Delta Tau ACC-14M User Manual

1^ USER MANUAL

^2 Accessory 14M

^3 MACRO OPTO 48 bit Input/output

^4 3Ax-603741-xUxx

^5 December 9, 2009

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

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: (818) 717-5656 Fax: (818) 998-7807 Email: support@deltatau.com 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.

REVISION HISTORY

REV. DESCRIPTION DATE CHG APPVD

1 NEW MANUAL 07/21/09 C.PERRY S. SATTARI

2 UPDATED 16-BIT ADC OPTION 12/08/09 C.PERRY S. FIERRO

Accessory 14M

TABLE OF CONTENTS

INTRODUCTION .......................................................................................................................................................1

Options ......................................................................................................................................................................2

HARDWARE REFERENCE SUMMARY ...............................................................................................................3

Mechanical Layout....................................................................................................................................................3

Board Layout.............................................................................................................................................................4

Connectors and Indicators.........................................................................................................................................4

Inputs and Outputs LED Indicators......................................................................................................................4

Status LED Indicators...........................................................................................................................................4

7-Segment LED Indicator.....................................................................................................................................4

USB Connector .....................................................................................................................................................4

24V Input Connector.............................................................................................................................................4

MACRO Link Connectors .....................................................................................................................................4

DB-15 Option-1 Connector ..................................................................................................................................4

Relay Status LED Indictors...................................................................................................................................4

Inputs and Outputs Terminal Blocks (J4 and J5)..................................................................................................5

E-Point Jumper Description ......................................................................................................................................5

CONNECTORS DESCRIPTION ..............................................................................................................................6

USB Universal Serial Bus Port .................................................................................................................................6

24VDC Input.............................................................................................................................................................6

MACRO RJ-45 Copper Connectors..........................................................................................................................6

MACRO Fiber Optic Connector ...............................................................................................................................7

U17: MACRO Fiber Optic Connector (OPT A, B)...................................................................................................7

Main IO Connectors J4 and J5 ..................................................................................................................................8

J4 (50 Pin Header) ...............................................................................................................................................8

J5 (50 Pin Header) ...............................................................................................................................................9

OPT-1: DB-15 Connector .......................................................................................................................................10

SOFTWARE SETUP ................................................................................................................................................11

ACC14M MACRO 72-Bit Node (24 Inputs / 24 Outputs) FORMAT w/ Outputs high 24-bit word......................11

ACC14M MACRO 72-Bit Node (48 Outputs) FORMAT......................................................................................11

ACC14M MACRO 72-Bit Node (48 Inputs) FORMAT.........................................................................................11

ACC14M MACRO 72-Bit Node (24 Outputs / 24 Inputs) FORMAT w/ Outputs low 24-bit word.......................12

ASCII Ring Order Initial Binding of the ACC-14M Station...................................................................................14

Establishing Communications with the ACC-14M Station .................................................................................14

USING ACC-14M FOR INPUTS AND OUTPUTS................................................................................................16

MI14 Mode Setting 0 or 3 (24 inputs and 24 outputs) ADD mode 1 and 2 ........................................................16

USING OPTION 1 – ADC’S, DAC’S, RELAY’S...................................................................................................18

Using the ACC-14M ADC......................................................................................................................................18

Using the ACC-14M DAC Output..........................................................................................................................19

Using the ACC-14M Amplifier Enable Outputs.....................................................................................................20

USING ACC-14M FOR SERVO FEEDBACK.......................................................................................................21

Example Turbo Encoder Conversion Table Setup for ACC-14M...........................................................................21

ECT Setup for 18-bit Encoder without Filtering ................................................................................................21

ECT Setup for 18-bit Encoder with Filtering......................................................................................................21

Absolute Encoder Setup for ACC-14M ..................................................................................................................22

Graycode Encoder Feedback...................................................................................................................................22

FEEDBACK DATA LATCHING AND HANDSHAKING ...................................................................................23

Method 1 .............................................................................................................................................................24

Method 2 .............................................................................................................................................................24

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Method 3 .............................................................................................................................................................25

Method 4 .............................................................................................................................................................25

Method 5 .............................................................................................................................................................26

MACRO ASCII Communication Reference:..........................................................................................................27

Firmware Updates ...................................................................................................................................................28

