Delta Tau ACC-11E User Manual

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com

^1 USER MANUAL

^2 Accessory 11E

^3 24 Opto In/24 Opto Out

^4 3AX-603307-XUXX

^5 October 17, 2018

DELTA TAU

Data Systems, Inc.

NEW IDEAS IN MOTION …

ACC-11E User Manual

Copyright Information

© 2018 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, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: [phone]
Fax: [phone]
Email: [e-mail]
Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers 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 or industrial PC 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.

WARNING

A Warning identifies hazards that could result in personal injury
or death. It precedes the discussion of interest.

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 user’s understanding or
use of the equipment. It follows the discussion of interest.

ACC-11E User Manual

MANUAL REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG.

APPVD

1

ADDED CE DECLARATION

06/07/06

CP

SF

2

REVS. TO J1& J2, PINS 8 & 15, P. 31

05/11/07

CP

AO

3

REVS. TO ELEC. SPECS, P. 3

07/27/07

CP

BP

4

ADDED UL SEAL TO MANUAL COVER

UPDATED AGENCY APPROVAL/SAFETY SECTION

10/01/09

CP

SF

5

REFURBISHED ENTIRE MANUAL

12/17/12

GS

RN

6

ADDED KC CONFORMITY

10/17/18

SM

RN

ACC-11E User Manual

Table of Contents 4

Table of Contents

INTRODUCTION......................................................................................................................... 6

SPECIFICATIONS....................................................................................................................... 7

Environmental Specifications ......................................................................................................... 7

Electrical Specifications.................................................................................................................. 7

Physical Specifications ................................................................................................................... 7

Agency Approval and Safety .......................................................................................................... 8

ADDRESSING ACC-11E ............................................................................................................. 9

Turbo/Power UMAC and MACRO Station Jumper Settings ......................................................... 9

Legacy MACRO Station Address Jumper Settings ........................................................................ 9

Sinking or Sourcing Output Select ............................................................................................... 10

I/O Gate Data Clock Select ........................................................................................................... 10

Hardware Address Limitations ..................................................................................................... 11

USING ACC-11E WITH TURBO UMAC ............................................................................... 13

Configuring the Control Word ...................................................................................................... 13

Accessing I/O data points (M-Variables) ..................................................................................... 14

USING ACC-11E WITH POWER UMAC SCRIPT PROGRAMING ................................. 16

Configuring the Control Word ...................................................................................................... 16

Accessing I/O Data Points (Pointers) ........................................................................................... 17

Suggested M-Variables ............................................................................................................ 17

USING ACC-11E WITH POWER UMAC C PROGRAMING ............................................. 18

Setting Up Digital I/O Access....................................................................................................... 18

Function for Setting the Control Word: ACC11E_SetControlWord() ..................................... 18

Function for Reading the State of Inputs: ACC11E_GetInputState() ...................................... 19

Function for Reading the State of Outputs: ACC11E_GetOutputState()................................. 19

Function for Writing to Outputs: ACC11E_SetOutputState() ................................................. 20

Header and Source File ........................................................................................................... 22

User Written Functions ............................................................................................................ 26

Setting Up the Control Word ........................................................................................................ 28

USING ACC-11E WITH UMAC MACRO STATION ........................................................... 30

Quick Review: Nodes and Addressing ......................................................................................... 30

Setting Up The Control Word ....................................................................................................... 33

Transferring Data Points over I/O Nodes ..................................................................................... 35

Preparing for I/O Data Transfer on the MACRO16 Station ................................................... 36

MS{anynode},MI71: 24-Bit Transfer ....................................................................................... 37

ACC-11E User Manual

Table of Contents 5

MS{anynode},MI69 and MI70: 16-Bit Transfer ...................................................................... 42

MS{anynode}, MI171, MI172, and MI173: 24-Bit/16-Bit Transfer ........................................ 46

LAYOUTS & PINOUTS ............................................................................................................ 47

Board Layout Diagrams ................................................................................................................ 47

Wiring Considerations .................................................................................................................. 48

Terminal Block Option ................................................................................................................. 49

TB1 Top: Inputs 1 thru 12 ........................................................................................................ 49

TB2 Top: Inputs 13 thru 24 ...................................................................................................... 49

TB3 Top: Reference Voltages................................................................................................... 49

Wiring Input Terminal Blocks .................................................................................................. 50

TB1 Bottom: Outputs 1 thru 12 ................................................................................................ 51

TB2 Bottom: Outputs 13 thru 24 .............................................................................................. 51

TB3 Bottom: Reference Voltages ............................................................................................. 51

Wiring Output Terminal Blocks ............................................................................................... 52

D-Sub Option ................................................................................................................................ 53

J1 Top: Inputs 1 thru 12 ........................................................................................................... 53

J2 Top: Inputs 13 thru 24 ......................................................................................................... 53

Wiring Input DB15 Connectors ............................................................................................... 54

J1 Bottom: Outputs 1 thru 12 ................................................................................................... 55

J2 Bottom: Outputs 13 thru 24 ................................................................................................. 55

Wiring Output DB15 Connectors ............................................................................................. 56

SCHEMATICS ............................................................................................................................ 58

APPENDIX A: USING THE UMAC CONFIG PRO2 TOOL ............................................... 60

APPENDIX B: FULL TURBO UMAC M-VARIABLE MAPPINGS ................................... 66

APPENDIX C: FULL POWER UMAC M-VARIABLE MAPPINGS .................................. 78

APPENDIX D: THE CONTROL WORD ................................................................................ 90

ACC-11E User Manual

Introduction 6

INTRODUCTION

The ACC-11E is a 24 In/24 Out general purpose I/O card. Built in the 3U euro card format, it can be used
in the following products:

- Turbo UMAC

- Power UMAC

- UMAC MACRO Station

All inputs and outputs are 12-24 VDC, optically isolated, and can be configured as sinking or sourcing.

