
MACRO-CPU Hardware Reference
0
3U MACRO CPU Board Hardware Setup
1
MACRO-CPU Hardware Reference
3U MACRO-CPU JUMPER AND SWITCH CONFIGURATIONS
3U MACRO-CPU Card Layout
The "Location" columns of the ing s refe he ma locati hown in the drawings below: follow table r to t pped ons s
A
B
C
D
E
F
1
2
3
4
REV-105 and Later Revisions
REV-104 and Earlier Revisions
Pin 1 of an E-point is masked by an "X" in white ink on the composite side, and by a square
solder pad on the solder side.
3U MACRO-CPU Jumper and Switch Configurations
Note:
11
MACRO-CPU Hardware Reference
E1: Watchdog Timer Disable
Rev -105
and Later
Location
B-1 F-1
Rev -104
and Earlier
Location
Jumper
Type
2-PIN
E2: CPU Mode Operation
Rev -105
and Later
Location
D-2 D-1
Rev -104
and Earlier
Location
Jumper
Type
3-PIN
E3: Serial Port Baud Rate
Rev -105
and Later
Location
E-3 E-2
Rev -104
and Earlier
Location
Jumper
Type
2-PIN
Description Default
Remove jumper to enable Watchdog Timer.
Jump pins 1 and 2 to disable Watchdog Timer (for test
purposes only)
Description Default
Jump pins 1 and 2 for firmware download through serial
port.
Jump pins 2 and 3 for normal operation.
Description Default
Jump pins 1 and 2 for 9600-baud serial port operation.
(Required for Yaskawa interface).
Remove jumper for 38400-baud serial port operation.
not jumpered
Pin 2-3
not jumpered
E4: Power Supply-Loss Control (±15Vdc Supply Monitor)
Rev -105
and Later
Location
E-3 E-2
Rev -104
and Earlier
Location
Jumper
Type
2-PIN
Description Default
Jump pins 1 and 2 to disable servo outputs on loss of +5V,
+15V, or –15V power supply.
Remove this jumper to monitor +5Vdc power supply only.
±15V supply monitoring is not usually required for
applications without DACs or A-D converters.
not jumpered
3U MACRO-CPU Jumper and Switch Configurations
12
MACRO-CPU Hardware Reference
E5: MACRO Received Signal Detect/Bypass Mode (rev -105 and 106 only). Does not exist on rev 107 and later models.
Rev -105
and Later
Location
B-3
Rev -104
and Earlier
Location
Jumper
Type
3-PIN
Description Default
Jump pins 1 and 2 to access the receiver’s signal detect operation.
Jump pins 2 and 3 to bypass the receiver’s signal detect
operation.
This jumper does not exist on MACRO-CPU versions -104
and earlier.
E40: MACRO Input (Fiber/Wired) Selector
Rev -105
and Later
Location
B-3 C-3
Rev -104
and Earlier
Location
Jumper
Type
2-PIN
Description Default
Remove jumper to select MACRO wired (RJ45) input from J14.
Jump pins 1 and 2 to select MACRO fiber optic input from U73.
(Option A)
(Option C)
JP3: MACRO Loop back Test Select For Copper Only (rev -104 and earlier)
Pin 1-2
Jumpered
Not
jumpered
Rev -105
and Later
Location
B-1
Rev -104
and Earlier
Location
Jumper
Type
2-PIN
Remove jumper to select loop back in the copper interface of
MACRO communications (for test purposes only).
Jump pins 1 and 2 for normal copper MACRO communications.
This jumper does not exist on MACRO-CPU versions -105
and greater.
JP4: Reserved for Future Use
Description Default
jumpered
3U MACRO-CPU Jumper and Switch Configurations
13
MACRO-CPU Hardware Reference
4
JP5-JP6: MACRO Copper EQ Select (rev -104 and earlier)
Rev -105
and Later
Location
Rev -104
and Earlier
Location
B-1
Jumper
Type
2-PIN
Description Default
These jumpers are used to select different modes of
equalization when copper-based communications are used.
When not jumpered, adaptive equalization is used. JP5 and
JP6 are used for manufacturer's testing only.