ACC-14M MACRO STATION MI-VARIABLE REFERENCE..........................................................................29

Global MI-Variables ...............................................................................................................................................29

MS{anynode}, MI0 Station Firmware Version (Read Only)..............................................................................29

MS{anynode},MI1 Station Firmware Date (Read Only) ...................................................................................29

MS{anynode},MI2 Station ID and User Configuration Word ...........................................................................29

MS{anynode},MI3 (Reserved for Future Use)...................................................................................................30

MS{anynode},MI4 Station Status Word (Read Only) ........................................................................................30

MS{anynode},MI5 Ring Error Counter.............................................................................................................30

MS{anynode},MI6 Maximum Permitted Ring Errors in One Second................................................................31

MS{anynode},MI7 (Reserved for Future Use)...................................................................................................31

MS{anynode},MI8 MACRO Ring Check Period................................................................................................31

MS{anynode},MI9 MACRO Ring Error Shutdown Count.................................................................................31

MS{anynode},MI10 MACRO Sync Packet Shutdown Count .............................................................................32

MS{anynode},MI11 Station Order Number.......................................................................................................32

MS{anynode},MI12 Card Identification ............................................................................................................32

MS{anynode},MI13 (Reserved for Future Use).................................................................................................32

MS{anynode},MI14 Input/Output Configuration...............................................................................................33

MS{anynode},MI15 Enable MACRO PLCC......................................................................................................34

MACRO IC MI-Variables.......................................................................................................................................34

MS{anynode},MI176 MACRO IC Base Address................................................................................................34

MS{anynode},MI177 MACRO IC Address for Node 14 ....................................................................................34

MS{anynode},MI178 MACRO IC Address for Node 15 ....................................................................................34

MS{anynode},MI181–MI188 MACRO Channels 1 - 8 Address ........................................................................34

MACRO IC I/O Transfer MI-Variables..................................................................................................................34

MS{anynode},MI198 Direct Read/Write Format and Address..........................................................................35

MI198 Format Digits..........................................................................................................................................36

MS{anynode},MI199 Direct Read/Write Variable.............................................................................................38

Global MACRO Status MI-Variables .....................................................................................................................38

MS{anynode}, MI203 Phase Period ..................................................................................................................38

MS{anynode}, MI204 Phase Execution Time ....................................................................................................38

MS{anynode}, MI205 Background Cycle Time .................................................................................................38

MS{anynode}, MI206 Maximum Background Cycle Time ................................................................................38

MS{anynode}, MI208 User Ram Start...............................................................................................................38

MACRO IC MI-Variables.......................................................................................................................................39

MS{anynode},MI942 ADC Strobe Word for ADC1 and ADC2 Inputs..............................................................39

MACRO IC Setup MI-Variables.............................................................................................................................39

MS{anynode},MI970-MI973 (Reserved for Future Use)...................................................................................39

MS{anynode},MI1974 Station Display Status (Read Only)...............................................................................39

MS{anynode},MI977 Motor Nodes Reporting Ring Break................................................................................39

MS{anynode},MI978-MI989 (Reserved for Future Use)...................................................................................40

MACRO IC MI-Variables.......................................................................................................................................40

MS{anynode},MI992 MaxPhase Frequency Control.........................................................................................40

MS{anynode},MI993 Hardware Clock Control Handwheel Channels..............................................................40

MS{anynode},MI994 PWM Deadtime / PFM Pulse Width Control for Handwheel........................................42

MS{anynode},MI995 MACRO Ring Configuration/Status................................................................................42

MS{anynode},MI996 MACRO Node Activate Control ......................................................................................43

MS{anynode},MI997 Phase Clock Frequency Control .....................................................................................45

MS{anynode},MI998 Servo Clock Frequency Control......................................................................................45

MS{anynode},MI999 Handwheel DAC Strobe Word (Not Used)......................................................................46

Other ACC-14M MACRO Station Mm & MP-Variables.......................................................................................46

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ACC-14M MACRO STATION MACPLCCS.........................................................................................................46

Requirements...........................................................................................................................................................46

Arithmetic Data Types ............................................................................................................................................46

MACRO MI Integer Variables (n = 0 – 1099)........................................................................................................46

MACRO MM and MP Integer Variables (n = 0 – 511) ..........................................................................................46

MACROPlcc Ln Integer Variables (n = 0 – 511) ....................................................................................................46