ACC-11E User Manual

Specifications 7

SPECIFICATIONS

Environmental Specifications

Description

Specification

Operating Temperature

0°C to 45°C,

Storage Temperature

-25°C to 70°C

Humidity

10% to 95 % non-condensing

Electrical Specifications

Description

Specification

Notes

Power Requirements

5V @ 0.05A (10%)

Output Current (individual)

100 mA

For UDN2981 and ULN2803

V1

12 – 24V

User-supplied voltage

Output Voltage

V1 – 1.1V

ULN2803 (See chip data sheet
for details)

V1 – 1.8V

UDN2981 (See chip data sheet
for details)

Fuse

125V @ 2.0A

Manufacturer: Little Fuse

Physical Specifications

Description

Specification

Notes

Dimensions

Length: 16.256 cm (6.4 in.)
Height: 10 cm (3.94 in.)
Width: 2.03 cm (0.8 in.)

Weight

180 g

Front Plate included

Terminal Block Connectors

FRONT-MC1,5/12-ST3,81
FRONT-MC1,5/5-ST3,81
FRONT-MC1,5/3-ST3,81

Terminal Blocks from Phoenix
Contact. UL-94V0
DB Option Connectors

DB15 Female

UL-94V0

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

ACC-11E User Manual

Specifications 8

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

사 용 자 안 내 문

이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정

용 환경에서 사용하는 경우 전파간섭의 우려가 있습니다.

한국 EMC적용제품 준수사항

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

의하십시오. 이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은

기기로서 가정용 환경에서 사용하는 경우 전파간섭의 우려가 있습니다.

입력에 EMC 필터, 서지 보호기, 페라이트 코어 또는 1차측의 케이블에 노이즈

필터를 입력으로 사용하십시오.

ACC-11E User Manual

Addressing and Jumper Settings 9

ADDRESSING ACC-11E

Several jumpers must be configured on the Accessory 11E in order for it to work properly with other I/O
cards in the UMAC rack. Jumpers E1-E4 select the starting base I/O address, and for within the base
address, jumpers E6A-E6H select whether the low, middle, or high byte will be used.

Turbo/Power UMAC and MACRO Station Jumper Settings

Chip

Select

TURBO

MACRO

POWER

Jumpers

Offset

Index

(n)

E1

E2

E3

E4

E6A-E6H

CS10

Y:$78C00,0,8

Y:$8800,0,8

$A00000.8.8

0

ON

OFF

OFF

OFF

1 to 2

CS10

Y:$78C00,8,8

Y:$8800,8,8

$A00000.16.8

0

ON

OFF

OFF

OFF

2 to 3

CS10

Y:$78C00,16,8

Y:$8800,16,8

$A00000.24.8

0

ON

OFF

OFF

OFF

4 to 5

CS12

Y:$78D00,0,8

Y:$8840,0,8

$B00000.8.8

1

OFF

ON

OFF

OFF

1 to 2

CS12

Y:$78D00,8,8

Y:$8840,8,8

$B00000.16.8

1

OFF

ON

OFF

OFF

2 to 3

CS12

Y:$78D00,16,8

Y:$8840,16,8

$B00000.24.8

1

OFF

ON

OFF

OFF

4 to 5

CS14

Y:$78E00,0,8

Y:$8880,0,8

$C00000.8.8

2

OFF

OFF

ON

OFF

1 to 2

CS14

Y:$78E00,8,8

Y:$8880,8,8

$C00000.16.8

2

OFF

OFF

ON

OFF

2 to 3

CS14

Y:$78E00,16,8

Y:$8880,16,8

$C00000.24.8

2

OFF

OFF

ON

OFF

4 to 5

CS16

Y:$78F00,0,8

Y:$88C0,0,8

$D00000.8.8

3

OFF

OFF

OFF

ON

1 to 2

CS16

Y:$78F00,8,8

Y:$88C0,8,8

$D00000.16.8

3

OFF

OFF

OFF

ON

2 to 3

CS16

Y:$78F00,16,8

Y:$88C0,16,8

$D00000.24.8

3

OFF

OFF

OFF

ON

4 to 5

E6A – E6H Layout Diagram

1
2
3
4
5

E6A

E6B

E6C

E6D

E6E

E6F

E6G

E6H

Legacy MACRO Station Address Jumper Settings

Chip Select

MACRO

Jumpers

E1

E2

E3

E4

CS10

$FFE0

ON

OFF

OFF

OFF

CS12

$FFE8

OFF

ON

OFF

OFF

CS14

$FFF0

OFF

OFF

ON

OFF

ACC-11E User Manual

Addressing and Jumper Settings 10

Sinking or Sourcing Output Select

WARNING

Jumpers E16 thru E21 generally should be left at factory defaults.

They must not be changed without also changing their respective
buffer IC, ULN2803A for sinking or UDN2981A for sourcing.

Jumpers

Descriptions

E16 & E17

1-2 = Outputs 1 thru 8 Sinking
2-3 = Outputs 1 thru 8 Sourcing

E18 & E19

1-2 = Outputs 9 thru 16 Sinking
2-3 = Outputs 9 thru 16 Sourcing

E20 & E21

1-2 = Outputs 17 thru 24 Sinking
2-3 = Outputs 17 thru 24 Sourcing

I/O Gate Data Clock Select

Jumper

Function

E5

Servo Clock 2-3 Phase Clock (default)

ACC-11E User Manual

Addressing and Jumper Settings 11

Hardware Address Limitations

The ACC-11E has a hardware address limitation relative to the newer type B series of UMAC high-speed
I/O cards. These new I/O cards have four base addresses per chip select (CS10, CS12, CS14, and CS16).
This enables these cards to have up to 16 different addresses. The type A cards have one base address per
chip select but also have the low-byte, middle-byte, and high-byte type of an addressing scheme and thus
allow for a maximum of twelve of these I/O cards.