These jumpers do not exist on MACRO-CPU versions -105
and greater.
not jumpered
3U MACRO-CPU Jumper and Switch Configurations
1
MACRO-CPU Hardware Reference
5
Switch Configurations
SW1: MACRO Slave Node Configure
SW1
Setting
0
(default)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
***
# of Servo
Channels
& Nodes
Used
4 0, 1, 4, 5 1, 2, 3, 4 $C000, $C008,
4 8, 9, 12,
2 0, 1 1, 2 $C000, $C008* 4-axis None $F8003 $0003
2 4, 5 3, 4 $C010, $C018* 4-axis None $F8030 $0030
2 8, 9 1, 2 $C000, $C008* 4-axis None $F8300 $0300
2 12, 13 3, 4 $C010, $C018* 4-axis None $FB000 $3000
6 0, 1, 4, 5,
8 0, 1, 4, 5,
2 0, 1 9, 10 $C090, $C098 2-axis None $F8003 $0003
2 4, 5 9, 10 $C090, $C098 2-axis None $F8030 $0030
2 8, 9 9, 10 $C090, $C098 2-axis None $F8300 $0300
2 12. 13 9, 10 $C090, $C098 2-axis None $FB000 $3000
6 0, 1, 4, 5,
0
(I/O only)
(Reserved For Future Use)
0 11 - - - - $F8800 -
MACRO
Servo
Nodes
Specified
13
8, 9
8, 9, 12,
13
8, 9
None None None None None $F8000 $0000
Station
Channel
Nos.
$C010, $C018*
1, 2, 3, 4 $C000, $C008,
$C010, $C018*
1, 2, 3, 4,
5, 6
1, 2, 3, 4,
5, 6, 7, 8
1, 2, 3, 4,
9, 10
$C000, $C008,
$C010, $C018,
$C020, $C028*
$C000, $C008,
$C010, $C018,
$C020, $C028,
$C030, $C038*
$C000, $C008.
$C010, $C018,*
$C090, $C098
Station
Channel
Starting
Addresses
st
Axis
1
Board
Servo
IC
4-axis None $F8033 $0033
4-axis None $FB300 $3300
4-axis 4-axis $F8333 $0333
4-axis 4-axis $FB333 $3333
4-axis 2-axis $FB333 $0333
nd
Axis
2
Board
Servo
IC
PMAC2's I996
Value **
(Turbo
PMAC2’S
I6840, etc.
PMAC2's I1000,
I1002 Value
(Turbo
PMAC2’s I70,
I71, etc.)
* These addresses are for stack axis boards. Add $40 to these addresses for backplane axis boards.
** Other bits of this I-variable may also be set to enable I/O nodes or other slave stations it is commanding
*** A setting of 15 forces the station to use its factory default I-variables on power-up/reset.
SW2: MACRO Master Number Select
0: Commanded from Master IC # 0
1: Commanded from Master IC # 1
…
F: Commanded from Master IC # F (15)
3U MACRO-CPU Jumper and Switch Configurations
1
MACRO-CPU Hardware Reference
6
Connector Summary
J1: ☼
☼
J2:
☼
J3:
☼
J4:
☼
J5:
J6:
J7:
J14, J17:
P1:
TB1:
U73:
JEXP_A: for interboard connection
JEXP_B: for interboard connection
JEXP_C: for interboard connection
JISP: Factory configuration header
JTAG/OnCE: Factory troubleshoot header
JTHW: Multiplexer Port Connector
JRS232: Serial Port Connector
RJ45: MACRO Copper I/O (OPT C)
JEXP: Backplane Expansion Port Connector
JPWR: 4-Pin Terminal Block
MACRO Fiber Optic Connector (OPT A)
☼
These connectors are not typically designated as end-user interfaces. The pinouts are not included in this hardware
reference manual. Consult the factory if pinout information is needed.