Direct Memory Addressing for Integer Ln & Ln[] Variable Definitions............................................................46

Standard MACRO Program Commands .................................................................................................................47

Valid Math, Assignment and Conditional Operators ..............................................................................................47

Valid Expressions and Arrays.................................................................................................................................47

Ln Arrays Definition Examples...............................................................................................................................47

Example Program...............................................................................................................................................47

MACRO PLCC Code Memory ...............................................................................................................................47

MAC PLCC Related ASCII Commands .................................................................................................................48

ACC-14M MACRO STATION SERIAL COMMANDS.......................................................................................48

Serial Commands ....................................................................................................................................................48

$$$ Station Reset ...............................................................................................................................................48

$$$*** Station Re-initialize...............................................................................................................................48

CHN Report Channel Number...........................................................................................................................48

CID Report Card ID Number ............................................................................................................................48

CLRF Clear Station Faults................................................................................................................................48

DATE Report Firmware Date............................................................................................................................48

DISABLE PLCC or CNTRL D Disables PLCC .................................................................................................49

ENABLE PLCC Enables PLCC.........................................................................................................................49

MI{constant} Report Station MI-Variable Value...............................................................................................49

MI{constant}={constant} Set Station MI-Variable Value .................................................................................49

MM{constant} Report Station MM-Variable Value...........................................................................................49

MM{constant}={constant} Set Station MM-Variable Value .............................................................................49

MP{constant} Report Station MP-Variable Value.............................................................................................49

MP{constant}={constant} Set Station MP-Variable Value...............................................................................49

MM{constant}-> Report Station MM-Variable Definition................................................................................49

MM{constant}->{X/Y:offset,width,format} Set Station MM-Variable Definition..............................................49

R{address} Read Station Address......................................................................................................................49

SAVE Save Station MI-Variables.......................................................................................................................50

SID Reports Serial Identification Number.........................................................................................................50

VERS Report Firmware Version........................................................................................................................50

VID Report Vendor ID Number.........................................................................................................................50

W{address},{value} Write Value to Station Address .........................................................................................50

PMAC TYPE 1 ACC-14M MACRO STATION COMMANDS ...........................................................................52

On-Line Commands ................................................................................................................................................52

MS Command .....................................................................................................................................................52

MS Variable Read...............................................................................................................................................53

MS Variable Write ..............................................................................................................................................53

MS Variable Read Copy .....................................................................................................................................53

MS Variable Write Copy.....................................................................................................................................54

Turbo PMAC PLC Commands for Type 1 ACC-14M MACRO Stations ..............................................................55

MS Variable Read Copy .....................................................................................................................................55

MS Variable Write Copy.....................................................................................................................................55

ACC-14M MACRO STATION MEMORY AND I/O MAP..................................................................................57

Internal Calculation Registers .................................................................................................................................57

Open Memory .........................................................................................................................................................57

DSPGATE2 Registers.............................................................................................................................................57

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INTRODUCTION

The ACC-14M can be used with a TURBO PMAC2 Ultralite or UMAC MACRO for either general purpose digital I/O, direct connection to Opto22 style boards, or as high speed latched inputs for servo loop position or velocity feedback. The ACC-14M can also run a Delta Tau PLCC program that allows the user to process their IO in real time using its on-board processor without adding overhead to the Ring Master controller.

The ACC-14M can be used as follows:

INPUTS OUTPUTS MI14 Comments

24 24 0 Default. J4 is Input Port and J5

is Output Port. Uses one IO Node

0 48 1 Uses two IO nodes

48 0 2 Uses two IO nodes

24 24 3 J4 is Output Port and J5 is

Input Port. Uses one IO node

Whatever your intent, this manual is equipped with the necessary examples and descriptions to allow for a rapid setup. While setup of the Acc-14M is easy for all its’ purposes it is a bit easier to setup the board for the purpose of machine I/O than it is for the purpose of servo control. This is because configuring the board for closed loop servo data requires a few more jumper settings, the setup of various I-variables in the encoder conversion table, and if used for power on position the setup of certain power-on position variables.

The encoder conversion table is setup on the controller side using variables I8000 through I8191. Encoder conversion types are $2 and $3 for the ACC-14M and are described in the Turbo PMAC Software Reference Manual.