Name

Type

Category

Possible Number

of Addresses

Maximum Number

of Cards in 1 Rack

ACC-9E

A

General I/O

4

12

ACC-10E

A

General I/O

4

ACC-11E

A

General I/O

4

ACC-12E

A

General I/O

4

ACC-14E

B

General I/O

16

16

ACC-28E

B

Analog I/O

16

ACC-36E

B

Analog I/O

16

ACC-53E

B

Feedback

16

ACC-57E

B

Feedback

16

ACC-58E

B

Feedback

16

ACC-59E

B

Analog I/O

12

12

ACC-65E

B

General I/O

16

16

ACC-66E

B

General I/O

16

ACC-67E

B

General I/O

16

ACC-68E

B

General I/O

16

ACC-84E

B

Feedback

12

12

Addressing Type A and Type B accessory cards requires attention to the following set of rules:

Populating Rack with Type A Cards Only (no conflicts)

In this mode, the card(s) can use any available Address.

Note

Type A cards can have up to 4 different base addresses. Because
each card can be setup to use the lower, middle, or high byte of a
specific base address, it is possible to populate a single rack with a
maximum of 12 Type A accessory cards.

Populating Rack with Type B Cards Only (no conflicts)

In this mode, the card(s) can potentially use any available Address.

Populating Rack with Type A & Type B Cards (possible conflicts)

Typically, Type A and Type B cards should not share the same Chip Select; however, if they do, the
following rules apply:

 Type A and Type B Feedback Cards

Type A cards cannot share the same Chip Select as Type B Feedback cards.

ACC-11E User Manual

Addressing and Jumper Settings 12

 Type A and Type B General I/O Cards

Type A cards can share the same Chip Select as Type B general I/O cards; however, in this mode,
Type B cards naturally use the lower byte (default), and Type A cards must be set to the
middle/high byte of the selected base address.

 Type A Cards and Type B Analog Cards

Type A cards can share the same Chip Select as Type B analog I/O cards; however, in this mode,
Type B cards naturally use the middle/high bytes (default), and Type A cards must be set to the
low byte of the selected base address.

ACC-11E User Manual

Using ACC-11E with UMAC Turbo 13

USING ACC-11E WITH TURBO UMAC

The procedure for using the ACC-11E with Turbo UMAC has two steps:

1. Configure the Control Word

2. Accessing I/O data points (M-Variables)

Configuring the Control Word

Write a 7 to the control word which is located at {base address + 7}, n, 8 where:

n = 0 if using low byte addressing
n = 8 if using middle byte addressing
n = 16 if using high byte addressing

The control word must be configured every time the UMAC is powered or reset. This can be done in an
initialization (one that disables itself) PLC.

Example 1: Setting up Control Word at Startup for Card at Base Address $78C00, Low Byte Addressing

M3307->Y:$78C07,0,8 // I/O Card 1 control register from suggested M-Variables

Open PLC 1 Clear
M3307=$07
Disable PLC 1
Close

Example 2: Setting up Control Word at Startup for 3 Cards at Base Address $78C00; Low, Middle, and
High Byte Addressing

M3307->Y:$78C07,0,8 // I/O Card 1 control register using low byte
M3317->Y:$78C07,8,8 // I/O Card 2 control register using middle byte
M3327->Y:$78C07,16,8 // I/O Card 3 control register using high byte

Open PLC 1 Clear
M3307=$07
M3317=$07
M3327=$07
Disable PLC 1
Close

Note

See Appendix for control word details and explanations.

ACC-11E User Manual

Using ACC-11E with UMAC Turbo 14

Accessing I/O data points (M-Variables)

Every ACC-11E has 48 bits of I/O data, which are comprised of one byte (8 bits) at the base address plus
five more bytes (8 x 6 = 48) at the next five consecutive addresses. Examples:

I/O data bits for card at base address

$78C00 using low bytes

I/O data bits for card at base address

$78C00 using high bytes

Y:$078C00,0,8
Y:$078C01,0,8
Y:$078C02,0,8

Inputs 1-8
Inputs 9-16
Inputs 17-24

Y:$078C00,16,8
Y:$078C01,16,8
Y:$078C02,16,8

Inputs 1-8
Inputs 9-16
Inputs 17-24

Y:$078C03,0,8
Y:$078C04,0,8
Y:$078C05,0,8

Outputs 1-8
Outputs 9-16
Outputs 17-24

Y:$078C03,16,8
Y:$078C04,16,8
Y:$078C05,16,8

Outputs 1-8
Outputs 9-16
Outputs 17-24

Example: Bitwise M-Variable mapping for ACC-11E at base address $78C00 using low bytes:

#define Input1 M7000 Input1->Y:$078C00,0,1
#define Input2 M7001 Input2->Y:$078C00,1,1
#define Input3 M7002 Input3->Y:$078C00,2,1
#define Input4 M7003 Input4->Y:$078C00,3,1
#define Input5 M7004 Input5->Y:$078C00,4,1
#define Input6 M7005 Input6->Y:$078C00,5,1
#define Input7 M7006 Input7->Y:$078C00,6,1
#define Input8 M7007 Input8->Y:$078C00,7,1
#define Input9 M7008 Input9->Y:$078C01,0,1
#define Input10 M7009 Input10->Y:$078C01,1,1
#define Input11 M7010 Input11->Y:$078C01,2,1
#define Input12 M7011 Input12->Y:$078C01,3,1
#define Input13 M7012 Input13->Y:$078C01,4,1
#define Input14 M7013 Input14->Y:$078C01,5,1
#define Input15 M7014 Input15->Y:$078C01,6,1
#define Input16 M7015 Input16->Y:$078C01,7,1
#define Input17 M7016 Input17->Y:$078C02,0,1
#define Input18 M7017 Input18->Y:$078C02,1,1
#define Input19 M7018 Input19->Y:$078C02,2,1
#define Input20 M7019 Input20->Y:$078C02,3,1
#define Input21 M7020 Input21->Y:$078C02,4,1
#define Input22 M7021 Input22->Y:$078C02,5,1
#define Input23 M7022 Input23->Y:$078C02,6,1
#define Input24 M7023 Input24->Y:$078C02,7,1

#define Output1 M7024 Output1->Y:$078C03,0,1
#define Output2 M7025 Output2->Y:$078C03,1,1
#define Output3 M7026 Output3->Y:$078C03,2,1
#define Output4 M7027 Output4->Y:$078C03,3,1
#define Output5 M7028 Output5->Y:$078C03,4,1
#define Output6 M7029 Output6->Y:$078C03,5,1
#define Output7 M7030 Output7->Y:$078C03,6,1
#define Output8 M7031 Output8->Y:$078C03,7,1
#define Output9 M7032 Output9->Y:$078C04,0,1
#define Output10 M7033 Output10->Y:$078C04,1,1
#define Output11 M7034 Output11->Y:$078C04,2,1
#define Output12 M7035 Output12->Y:$078C04,3,1
#define Output13 M7036 Output13->Y:$078C04,4,1
#define Output14 M7037 Output14->Y:$078C04,5,1
#define Output15 M7038 Output15->Y:$078C04,6,1
#define Output16 M7039 Output16->Y:$078C04,7,1
#define Output17 M7040 Output17->Y:$078C05,0,1
#define Output18 M7041 Output18->Y:$078C05,1,1
#define Output19 M7042 Output19->Y:$078C05,2,1
#define Output20 M7043 Output20->Y:$078C05,3,1
#define Output21 M7044 Output21->Y:$078C05,4,1
#define Output22 M7045 Output22->Y:$078C05,5,1
#define Output23 M7046 Output23->Y:$078C05,6,1
#define Output24 M7047 Output24->Y:$078C05,7,1

ACC-11E User Manual

Using ACC-11E with UMAC Turbo 15

Note

See Appendix for suggested M-Variables for additional cards.

Note

Suggested M-Variable definitions are also available with the UMAC
Config. Pro2 tool (see Appendix).

Note

Most systems only use low byte addressing

ACC-11E User Manual

Using ACC-11E with Power UMAC 16

USING ACC-11E WITH POWER UMAC SCRIPT PROGRAMING

The following section describes two software configuration procedures that are needed when using the
Power PMAC script programming language:

1. Configuring the Control Word

2. Accessing I/O data points (pointers)

Configuring the Control Word

Write a 7 to the control word which is located at {base address + 7}.n.8 where:

n = 8 if using low byte addressing
n = 16 if using middle byte addressing
n = 24 if using high byte addressing

The control word must be configured every time the POWER UMAC is powered or reset. This can be
done in an initialization (one that disables itself) PLC, usually PLC 1.

Example: Setting up Control Word at Startup for Card at $A00000, Low Byte Addressing

ptr IoCard0Reg7->u.io:$A0001C.8.8 // I/O Card 0 control register from suggested M-Variables

open plc 1
IoCard0Reg7=$7;
disable plc 1;
close

Example: Setting up Control Word at Startup for 3 Cards at Base Address $A00000; Low, Middle, and
High Byte Addressing

ptr IoCard0Reg7->u.io:$A0001C.8.8 // I/O Card 0 control register from suggested M-Variables
ptr IoCard1Reg7->u.io:$A0001C.16.8 // I/O Card 1 control register from suggested M-Variables
ptr IoCard2Reg7->u.io:$A0001C.24.8 // I/O Card 2 control register from suggested M-Variables

open plc 1
IoCard0Reg7=$7;
IoCard1Reg7=$7;
IoCard2Reg7=$7;
disable plc 1;
close

Note

See Appendix for control word details and explanations.

ACC-11E User Manual

Using ACC-11E with Power UMAC 17

Accessing I/O Data Points (Pointers)

The simplest way to access I/O points on the ACC-11E is to define pointer variables (M-Variables) that
point to each bit on the I/O device.