3U MACRO-CPU Jumper and Switch Configurations
1
MACRO-CPU Hardware Reference
7
MACRO STATION CHARACTER DISPLAY
The Compact MACRO Station has a single hexadecimal character display on the CPU/Interface Board that
provides useful information as to the status of the station. The display can show the following values:
Value Meaning
(Blank) Ring not active
0-8 Operation OK; value is # of motors enabled
9 (reserved for future use)
A Amplifier fault
B Ring break fault
C CPU failure fault
D Ring data error
E Loss-of-encoder fault
F Other failure
MACRO Station Character Display
1
MACRO-CPU Hardware Reference
HARDWARE RE-INITIALIZATION
MACRO hardware reinitialization to factory defaults is enabled when the SW1 setting is set to 15 or F
(hexidecimal) and the power is cycled at the MACRO Station. The only time the user would want to use a
hardware reinitialization to factory defaults with the MACRO Station would be if the MACRO Station always
powers up with a watchdog (typically if the ring clock at the Ultralite is different than the ring clock at the
MACRO Station). Node 11 will be the only MACRO Station node enabled. Therefore the user will have to enable
node 11 of the MACRO IC at the Ultralite to communicate to the MACRO Station.
Ultralite Example: Servo nodes 0,1,4,5 enabled at Ultralite (I996=$0F8033)
(A) The user would have to enable node 11, I996=$0F8833
(B) Then user can reistablish communications with MS11,(MIvar) commands
(C) Issue MS$$$***11 to ensure re-initialization
(D) Issue MSSAVE11 command to save the factory defaults to the Station
Turbo Ultralite Example: Servo nodes 0,1,4,5 enabled at Ultralite (I6841=$0F8033)
(A) The user would have to enable node 11, I996=$0F8833
(B) Then user can reistablish communications with MS11,(MIvar) commands
(C) Issue MS$$$***11 to ensure re-initialization
(D) Issue MSSAVE11 command to save the factory defaults to the Station
Hardware Re-initialization
18
MACRO-CPU Hardware Reference
Hardware Re-initialization
19
MACRO-CPU Hardware Reference
0
FIRMWARE UPDATES
Downloading new firmware to the MACRO Station is a simple process once the MACRO board is setup properly.
To download new firmware to the MACRO station, the user must have the following items:
5V power supply
2 jumpers
DB9 female to 10 pin header (any cable used for PMAC RS232 communications)
PC at the DOS prompt.
New firmware and necessary downloading batch files
Make sure to power down the MACRO Station
To download the software to the MACRO station, the user will first jumper the following E2 (1-2) and E1 (1-2).
Wire the 5V power to the appropriate terminal on the MACRO station or plug into 3U Rack.
Place the 10 pin header cable to the serial connection on the MACRO-station and place the other end to the
COM1 port on the PC (the batch files were written for COM1 but could be modified if necessary).
Goto the DOS prompt and create a directory called firmware and station (as an example).
C:\firmware\station
a:\copy *.* c:\firmware\station
Go back to the c drive and type the following command
c:\firmware\station\mcdwnld
The firmware will be down loaded to the MACRO station. Easy!
The PMAC Executive Software will soon have the capability of downloading the MACRO Station firmware in
the Windows Operating Environment.
(5) Place jumper E2 back to pins 2-3 and remove E1 jumper
Please call the factory if you have any questions.
Firmware Updates
2
MACRO-CPU Hardware Reference
Firmware Updates
21
MACRO-CPU Hardware Reference
3U MACRO-CPU BOARD CONNECTOR PIN-OUTS
The schematic circuits shown in this section are for interface reference only. Subtle differences may exist
between the circuits shown here and the actual hardware used.