If option 1 is ordered a set of analog inputs, analog outputs, and relay contacts are installed. These can be used to control, for example, one or two inverter drives through the MACRO link.

This accessory works only with a Turbo PMAC2 controller, either in Ultralite or UMAC format.

Features:

• Two 24-bit IO ports configured as Inputs or Outputs. OPTO 22 compatible

• One 24-bit Gray Code to Binary Conversion for J4 port only

• Latching inputs

• Output Clock for Binary or Gray code encoder synchronization

Introduction 1

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Options

• OPT-A (30A-603740-OPT): Fiber Optic MACRO connectors

• OPT-C (30C-603740-OPT): RJ45 MACRO connectors

• OPT-1 (301-603740-OPT): This option includes:

o Two relay contact outputs

o Two 12-bit DAC outputs with 0-10 V voltage range

o Two 16-bit ADC inputs with 0-10 V voltage range

2 Introduction

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HARDWARE REFERENCE SUMMARY

Mechanical Layout

ACC-14M MACRO Station I/O Transfer 3

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Board Layout

Connectors and Indicators

Inputs and Outputs LED Indicators

Each of the 24 input and 24 INPUT/OUTPUT lines has an associated LED that displays its state, either active or inactive, in the front panel of the unit.

Status LED Indicators

+24V: When lit, this LED indicates that 24V is applied to the unit.

PWR: When lit, this LED indicates that proper power is applied to the logic circuits

WD: When lit, this LED indicates that the watchdog safety circuit is activated, indicating a

failure condition.

7-Segment LED Indicator

This indicator reports the status of the unit with respect to the MACRO link. These are the possible status codes:

0: Ring Active with no errors 1-9: NA a: NA b: Ring-break fault c: Configuration change fault d: Ring data-error fault e: NA f: Momentary ring fault

USB Connector

This connector is used to perform some software diagnostic procedures, or to download the operational firmware. This connector is used in conjunction with the PEWIN32-Pro or equivalent software package.

24V Input Connector

Power is applied to the unit through this connector. The power requirement for logic is 300mA @ 24VDC. The power requirement for the outputs is 50mA per each, 2.4A if all 48 are used.

MACRO Link Connectors

The unit can be ordered to use either RJ45 connectors with twisted pair copper wires or a fiber optic connection. In either case, there will be an input and an output connector, and both are used to connect to the MACRO link. The input connector is tied to the MACRO output connector of the previous device on the link. The output connector connects to the input MACRO connector of the next device on the link.

DB-15 Option-1 Connector

When OPT-1 is ordered this connector provides the lines for two relay contact outputs, two 16-bit DAC outputs with 0-10 V voltage range and two 16-bit ADC inputs with 0-10 V voltage range.

Relay Status LED Indictors

RLY1: When lit, this indicates that the first amplifier enable relay is activated.

4 ACC-14M MACRO Station I/O Transfer

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RLY2: When lit, this indicates that the second amplifier enable relay is activated.

Inputs and Outputs Terminal Blocks (J4 and J5)

Allows for the 48 bit Inputs/Outputs connections, their clocking, and errors. Each connector is a 50-pin IDE header that allows for direct connection to Opto22 style boards.

E-Point Jumper Description

Refer to the layout diagram of ACC-14M for the location of the jumpers on the board.

Table 1: E-Point Jumper configuration and settings

Jumper Config Description Settings

E1 1-2 Watchdog Disable ON to disable watchdog

OFF for normal operation

E2 1-2-3 BootStrap 1-2 for bootstrap mode

2-3 for normal operation

E3 1-2 Buadrate ON for 9600 Baud for USB to Serial Coverter

OFF for 38400 Baud for USB to Serial Coverter

E5 1-2-3 Output clock polarity 1-2 OCLK is sample clock-

2-3 OCLK is sample clock+

E6 1-2-3 Latch clock polarity 1-2 ENA_CLK is sample clock+

2-3 ENA_CLK is sample clock-

E7 1-2 Input latch signal for

bits 0-23

E8 1-2 Error latch signal for

bits 0-23

E9 1-2 Input latch signal for

bits 24-47

E10 1-2 Error latch signal for

bits 24-47

JP1 1-2 Board Type Reserved for ACC-65M/ACC-68M OFF JP2 1-2 Board Type Install jumper for ACC-14M 1-2

JP3-JP6 - Reserved OFF

JP7 1-2 Re-initialization ON for re-initialization to factory defaults at power up

The E7, E8, E9, and E10 jumpers are pulled up to 5V if not using ICLK or ERR inputs from the encoder. If you are NOT using the ICLK or ERR inputs to the ACC-14M, then you will need to jumper E7 and E8 when using J4 connector port for inputs and/or E9 and E10 when using the J5 connector port for inputs.