Suggested M-Variables

Base offset $A00000, low byte addressing

// Single-bit variables used for accessing I/O points
ptr Input1->u.io:$A00000.8.1 // I/O Card 1 Input1
ptr Input2->u.io:$A00000.9.1 // I/O Card 1 Input2
ptr Input3->u.io:$A00000.10.1 // I/O Card 1 Input3
ptr Input4->u.io:$A00000.11.1 // I/O Card 1 Input4
ptr Input5->u.io:$A00000.12.1 // I/O Card 1 Input5
ptr Input6->u.io:$A00000.13.1 // I/O Card 1 Input6
ptr Input7->u.io:$A00000.14.1 // I/O Card 1 Input7
ptr Input8->u.io:$A00000.15.1 // I/O Card 1 Input8
ptr Input9->u.io:$A00004.8.1 // I/O Card 1 Input9
ptr Input10->u.io:$A00004.9.1 // I/O Card 1 Input10
ptr Input11->u.io:$A00004.10.1 // I/O Card 1 Input11
ptr Input12->u.io:$A00004.11.1 // I/O Card 1 Input12
ptr Input13->u.io:$A00004.12.1 // I/O Card 1 Input13
ptr Input14->u.io:$A00004.13.1 // I/O Card 1 Input14
ptr Input15->u.io:$A00004.14.1 // I/O Card 1 Input15
ptr Input16->u.io:$A00004.15.1 // I/O Card 1 Input16
ptr Input17->u.io:$A00008.8.1 // I/O Card 1 Input17
ptr Input18->u.io:$A00008.9.1 // I/O Card 1 Input18
ptr Input19->u.io:$A00008.10.1 // I/O Card 1 Input19
ptr Input20->u.io:$A00008.11.1 // I/O Card 1 Input20
ptr Input21->u.io:$A00008.12.1 // I/O Card 1 Input21
ptr Input22->u.io:$A00008.13.1 // I/O Card 1 Input22
ptr Input23->u.io:$A00008.14.1 // I/O Card 1 Input23
ptr Input24->u.io:$A00008.15.1 // I/O Card 1 Input24
ptr Output1->u.io:$A0000C.8.1 // I/O Card 1 Output1
ptr Output2->u.io:$A0000C.9.1 // I/O Card 1 Output2
ptr Output3->u.io:$A0000C.10.1 // I/O Card 1 Output3
ptr Output4->u.io:$A0000C.11.1 // I/O Card 1 Output4
ptr Output5->u.io:$A0000C.12.1 // I/O Card 1 Output5
ptr Output6->u.io:$A0000C.13.1 // I/O Card 1 Output6
ptr Output7->u.io:$A0000C.14.1 // I/O Card 1 Output7
ptr Output8->u.io:$A0000C.15.1 // I/O Card 1 Output8
ptr Output9->u.io:$A00010.8.1 // I/O Card 1 Output9
ptr Output10->u.io:$A00010.9.1 // I/O Card 1 Output10
ptr Output11->u.io:$A00010.10.1 // I/O Card 1 Output11
ptr Output12->u.io:$A00010.11.1 // I/O Card 1 Output12
ptr Output13->u.io:$A00010.12.1 // I/O Card 1 Output13
ptr Output14->u.io:$A00010.13.1 // I/O Card 1 Output14
ptr Output15->u.io:$A00010.14.1 // I/O Card 1 Output15
ptr Output16->u.io:$A00010.15.1 // I/O Card 1 Output16
ptr Output17->u.io:$A00014.8.1 // I/O Card 1 Output17
ptr Output18->u.io:$A00014.9.1 // I/O Card 1 Output18
ptr Output19->u.io:$A00014.10.1 // I/O Card 1 Output19
ptr Output20->u.io:$A00014.11.1 // I/O Card 1 Output20
ptr Output21->u.io:$A00014.12.1 // I/O Card 1 Output21
ptr Output22->u.io:$A00014.13.1 // I/O Card 1 Output22
ptr Output23->u.io:$A00014.14.1 // I/O Card 1 Output23
ptr Output24->u.io:$A00014.15.1 // I/O Card 1 Output24

// Byte-wide variables used for power-on configuration
ptr IoCard1Reg0->u.io:$A00000.8.8 // I/O Card 1 Inputs 1-8 as byte
ptr IoCard1Reg1->u.io:$A00004.8.8 // I/O Card 1 Inputs 9-16 as byte
ptr IoCard1Reg2->u.io:$A00008.8.8 // I/O Card 1 Inputs 17-24 as byte
ptr IoCard1Reg3->u.io:$A0000C.8.8 // I/O Card 1 Outputs 1-8 as byte
ptr IoCard1Reg4->u.io:$A00010.8.8 // I/O Card 1 Outputs 9-16 as byte
ptr IoCard1Reg5->u.io:$A00014.8.8 // I/O Card 1 Outputs 17-24 as byte
ptr IoCard1Reg6->u.io:$A00018.8.8 // I/O Card 1 latch inputs
ptr IoCard1Reg7->u.io:$A0001C.8.8 // I/O Card 1 control register

See Appendix for suggested M-Variables for additional cards.

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Using ACC-11E with Power UMAC 18

USING ACC-11E WITH POWER UMAC C PROGRAMING

Setting Up Digital I/O Access

Delta Tau has developed the following functions which can be used to setup the ACC-11E using the C
Programming Language. The last entry in the list describes, as an alternative, how to create user written
functions.

 Function for Setting the Control Word: ACC11E_SetControlWord()
 Function for Reading the State of Inputs: ACC11E_GetInputState()
 Function for Reading the State of Outputs: ACC11E_GetOutputState()
 Function for Writing to Outputs: ACC11E_SetOutputState()
 User Written Functions

Function for Setting the Control Word: ACC11E_SetControlWord()

Two parameters must be passed in the calling function:

BaseAddressOffset: One of the four base addresses (jumper selected) ACC-11E can take
=0xA00000
=0xB00000
=0xC00000
=0xD00000

ByteSelect: The byte used (jumper selected) for the I/O bits on this card
=1 for low byte
=2 for middle byte
=3 for high byte

The function is of type void, so it will not return any values.

void ACC11E_SetControlWord(unsigned int BaseAddressOffset, unsigned int ByteSelect)

/*
Input:
BaseAddressOffset: IO Card Base Address offset
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits
ControlWord: Control word value to which to set the card's Control Word
*/

{
volatile unsigned int *ioptr; // Create I/O pointer
ioptr = piom + BaseAddressOffset/4 + 7;// Initialize I/O pointer to Control Word register
*ioptr = 7 << (8*ByteSelect); // Write Control Word value to register
return;
}

Note

See Appendix for control word details and explanations.