J6: (JTHW) Multiplexer Port Connector
(26-pin Header at Location D-3)
Pin # Symbol Function Description Notes
1 GND Common PMAC Common
2 GND Common PMAC Common
3 DAT0 In/Out Data Byte Bit 0 Must be IN for MUX
4 SEL0 In/Out Select Byte Bit 0 Must be OUT for MUX
5 DAT1 In/Out Data Byte Bit 1 Must be IN for MUX
6 SEL1 In/Out Select Byte Bit 1 Must be OUT for MUX
7 DAT2 In/Out Data Byte Bit 2 Must be IN for MUX
8 SEL2 In/Out Select Byte Bit 2 Must be OUT for MUX
9 DAT3 In/Out Data Byte Bit 3 Must be IN for MUX
10 SEL3 In/Out Select Byte Bit 3 Must be OUT for MUX
11 DAT4 In/Out Data Byte Bit 4 Must be IN for MUX
12 SEL4 In/Out Select Byte Bit 4 Must be OUT for MUX
13 DAT5 In/Out Data Byte Bit 5 Must be IN for MUX
14 SEL5 In/Out Select Byte Bit 5 Must be OUT for MUX
15 DAT6 In/Out Data Byte Bit 6 Must be IN for MUX
16 SEL6 In/Out Select Byte Bit 6 Must be OUT for MUX
17 DAT7 In/Out Data Byte Bit 7 Must be IN for MUX
18 SEL7 In/Out Select Byte Bit 7 Must be OUT for MUX
19 N.C. N.C No Connection
20 GND Common PMAC Common
21 BRLD/ Output Buffer Request Low is “BUFFER REQ.”
22 GND Common PMAC Common
23 IPLD/ Output In Position Low is “IN POSITION”
24 GND Common PMAC Common
25 +5V Output +5VDC Supply Power Supply OUT
26 INIT/ Input PMAC RESET Low is “RESET”
Front View
3U MACRO-CPU Board Connector Pin-outs
22
MACRO-CPU Hardware Reference
+5V
10
1
RP6
J6
(JTHW)
J6
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
HEADER 26
DAT0
SEL0
DAT1
SEL1
DAT2
SEL2
DAT3
SEL3
DAT4
SEL4
DAT5
SEL5
DAT6
SEL6
DAT7
SEL7
INIT-
GND
3.3KSIP10C
9
8
7
6
5
4
3
2
DAT0
DAT1
DAT2
DAT3
DAT4
DAT5
DAT6
DAT7
SEL0
SEL1
SEL2
SEL3
SEL4
SEL5
SEL6
SEL7
+5V
10
1
RP7
3.3KSIP10C
9
8
7
6
5
4
3
2
+5V
U98
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
74FCT16245
(TSSOP)
GND
1
OE1
T/R1
A0
A1
GND
GND
A2
A3
VCC
VCC
A4
A5
GND
GND
A6
A7
A8
A9
GND
GND
A10
A11
VCC
VCC
A12
A13
GND
GND
A14
A15
OE2
T/R2
TI00
2
B0
3
B1
4
5
B2
6
B3
7
+5V
8
B4
9
B5
10
11
B6
12
B7
13
B8
14
B9
15
16
B10
17
B11
18
19
B12
20
B13
21
22
B14
23
B15
24
TI01
GND
Circuitry For J6- JTHW Interface
DISP0
DISP1
DISP2
DISP3
DISP4
DISP5
DISP6
DISP7
IO_24
IO_25
IO_26
IO_27
IO_28
IO_29
IO_30
IO_31
U12
VDD
1
VSS
2
FAULT_1 DATA_2
3
FAULT_2 DATA_3
4
EQU_1 DATA_4
5
EQU_2 DATA_5
6
AENA_1 DATA_6
7
8
AENA_2 DATA_7
9
A0
10
A1
11
A2
12
A3
13
A4
14
A5
15
A6
16
RD
17
WR
18
CS
19
ADC_STRB SEL_0
20
VSS2
21
ADC_CLK SEL_1
22
ADC_1 SEL_2
23
ADC_2 SEL_3
24
ADC_3 SEL_4
25
ADC_4 SEL_5
26
S_CLK SEL_6
27
S_CLKDIR SEL_7
28
SERVO
29
PHASE
30
DIN0
31
DIN1
32
DIN2
33
DIN3
34
DIN4
35
DIN5
36
DIN6
37
DIN7
38
DATA_STRB
39
VSS2
40