ON passes the ICLK1 0V input from J4 to latch Inputs 0-23 OFF passes the ICLK1 5V input from J4 to latch Inputs 0-23 ON allows a low ERR1/ input to latch Inputs 0-23 OFF allows a high ERR1/ input to latch Inputs 0-23 ON passes the ICLK2 0Vinput from J5 to latch Inputs 24-47 OFF passes the ICLK2 5Vinput from to latch Inputs 24-47 ON allows a low ERR2/ input to latch the Inputs 24-47 OFF allows a high ERR2/ input to latch the Inputs 24-47

OFF for normal operations

Default

OFF

2-3

OFF

1-2

ACC-14M MACRO Station I/O Transfer 5

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CONNECTORS DESCRIPTION

USB Universal Serial Bus Port

Pin # Symbol Function

1 VCC N.C. 2 D- DATA- 3 D+ DATA+ 4 GND GND 5 SHELL SHIELD 6 SHELL SHIELD

This connector is only used to change the operational firmware, or to perform basic software diagnostic operations. The user can user a serial port terminal window such as Microsoft  HyperTerminal to communicate to the MACRO Device. You should set your serial port communication settings as follows:

Buad Rate: 38400 for E3 not jumpered or 9600 for E3 jumpered Data Bits: 8 Parity: None Stop Bits: 1 Flow Control: Xon/Xoff

If you have installed PEWIN Pro software, then the USB device should be recognized by your operating system. If the device is not recognized by Windows, please contact the factory and we can assist you.

24VDC Input

Symbol Function

24V RET AGND

+24V +24V

This connector is used to power the unit with a 25A @ 24VDC power supply.

MACRO RJ-45 Copper Connectors

Front View

Pin # Symbol Function Description

1 DATA+ Data + Differential MACRO Signal. 2 DATA- Data - Differential MACRO Signal 3 Unused Unused terminated pin 4 Unused Unused terminated pin 5 Unused Unused terminated pin 6 Unused Unused terminated pin

6 ACC-14M MACRO Station I/O Transfer

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7 Unused

Unused te

ated p

8 Unused Unused terminated pin

rmin

The cable used for MACRO wired connections is CAT5 verified straight-through 8 conductor. The input connector is tied to the MACRO INPUT/OUTPUT connector of the previous device on the link. The INPUT/OUTPUT connector connects to the input MACRO connector of the next device on the link.

MACRO Fiber Optic Connector

U17: MACRO Fiber Optic Connector (OPT A, B)

(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

1. 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.

2. It is possible to "adapt" wire to fiber operation when using OPT B.

ACC-14M MACRO Station I/O Transfer 7

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Main IO Connectors J4 and J5

J4 (50 Pin Header)

Pin Symbol Function Description

1 MI/O23 In/out I/O at base address, bit 23 2 GND Common PMAC common 3 MI/O22 In/out I/O at base address, bit 22 4 GND Common PMAC common 5 MI/O21 In/out I/O at base address, bit 21 6 GND Common PMAC common 7 MI/O20 In/out I/O at base address, bit 20 8 GND Common PMAC common