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Using ACC-11E with Power UMAC 19

Function for Reading the State of Inputs: ACC11E_GetInputState()

Three parameters must be passed in the calling function:

BaseAddressOffset: One of the four base addresses (jumper selected) ACC-11E can take
=0xA00000
=0xB00000
=0xC00000
=0xD00000

ByteSelect: The byte used (jumper selected) for the I/O bits on this card
=1 for low byte
=2 for middle byte
=3 for high byte

InputNumber: The number of the Input pin whose state one desires to read or modify.
Inputs are numbered 1–24 on ACC-11E

The function will return the state of the specified pin as an unsigned int:
=0, pin is low
=1, pin is high

unsigned int ACC11E_GetInputState(unsigned int BaseAddressOffset, unsigned int ByteSelect,
unsigned int InputNumber)

/*
Input:

------­BaseAddressOffset: I/O Card Base Address Offset
InputNumber: Input Pin Number (1-24)
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits

Output:

------­State of the I/O pin specified*/

{
volatile unsigned int *ioptr; // Create I/O pointer
// Compute location for high bit
unsigned int HighBitInCorrectLocation=0,ShiftValue;
InputNumber--;
ShiftValue = InputNumber%8 + 8*(ByteSelect-1);
HighBitInCorrectLocation = 1 << ShiftValue; // Shift bit to that location
ioptr = piom + BaseAddressOffset/4; // Initialize pointer
ioptr += InputNumber/8; // Increment to register containing the I/O bit
// Return state of I/O point
return ((*ioptr >> 8) & HighBitInCorrectLocation) >> ShiftValue;
}

Function for Reading the State of Outputs: ACC11E_GetOutputState()

Three parameters must be passed in the calling function:

BaseAddressOffset: One of the four base addresses (jumper selected) ACC-11E can take
=0xA00000
=0xB00000
=0xC00000
=0xD00000

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Using ACC-11E with Power UMAC 20

ByteSelect: The byte used (jumper selected) for the I/O bits on this card
=1 for low byte
=2 for middle byte
=3 for high byte

OutputNumber: The number of the Onput pin whose state one desires to read or modify.
Outputs are numbered 1–24 on ACC-11E

The function will return the state of the specified pin as an unsigned int:
=0, pin is low
=1, pin is high

unsigned int ACC11E_GetOutputState(unsigned int BaseAddressOffset, unsigned int ByteSelect,
unsigned int OutputNumber)

/*
Input:

------­BaseAddressOffset: I/O Card Base Address Offset
InputNumber: Input Pin Number (1-24)
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits

Output:

------­State of the I/O pin specified*/

{
volatile unsigned int *ioptr; // Create I/O pointer
// Compute location for high bit
unsigned int HighBitInCorrectLocation=0,ShiftValue;
OutputNumber--;
ShiftValue=OutputNumber%8 + 8*(ByteSelect-1);
HighBitInCorrectLocation = 1 << ShiftValue; // Shift bit to that location
ioptr = piom + BaseAddressOffset/4; // Initialize pointer
ioptr += OutputNumber/8 + 3; // Increment to register containing the I/O bit
// Return state of I/O point
return ((*ioptr >> 8) & HighBitInCorrectLocation) >> ShiftValue;
}

Function for Writing to Outputs: ACC11E_SetOutputState()

Four parameters must be passed in the calling function:

BaseAddressOffset: One of the four base addresses (jumper selected) ACC-11E can take
=0xA00000
=0xB00000
=0xC00000
=0xD00000

ByteSelect: The byte used (jumper selected) for the I/O bits on this card
=1 for low byte
=2 for middle byte
=3 for high byte

OutputNumber: The number of the Output pin whose state one desires to read or modify.
Outputs are numbered 1–24 on ACC-11E

State: The state to which the desires to set the I/O pin.
=0, pin is OFF (low=false)
=1, pin is ON (high=true)

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Using ACC-11E with Power UMAC 21

The function is of type void, so it will not return any values.

void ACC11E_SetOutputState(unsigned int BaseAddressOffset, unsigned int ByteSelect, unsigned int

OutputNumber, unsigned int State)

/*
Input:
BaseAddressOffset: I/O Card Base Address offset
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits
PinNumber: Output Pin Number (1-24)
State: Desired digital state of pin (0 = OFF, 1 = ON)
*/

{
volatile unsigned int *ioptr; // Create I/O pointer
// Compute location for high bit
unsigned int HighBitInCorrectLocation;
OutputNumber--;
HighBitInCorrectLocation = 1 << (OutputNumber%8 + 8*ByteSelect);
ioptr = piom + BaseAddressOffset/4; // Initialize pointer
ioptr += OutputNumber/8 + 3; // Increment to register containing the I/O bit
if(State==1) // If the user wants the pin to be ON (high true)
{// Logical OR with the bit the user desires to activate
*ioptr |= HighBitInCorrectLocation;
} else {
// Logical AND the register with a 0 in the desired location to bring the pin's state low
// right shift to push out garbage in lowest 8 bits, then shift back up 8 bits to have
// data in the proper location
*ioptr &= (((~0)^HighBitInCorrectLocation) >> 8) << 8;
}

return;
}

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Using ACC-11E with Power UMAC 22

Header and Source File

The code for “acc11e.h” and “acc11e.c”, given below, contains the definitions for using the above

functions, prototypes, and the above listed functions. “acc11.h” should be included whenever using the

above ACC-11E C code. The files, acc11e.h and acc11e.c, must be put into the same folder as the C
program (BGCPLC, RTICPLC, or Background C Program.