VDD2
41
VDD
42
CMD_IN
43
CMD_OUT
44
CMD_STROBE
45
DOUT0
46
DOUT1
47
DOUT2
48
DOUT3
49
DOUT4
50
DOUT5
51
DOUT6
52
DOUT7
53
VSS2
54
VLTN
55
STROBE_OUT
56
TCLK
57
CTRL0
58
CTRL1
59
CTRL2
60
VSS
61
VDD2
62
CTRL3
63
DISP0
64
DISP1
65
DISP2
66
DISP3
67
DISP4
68
VSS
69
DISP5
70
DISP6
71
DISP7
72
IO_24
73
IO_25
74
IO_26
75
IO_27
76
IO_28
77
IO_29
78
IO_30
79
IO_31
80
VDD2 VDD
DSPGATE2A
IO_00 FLAG_W1
IO_01 FLAG_V1
IO_02 FLAG_U1
IO_04 FLAG_D1
IO_05 FLAG_C1
IO_06 FLAG_B1
IO_07 FLAG_A1
DATA_0 ENC_C1
PUL_1 PWM_C_B1
DIR_1 PWM_C_T1
IO_08 PWM_B_B1
IO_09 PWM_B_T1
IO_10 PWM_A_B1
IO_11 PWM_A_T1
IO_12 PWM_A_T2
IO_13 PWM_A_B2
IO_14 PWM_B_T2
IO_15 PWM_B_B2
DIR_2 PWM_C_T2
PUL_2 PWM_C_B2
DATA_1 ENC_C2
IO_16 FLAG_A2
IO_17 FLAG_B2
IO_18 FLAG_C2
IO_19 FLAG_D2
IO_21 FLAG_U2
IO_22 FLAG_V2
IO_23 FLAG_W2
(TQFP160)
VDD2
IO_03 FLAG_T1
ENC_B1
ENC_A1
VSS2
VSS2
ENC_A2
ENC_B2
IO_20 FLAG_T2
VDD2
VSS2
DB10
DB11
TEST1
TEST_CLK
VDD2
PLLVDD
CLK20MHZ
PLLVSS
PLLAGND
VSS2
RESET
TESTOUT
DB12
DB13
DB14
DB15
DB16
DB17
DB18
DB19
DB20
DB21
DB22
DB23
160
159
158
157
156
155
154
153
152
151
150
149
148
VSS
147
146
145
144
143
142
141
140
VDD
139
138
137
136
135
134
133
132
131
130
129
128
127
126
125
124
123
122
121
VDD
120
119
118
DB0
117
DB1
116
DB2
115
DB3
114
DB4
113
DB5
112
DB6
111
DB7
110
DB8
109
DB9
108
107
106
105
104
103
102
101
100
LP1
99
LP2
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
VSS
81
3U MACRO-CPU Board Connector Pin-outs
23
MACRO-CPU Hardware Reference
4
J7: (JRS232) Serial Port Connector
(10-pin Header at Location C-1)
Front View
Pin # Symbol Function Description Notes
1 N.C. No connection
2 DTR BIDIRECT Data Terminal Ready Just tied to “DSR”
3 TXD/ OUTPUT Send Data Transmit data to host
4 CTS INPUT Clear to Send Host Ready bit
5 RXD/ INPUT Receive Data Receive data from host
6 RTS OUTPUT Request to Send PMAC Ready bit
7 DSR BIDIRECT Data Set Ready Just tied to “DTR”
8 N.C. OUTPUT No Connection
9 GND COMMON PMAC Common
10 +5V OUTPUT +5VDC Supply Power supply out
C14
.1UF
C15
.1UF
CTS-
+5V
J7
(JRS232)
J7
N.C.
DTR
TXDCTS
RXDRTS
DSR
N.C.
GND
+5V
1
2
3
4
5
6
7
8
9
10
HEADER 10
C18
.1UF
C17
.1UF
C16
.1UF
TXD- TXD
CTS
RXD- RXD
RTS
+5V
6
4
5
14
13
7
8
V-
C2+
C2-
TXD
RXD
RTS
CTS
16
VCC
VSS
15
U5
2
+V
1
C1+
3
C1-
11
TXD
12
RXD
10
RTS
9
CTS
MAX202ECSE
(SOL16)
GND
Circuitry for J7- JRS232 Interface
3U MACRO-CPU Board Connector Pin-outs
2
MACRO-CPU Hardware Reference
5
J14, J17: MACRO COPPER I/O (OPT C)
(8 pin RJ45)
Front View
Pin # Symbol Function Description Notes
1 DATA+ Data + Differential MACRO Signal. J17: DATA+ input.
J14: DATA+ output.