9 MI/O19 In/out I/O at base address, bit 19 10 GND Common PMAC common 11 MI/O18 In/out I/O at base address, bit 18 12 GND Common PMAC common 13 MI/O17 In/out I/O at base address, bit 17 14 GND Common PMAC common 15 MI/O16 In/out I/O at base address, bit 16 16 GND Common PMAC common 17 MI/O15 In/out I/O at base address, bit 15 18 GND Common PMAC common 19 MI/O14 In/out I/O at base address, bit 14 20 GND Common PMAC common 21 MI/O13 In/out I/O at base address, bit 13 22 GND Common PMAC common 23 MI/O12 In/out I/O at base address, bit 12 24 GND Common PMAC common 25 MI/O11 In/out I/O at base address, bit 11 26 GND Common PMAC common 27 MI/O10 In/out I/O at base address, bit 10 28 GND Common PMAC common 29 MI/O9 In/out I/O at base address, bit 9 30 GND Common PMAC common 31 MI/O8 In/out I/O at base address, bit 8 32 GND Common PMAC common 33 MI/O7 In/out I/O at base address, bit 7 34 GND Common PMAC common 35 MI/O6 In/out I/O at base address, bit 6 36 GND Common PMAC common 37 MI/O5 In/out I/O at base address, bit 5 38 GND Common PMAC common 39 MI/O4 In/out I/O at base address, bit 4 40 GND Common PMAC common 41 MI/O3 In/out I/O at base address, bit 3 42 GND Common PMAC common 43 MI/O2 In/out I/O at base address, bit 2 44 ERR1 Input Error signal 45 MI/O1 In/out I/O at base address, bit 1 46 ICLK1 Input 47 MI/O0 In/out I/O at base address, bit 0 48 OCLK1 Output 49 +V Output 5V power 50 GND Common

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J5 (50 Pin Header)

Pin Symbol Function Description

1 MI/O47 In/Out I/O at base address, bit 47

2 GND Common PMAC common

3 MI/O46 In/Out I/O at base address, bit 46

4 GND Common PMAC common

5 MI/O45 In/Out I/O at base address, bit 45

6 GND Common PMAC common

7 MI/O44 In/Out I/O at base address, bit 44

8 GND Common PMAC common

9 MI/O43 In/Out I/O at base address, bit 43 10 GND Common PMAC common 11 MI/O42 In/Out I/O at base address, bit 42 12 GND Common PMAC common 13 MI/O41 In/Out I/O at base address, bit 41 14 GND Common PMAC common 15 MI/O40 In/Out I/O at base address, bit 40 16 GND Common PMAC common 17 MI/O39 In/Out I/O at base address, bit 39 18 GND Common PMAC common 19 MI/O38 In/Out I/O at base address, bit 38 20 GND Common PMAC common 21 MI/O37 In/Out I/O at base address, bit 37 22 GND Common PMAC common 23 MI/O36 In/Out I/O at base address, bit 36 24 GND Common PMAC common 25 MI/O35 In/Out I/O at base address, bit 35 26 GND Common PMAC common 27 MI/O34 In/Out I/O at base address, bit 34 28 GND Common PMAC common 29 MI/O33 In/Out I/O at base address, bit 33 30 GND Common PMAC common 31 MI/O32 In/Out I/O at base address, bit 32 32 GND Common PMAC common 33 MI/O31 In/Out I/O at base address, bit 31 34 GND Common PMAC common 35 MI/O30 In/Out I/O at base address, bit 30 36 GND Common PMAC common 37 MI/O29 In/Out I/O at base address, bit 29 38 GND Common PMAC common 39 MI/O28 In/Out I/O at base address, bit 28 40 GND Common PMAC common 41 MI/O27 In/Out I/O at base address, bit 27 42 GND Common PMAC common 43 MI/O26 In/Out I/O at base address, bit 26 44 ERR2 Input Error signal 45 MI/O25 In/Out I/O at base address, bit 25 46 ICLK2 Input 47 MI/O24 In/Out I/O at base address, bit 24 48 OCLK2 Output 49 +V Output 5v 50 GND Common

ACC-14M MACRO Station I/O Transfer 9

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OPT-1: DB-15 Connector

Pin # Symbol Function

1 GND COMMON GROUND 2 ADC1+ ANALOG INPUT 1+ 3 ADC2+ ANALOG INPUT 2+ 4 DAC1+ ANALOG OUTPUT 1+ 5 DAC2+ ANALOG OUTPUT 2+ 6 AE-NC-1 NORMALLY CLOSE RELAY 1 7 AE-COM-2 COMMON RELAY 2 8 AE-NO-2 NORMALLY OPEN RELAY 2

9 ADC1- ANALOG INPUT 1- 10 ADC2- ANALOG INPUT 2- 11 DAC1- ANALOG OUTPUT 1- 12 DAC2- ANALOG OUTPUT 2- 13 AE-COM-1 COMMON RELAY 1 14 AE-NO-1 NORMALLY OPEN RELAY 1 15 AE-NC-2 NORMALLY CLOSE RELAY 2

When OPT-1 is ordered this connector provides the lines for two relay contact outputs, two 12-bit DAC outputs with 0-10 V voltage range and two 16-bit ADC inputs with 0-10 V voltage range.