#include "acc11e.h"

Below is the full code for both acc11e.h and acc11e.c.

acc11e.h

#include <gplib.h>
#include <RtGpShm.h> // Global Rt/Gp Shared memory pointers

//------------------------------------------------------------­// The following is a projpp created file from the User defines
//-------------------------------------------------------------

#include "../../Include/pp_proj.h"

// Corresponds to E1 installed on ACC-11E, Turbo base address of $78C00

#define ACC11E_BaseAddressOffset_E1 0xA00000

// Corresponds to E2 installed on ACC-11E, Turbo base address of $78D00

#define ACC11E_BaseAddressOffset_E2 0xB00000

// Corresponds to E3 installed on ACC-11E, Turbo base address of $78E00

#define ACC11E_BaseAddressOffset_E3 0xC00000

// Corresponds to E4 installed on ACC-11E, Turbo base address of $78F00

#define ACC11E_BaseAddressOffset_E4 0xD00000

#define ON 1 // Assumes that (logic high)=true
#define OFF 0 // Assumes that (logic low)=false
#define ByteSelectLow 1
#define ByteSelectMiddle 2
#define ByteSelectHigh 3

void ACC11E_SetControlWord(unsigned int BaseAddressOffset, unsigned int ByteSelect);
unsigned int ACC11E_GetInputState(unsigned int BaseAddressOffset, unsigned int ByteSelect,
unsigned int InputNumber);
unsigned int ACC11E_GetOutputState(unsigned int BaseAddressOffset, unsigned int ByteSelect,
unsigned int OutputNumber);
void ACC11E_SetOutputState(unsigned int BaseAddressOffset, unsigned int ByteSelect, unsigned int

OutputNumber, unsigned int State);

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Using ACC-11E with Power UMAC 23

acc11e.c

#include <gplib.h>
#include <RtGpShm.h> // Global Rt/Gp Shared memory pointers

//------------------------------------------------------------­// The following is a projpp created file from the User defines
//-------------------------------------------------------------

#include "acc11e.h"

void ACC11E_SetControlWord(unsigned int BaseAddressOffset, unsigned int ByteSelect)

/*
Input:
BaseAddressOffset: IO Card Base Address offset
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits
ControlWord: Control word value to which to set the card's Control Word
*/

{
volatile unsigned int *ioptr; // Create I/O pointer
ioptr = piom + BaseAddressOffset/4 + 7;// Initialize I/O pointer to Control Word register
*ioptr = 7 << (8*ByteSelect); // Write Control Word value to register
return;
}

unsigned int ACC11E_GetInputState(unsigned int BaseAddressOffset, unsigned int ByteSelect,
unsigned int InputNumber)

/*
Input:

------­BaseAddressOffset: I/O Card Base Address Offset
InputNumber: Input Pin Number (1-24)
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits

Output:

------­State of the I/O pin specified*/

{
volatile unsigned int *ioptr; // Create I/O pointer
// Compute location for high bit
unsigned int HighBitInCorrectLocation=0,ShiftValue;
InputNumber--;
ShiftValue = InputNumber%8 + 8*(ByteSelect-1);
HighBitInCorrectLocation = 1 << ShiftValue; // Shift bit to that location
ioptr = piom + BaseAddressOffset/4; // Initialize pointer
ioptr += InputNumber/8; // Increment to register containing the I/O bit
// Return state of I/O point
return ((*ioptr >> 8) & HighBitInCorrectLocation) >> ShiftValue;
}

unsigned int ACC11E_GetOutputState(unsigned int BaseAddressOffset, unsigned int ByteSelect,
unsigned int OutputNumber)

/*
Input:

------­BaseAddressOffset: I/O Card Base Address Offset
InputNumber: Input Pin Number (1-24)
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits

Output:

------­State of the I/O pin specified*/

{
volatile unsigned int *ioptr; // Create I/O pointer
// Compute location for high bit
unsigned int HighBitInCorrectLocation=0,ShiftValue;
OutputNumber--;
ShiftValue=OutputNumber%8 + 8*(ByteSelect-1);
HighBitInCorrectLocation = 1 << ShiftValue; // Shift bit to that location
ioptr = piom + BaseAddressOffset/4; // Initialize pointer
ioptr += OutputNumber/8 + 3; // Increment to register containing the I/O bit
// Return state of I/O point
return ((*ioptr >> 8) & HighBitInCorrectLocation) >> ShiftValue;

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Using ACC-11E with Power UMAC 24

}

void ACC11E_SetOutputState(unsigned int BaseAddressOffset, unsigned int ByteSelect, unsigned int

OutputNumber, unsigned int State)

/*
Input:
BaseAddressOffset: I/O Card Base Address offset
ByteSelect: =1 for lowest 8 bits, =2 for middle 8 bits, =3 for high 8 bits
PinNumber: Output Pin Number (1-24)
State: Desired digital state of pin (0 = OFF, 1 = ON)
*/

{
volatile unsigned int *ioptr; // Create I/O pointer
// Compute location for high bit
unsigned int HighBitInCorrectLocation;
OutputNumber--;
HighBitInCorrectLocation = 1 << (OutputNumber%8 + 8*ByteSelect);
ioptr = piom + BaseAddressOffset/4; // Initialize pointer
ioptr += OutputNumber/8 + 3; // Increment to register containing the I/O bit
if(State==1) // If the user wants the pin to be ON (high true)
{// Logical OR with the bit the user desires to activate
*ioptr |= HighBitInCorrectLocation;
} else {
// Logical AND the register with a 0 in the desired location to bring the pin's state low
// right shift to push out garbage in lowest 8 bits, then shift back up 8 bits to have
// data in the proper location
*ioptr &= (((~0)^HighBitInCorrectLocation) >> 8) << 8;
}

return;
}

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Using ACC-11E with Power UMAC 25

Example: Reading from and Writing to I/O Points on One ACC-11E with CPLC0

This example is for an ACC-11E at base address offset $A00000 with low-byte addressing.