2 DATA- Data - Differential MACRO Signal J17: DATA- input.
J14: DATA- output.
3 unused Unused terminated pin See schematic below.
4 unused Unused terminated pin See schematic below.
5 unused Unused terminated pin See schematic below.
6 unused Unused terminated pin See schematic below.
7 unused Unused terminated pin See schematic below.
8 unused Unused terminated pin See schematic below.
The cable used for MACRO wired connections is CAT5 verified straight-through 8 conductor.
J14
tx+
tx-
50 50 50 50 50 50
50 50
U94
14
15
16
3
2
1
PE-68515
12
CMT
CT
11
TX-
TD-
10
TX+
TD+
5
CT
CT
6
RX-
RD-
7
RX+
RD+
7575
50 50 50 50 50 50
50 50
.01 mfd 2kv
Circuitry for J14 and J17- Copper MACRO I/O
50
J17
rx+
rx-
50
rj45
rj45
MTG HOLE
J14
1
2
3
4
5
6
7
8
CON8
J17
1
2
3
4
5
6
7
8
CON8
WIRED INPUT WIRED OUTPUT
M3
3U MACRO-CPU Board Connector Pin-outs
2
MACRO-CPU Hardware Reference
6
P1: UBUS Interface Connector
(96 pin EURO-Connector at F-1, 2, 3, 4)
Front View on MACRO-CPU Card
Pin # Row A Row B Row C
1 +5Vdc +5Vdc +5Vdc
2 GND GND GND
3 BD01 DAT0 BD00
4 BD03 SEL0 BD02
5 BD05 DAT1 BD04
6 BD07 SEL1 BD06
7 BD09 DAT2 BD08
8 BD11 SEL2 BD10
9 BD13 DAT3 BD12
10 BD15 SEL3 BD14
11 BD17 DAT4 BD16
12 BD19 SEL4 BD18
13 BD21 DAT5 BD20
14 BD23 SEL5 BD22
15 BS1 (GND) DAT6 BS0 (GND)
16 BA01 SEL6 BA00
17 BA03 DAT7 BA02
18 BX/Y SEL7 BA04 (n.c.)
19 CS3- BA06 (n.c.) CS220 BA05 (CS7-) BA07 (n.c.) CS4- (CS6-)
21 CS12- BA08 (n.c.) CS1022 CS16- BA09 (n.c.) CS1423 BA13 (n.c.) BA10 (n.c.) BA12 (n.c.)
24 BRD- BA11 (n.c.) BWR25 BS3 (GND) MEMCS0- (n.c.) BS2 (GND)
26 n.c. MEMCS1- (n.c.) RESET
27 PHASE+ n.c. SERVO+
28 PHASE- (n.c.) n.c. SERVO- (n.c.)
29 GND n.c. GND
30 -15Vdc PWRGUD (n.c.) +15Vdc
31 GND GND GND
32 +5Vdc +5Vdc +5Vdc
1. Refer to the UBUS Specification for detailed signal descriptions. This interface is NOT VME bus compatible.
2. Items shown in parentheses represent pin descriptions for -104 and earlier revision MACRO-CPU boards.
3U MACRO-CPU Board Connector Pin-outs
2
MACRO-CPU Hardware Reference
7
TB1: (JPWR) 4-Pin Terminal Block
(Location B-4)
Pin # Symbol Function Description Notes
1 GND Common Reference Voltage
2 +5V Input Positive Supply Voltage Supplies all PMAC digital circuits
3 +15V Input Positive Supply Voltage +12V to +15V; used for on-board analog
4 -15V Input Negative Supply Voltage -12 to –15V; used for on-board analog
U73: MACRO Fiber Optic Connector (OPT A)
(2 Socket SC-Style)
Front View
Pin # Symbol Function Description Notes
1 RX Fiber Input MACRO Ring Receiver
2 TX Fiber Output MACRO Ring Transmitter
A. The fiber optic version of MACRO uses 62.5/125 multi-mode glass fiber optic cable terminated in an SC-style
connector. The optical wavelength is 1,300nm.