10 ACC-14M MACRO Station I/O Transfer

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SOFTWARE SETUP

Typically, the MACRO Slave Device and MACRO Master IC (Ultralite) can support up to eight AXIS nodes (0, 1, 4, 5, 8, 9, 12, and 13) and up to six I/O transfer nodes (2, 3, 6, 7, 10, and 11). This data exchange goes through a MACRO IC at both points (master and slave) on the MACRO Ring. There are three types of I/O transfers allowed that send information between the Turbo Ultralite and a MACRO Device. These are, 48-bit I/O background data transfer, 72-bit phase rate I/O node transfer, and 48-bit ASCII transfer.

The 48-bit I/O transfer occurs on node 15 of the MACRO ring and the 48-bit ASCII transfer occurs on node 14 using the broadcast feature of MACRO. The 72-bit node transfer is used to exchange all hardware I/O on the card, the 48-bit I/O transfer for MI variables and the 48-bit ASCII for Ring Order setup of the Station. (The ACC-14M does not have switches that bind it to a certain Master and Node so it uses Ring Order for initial binding to a Master and Node.) The Turbo PMAC2 Ultralite and the MACRO Station enable transfer of 72 bits per I/O node with the I6841 and MI996 type variables.

Once the first node number has been established the Turbo Ultralite can control the Acc-14M through a single I/O node, two consecutive I/O nodes, or an AXIS node depending on the type of control desired. The data exchange format is described in the following table:

ACC14M MACRO 72-Bit Node (24 Inputs / 24 Outputs) FORMAT w/ Outputs high 24-bit word

1st X or Y: I/O Node (MI14.0 = 0, MI14.1 = 0) - One (1) I/O Node (Default)

Command to

Acc-14M Station

Feedback from

Acc-14M Station

Outputs, bits 24 – 47 DAC 1

(Channel 1)

Inputs, bits 0 – 23 ADC 1 (08-23 bits)

(Channel 1)

DAC 2

(Channel 2)

ADC 2 (08-23 bits)

(Channel 2)

Flag Command

Flag Status

ACC14M MACRO 72-Bit Node (48 Outputs) FORMAT

1st X or Y: I/O Node (MI14.0 = 1, MI14.1 = 0) - Two (2) I/O Nodes (Two consecutive nodes must be enabled in MI996)

Command to I/O Station

Feedback from MI/O Station

2nd I/O Node (Always the next consecutive X or Y: Node)

Command to I/O Station

Feedback from MI/O Station

Outputs 0 – 23 DAC 1

(Channel 1)

Not used ADC 1 (08-23 bits)

(Channel 1)

Outputs 24 – 47 Not used Not used Not used

Not used Not used Not used Not used

DAC 2

(Channel 2)

ADC 2 (08-23 bits)

(Channel 2)

Flag Command

Flag Status

ACC14M MACRO 72-Bit Node (48 Inputs) FORMAT

1st X or Y: I/O Node (MI14.0 = 0, MI14.1 = 1) - Two (2) I/O Nodes (Two consecutive nodes must be enabled in MI996)

Command to I/O Station

Not used DAC 1

(Channel 1)

DAC 2

(Channel 2)

Flag Command

ACC-14M MACRO Station I/O Transfer 11

Accessory 14M

Feedback from MI/O Station

2nd I/O Node (Always the next consecutive X or Y: Node)

Command to I/O Station

Feedback from MI/O Station

Inputs 0 – 23 ADC 1 (08-23 bits)

(Channel 1)

Not used Not used Not used Not used

Inputs 24 – 47 Not used Not used Not used

ADC 2 (08-23 bits)

(Channel 2)

Flag Status

ACC14M MACRO 72-Bit Node (24 Outputs / 24 Inputs) FORMAT w/ Outputs low 24-bit word

1st X or Y: I/O Node (MI14.0 = 1, MI14.1 = 1) - One (1) I/O Node (Default)

Command to I/O Station

Feedback from MI/O Station

Note the 72-bit I/O can be done on a Y-Axis or X:IO Node

Outputs 0 – 23 DAC 1

(Channel 1)

Input 24 – 47 ADC 1 (08-23 bits)

(Channel 1)

DAC 2

(Channel 2)

ADC 2 (08-23 bits)

(Channel 2)

Flag Command

Flag Status

FLAG(s) Command Register

B09 - Reserved for future ring protocol control

B10 - Reserved for future ring protocol control

B11 - Reserved

B12 - Reserved

B13 - The Slave detected a MACRO Ring Break MRB & became a Ring master (Note 3)

B14 - Reserved

B15 – When B13 = 1 then B15 = 1 is a Station Fault.