Every scan, the following Background CPLC (BGCPLC0) reads all inputs on the ACC-11E and places
them into P-Variables (P7000–P7023) for general purpose use. The BGCPLC will also read from
P-Variables (P8000–P8023) and write their values to the output pins of ACC-11E as follows:

P-Variable Number

Pin

Number

P-Variable Number

Pin

Number

P7000

Input 0 P8000

Output 0

P7001

Input 1 P8001

Output 1

P7002

Input 2 P8002

Output 2

P7003

Input 3 P8003

Output 3

P7004

Input 4 P8004

Output 4

P7005

Input 5 P8005

Output 5

P7006

Input 6 P8006

Output 6

P7007

Input 7 P8007

Output 7

P7008

Input 8 P8008

Output 8

P7009

Input 9 P8009

Output 9

P7010

Input 10 P8010

Output 10

P7011

Input 11 P8011

Output 11

P7012

Input 12 P8012

Output 12

P7013

Input 13 P8013

Output 13

P7014

Input 14 P8014

Output 14

P7015

Input 15 P8015

Output 15

P7016

Input 16 P8016

Output 16

P7017

Input 17 P8017

Output 17

P7018

Input 18 P8018

Output 18

P7019

Input 19 P8019

Output 19

P7020

Input 20 P8020

Output 20

P7021

Input 21 P8021

Output 21

P7022

Input 22 P8022

Output 22

P7023

Input 23 P8023

Output 23

ACC-11E User Manual

Using ACC-11E with Power UMAC 26

Example Code: Using BGCPLC1 as an example.

This example assumes that “acc11e.h” and “acc11e.c” have already been placed into the same folder as

the BGCPLC under C LanguageCPLCsbgcplc00 in the Power PMAC IDE Solution Explorer.

#include <gplib.h>
#include <stdio.h>
#include <dlfcn.h>

#include "../../Include/pp_proj.h"
#include "acc11e.h"

void user_plcc()

{
unsigned int ChannelNumber, ArrayIndex; // Allocate indices

for(ChannelNumber = 1; ChannelNumber < 25; ChannelNumber++)
{
ArrayIndex = ChannelNumber - 1;
/* Copy the state of each input into P7000-P7023 */
pshm->P[7000 + ArrayIndex] =
(double)ACC11E_GetInputState(ACC11E_BaseAddressOffset_E1, ByteSelectLow, ChannelNumber);
/* Copy the state of P8000-P8023 into outputs 1-24 */
ACC11E_SetOutputState(ACC11E_BaseAddressOffset_E1, ByteSelectLow, ChannelNumber,
(unsigned int)pshm->P[8000 + ArrayIndex]);
}
return;
}

User Written Functions

User written functions can be created as an alternative to the above described functions.
To do so:

 Point a volatile unsigned int* pointer variable to the desired ACC-11E memory

location

 Perform a whole 32-bit read of the memory location
 To read I/O states, mask and shift to read the appropriate bit in the word; i.e., the state of

the I/O point

 To write I/O states, perform a read-modify-write to change the appropriate bit in the

word (e.g., to enable or disable an output)

Table of ACC-11E I/O Registers in C

To access the I/O pins in ACC-11E, point a volatile unsigned int* pointer to the following registers:

Base Address

A00000

Base Address

B00000

Base Address

C00000

Base Address

D00000

Register

Description

piom+0xA00000/4+0

piom+0xB00000/4+0

piom+0xC00000/4+0

piom+0xD00000/4+0

Inputs 1–8

piom+0xA00000/4+1

piom+0xB00000/4+1

piom+0xC00000/4+1

piom+0xD00000/4+1

Inputs 9–16

piom+0xA00000/4+2

piom+0xB00000/4+2

piom+0xC00000/4+2

piom+0xD00000/4+2

Inputs 17–24

piom+0xA00000/4+3

piom+0xB00000/4+3

piom+0xC00000/4+3

piom+0xD00000/4+3

Outputs 1–8

piom+0xA00000/4+4

piom+0xB00000/4+4

piom+0xC00000/4+4

piom+0xD00000/4+4

Outputs 9–16

piom+0xA00000/4+5

piom+0xB00000/4+5

piom+0xC00000/4+5

piom+0xD00000/4+5

Outputs 17–24

piom+0xA00000/4+7

piom+0xB00000/4+7

piom+0xC00000/4+7

piom+0xD00000/4+7

Control Word

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Using ACC-11E with Power UMAC 27

The useful data in each of these registers will be found in bits 8–32; the ACC-11E in Power PMAC does
not use bits 0–7 of any of its registers. The base addresses (left to right four columns) and bytes (right
end column) are selected with jumpers (see Addressing Setup and Jumper Settings section).

Only whole words at a time can be read in C; therefore, it is necessary to mask (using the bitwise “&”

operator) and shift (using the “<<” and “>>” operators) to obtain bit values.

A set of pointer variables can be predefined to each I/O register. Alternatively, a set of functions can be
created for reading and writing that will automatically point to, read from, and/or modify the appropriate
memory location, given the card’s base address, byte select, and pin number.