B. It is possible to "adapt" wire to fiber operation when using OPT A & C on the same MACRO-CPU board.
3U MACRO-CPU Board Connector Pin-outs
2
MACRO-CPU Hardware Reference
U MACRO-CPU HARDWARE MEMORY MAP
The values in this table represent the hardware locations associated with register-based transactions that occur in
the 3U MACRO-CPU.
Reference ADDR (hex) Description
CS00- $FFC0 Stack I/O select #1
CS02- $FFC8 Stack I/O select #2
CS04- $FFD0 Stack I/O select #3
CS06- $FFD8 Stack I/O select #4
CS0- $C000 Stack axis 1-4 select
CS1- $C020 Stack axis 5-8 select
CS2- $C040 UBUS backplane axis 1-8 select
CS3- $C060 UBUS backplane axis 5-8 select
CS4- $C080 On-board DSPGATE2 select
CS4X- $C0C0 UBUS backplane MACROgate or DSPgate2 select (CS4- on UBUS)
CS10- $FFE0 UBUS backplane I/O select #1
CS12- $FFE8 UBUS backplane I/O select #2
CS14- $FFF0 UBUS backplane I/O select #3
CS16- $FFF8 UBUS backplane I/O select #4
MEMCS0- $D000 UBUS hardware I/O field (was DPRCS-)
MEMCS1- $E000 UBUS hardware I/O field (was VMECS-)
The addressing field size is 16-bits in the 3U MACRO-CPU. The address table above is similar to the PMAC2
product line.
U MACRO-CPU Hardware Memory Map
28
MACRO-CPU Hardware Reference
U MACRO-CPU Hardware Memory Map
29
MACRO-CPU Hardware Reference
0
ACCESSORIES
Both the Turbo and the MACRO CPU boards can support either the Stack or the UMAC configuration. The
systems are configured modularly with the selection of a series of accessory boards, some appropriate for the
Stack, and some appropriate for the UMAC. These accessories are listed here. Each has its own manual for
detailed description.
The following table shows 3U products by function:
MACRO CPU Board
Options
“Stack” Piggyback
Accessory Boards
UMAC BackplaneMountable
Accessory Boards –
Axis
UMAC BackplaneMountable
Accessory Boards –
I/O
UMAC BackplaneMountable
Accessory Boards –
Communication
UMAC BackplaneMountable
Accessory Boards –
Miscellaneous
UBUS Backplane
Board must be ordered with
either Option A or Option C.
ACC-1E, 2-Axis Interface
Stack Board (UMAC
MACRO only), 3x0-60281010x
ACC-4E, Isolated 24-In/24Out Stack Board,
3x0-602872-10x
ACC-24E2, 2-Axis Digital
PWM, 3x0-603397-10x
Option 1A, Additional 2Axis Analog,
3A1-603398-10x
ACC-3E1, 48/96/144 I/O,
3x0-603359-10x
ACC-11E, Isolated 24-In/24Out Board, 3x0-603307-10x
ACC-55E, (UNET)
U
niversal Field Bus Adapter
work Card,
Net
3x0-603485-10x
ACC-28E, 16-Bit A/D,
3x0-603404-10x
ACC-53E, SSI,
3x0-603360-10x
ACC-58E, R/D Converter,
16 Bit, 3x0-603482-10x
ACC-U4, UBUS 4-Slot ACC-U6, UBUS 6-Slot ACC-U8, UBUS 8-Slot
Option A, fiber-optic
connectors
ACC-2E, 4-Axis Interface
Stack Board,
3x0-602805-10x
ACC-6E, 8/16-Channel 12Bit ADC Stack Board,
3x0-602810-10x
Option 1D, Additional 2Axis Digital PWM,
3D1-603397-10x
ACC-24E2S, 4-Axis
Stepper, 3x0-603441-10x
ACC-9E, 48 In,
3x0-603283-10x
ACC-12E, Isolated 24In/24-Hi-Power-Out Board,
3x0-603277-10x
ACC-36E, A/D, D/A
Converter, 3x0-603483-10x
ACC-56E, Extender Card,
300-603401-10x
Option C, RJ-45 electrical
MACRO connectors
ACC-3E, 48/96/144 TTL I/O
Stack Board,
3x0-602811-10x
ACC-24E2A, 2-Axis
Analog, 3x0-603398-10x
ACC-10E, Isolated 48Output Board,
3x0-603299-10x
ACC-14E, 48 I/O,
3x0-603472-10x
ACC-51E, X 4096
Interpolator,
3x0-603438-10x
ACC-57E, Yaskawa or
Mitsubishi ABS, Encoder
Unit, 3x0-603484-10x
Accessories
3
MACRO-CPU Hardware Reference
Boards
Amplifiers – Analog
±10VDC Input
(Brush Motors)
Amplifiers – Digital
PWM Input
(brushless)
Power Supplies –
DC Input
Power Supplies –
AC Input
UMAC Chassis
Assemblies (Rack)
Backplane, 300-603462
ACC-U10, UBUS 10-Slot
Backplane,
300-603464-10x
ACC-U16, UBUS 16-Slot
Backplane,
300-603471-10x
4-Axis Analog ± 10V Input
Linear Amplifier, 24VDC,
0.5/1A,
300-603489-10x
Backplane, Double Analog
Amplifier, 300-603470-10x
2-Axis Digital PWM
Amplifier, 360VDC, 4/8A,
400-603391-10x
Single-Axis Digital PWM
Amplifier, 360VDC, 8/16A,
401-603492-10x
ACC-F, 3U DC to DC
Converter,10A,
30F-603216-OPT
ACC-E, 3U AC Power
Supply, 8A,
30E-603269-OPT
3U Rack, 10-1/2 Slot (42T)
542-602932-10x
3U Rack, Variable Width per
Customer Requirements
(custom design) ,
500-602932-10x
Backplane,
300-603403-10x
ACC-U12, UBUS 12-Slot
Backplane,
300-603465-10x
ACC-U18, UBUS 18-Slot
Backplane,
300-603491-10x
4-Axis Analog ± 10V Input
PWM Amplifier, 48VDC,
2/4A, 300-603443-10x
Backplane, Single Analog
Amplifier, 300-603490-10x
2-Axis Digital PWM/Macro
Amplifier, 360VDC, 8/16A,
400-603392-10x
Power Supply for 3U Digital
PWM Amplifiers,
400-603428-10x
ACC-E1, 3U AC Power
Supply, 14A,
31E-603269-OPT
3U Rack, 15-3/4 Slot (63T)
563-602932-10x
Backplane,
300-603463-10x
ACC-U14, UBUS 14-Slot
Backplane,
300-603466-10x
4-Axis Analog ± 10V Input
PWM Amplifier, 70VDC,
8/12A, 300-603486-10x
Single Axis Digital
PWM/Macro Amplifier,
360VDC, 8/16A,
401-603391-10x
Backplane, Digital PWM,
300-603435-10x
ACC-E2, AC Power Supply,
20A, 32E-603468-OPT
3U Rack, 21 Slot (84T)
584-602932-10x
Hybrid Stack/Pack
Accessories
(Legacy Systems
Only)
Accessories
ACC-8DE, 2-Axis 3U
Analog-Output Breakout
Board, 3x0-603215-10x
ACC13A, Flag Terminal
Block Board,
300-603366-10x
ACC-8FE, 2-Axis 3U
Digital-Output Breakout
Board, 3x0-603176-10x
ACC-13B, Amplifier
Terminal Block Board,
300-603367-10x
ACC-13, Encoder Terminal
Block Board,
300-603365-10x
ACC-15E, Isolated 12-In/12Out Opto22 Driver &
Breakout Board,
300-603488-10x
31
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