B16 - Reserved for future ring protocol control

B17 - Reserved for future ring protocol control

B18 - Reserved for future ring protocol control

B19 - Fast User Defined Command Flag (UserCmd1) AENA_1 INPUT/OUTPUT

B20 - Fast User Defined Command Flag (UserCmd2) AENA_2 INPUT/OUTPUT

B21 - Fast User Defined Command Flag (UserCmd3)

B22 - Fast User Defined Command Flag (UserCmd4)

B23 - Fast User Defined Command Flag (UserCmd5)

12 ACC-14M MACRO Station I/O Transfer

Accessory 14M

FLAG(s) Status Register

B08 - Reserved for future ring protocol status

B09 - Reserved for future ring protocol status

B10 - Reserved for future ring protocol status

B11 - Reserved

B12 - Reserved

B13 - This Node detected a MACRO Ring Break MRB (Note 3)

B14 - Reserved

B15 - Station or Real Time Data Node Fault

B16 - Reserved for future ring protocol status

B17 - Reserved for future ring protocol status

B18 - Reserved for future ring protocol status

B19 - Fast User Defined Status Flag (UserSatus1) AENA_1 INPUT/OUTPUT

B20 - Fast User Defined Status Flag (UserSatus2) AENA_2 INPUT/OUTPUT

B21 - Fast User Defined Status Flag (UserSatus3)

B22 - Fast User Defined Status Flag (UserSatus4)

B23 - Fast User Status Flag(UserSatus5)

To use this card the user will have to establish communications using the ring order method to activate the nodes at MACRO Slave Device (ACC-14M). The user must also activate the nodes at the MACRO Master Device (typically an Ultralite) to allow communications from the Master to the Slave. Once communications is working properly the user can then setup the inputs and outputs or feedback devices.

The following sections will show the user how to setup:

• Ring Order Method of Communications

• General Purpose Inputs and outputs on ACC-14M

• Setting up Feedback Devices on ACC-14M

ACC-14M MACRO Station I/O Transfer 13

Accessory 14M

ASCII Ring Order Initial Binding of the ACC-14M Station

To initially bind the ACC-14M to a MACRO Master, the Ring Order method is used. When this is used the Ring Controller sends a command out on the Ring in the ASCII communication protocol. It is asking to talk to the first MACRO Station that does not have a Station Number (MI11=0 or STN=0). When this communication state is entered, the Ring Controller is now talking to the MACRO Station in an ASCII data exchange mode. That Station can be either another Turbo PMAC MACRO Station or Slave Station like the ACC-14M. Once communication is established, the developer at the Ring Controller binds the Station to a Master and Node (It sets the Slave Station’s MI996). It is now setup for the normal 72-bit and 48-bit I/O exchange between the Master and Slave Station (the ACC-14M). To come back and communicate with this Station in the ASCII data exchange, its station number (STN) is set normally to its order on the Ring. Once this is done, the Ring Order attempts to find the next station on the Ring that has not been setup for Ring Order (STN=0). Control T is entered. It terminates the ASCII communication transfer between the Ring Controller and the Station and returns to normal communication with the Ring Controller.

At a minimum, the user must set the following I-variables to enable MACRO ASCII mode communications.

I6840=$4030 ;to enable MACRO IC0 as sync-master and node 14 for auxiliary communications I6841=$0FCxxx ;to enable node 15 and 14. If activating nodes 0,1,4,5 we would set I6841=$0FC033 I79=32 ;Timeout value for Node 14 Auxiliary communications

If the customer is using more than one MACRO IC, then they will setup I6890, I6891, I6940, I6941, I6990, and I6991 appropriately. Once the communication variables are modified, they must be saved to the memory of the controller with the save command and then reset the controller with either a “$$$” command or power cycle the controller.

Note:

The PMAC Controller will be able to communicate to the MACRO Device in MACRO ASCII communication mode after the unit has been reset with the changes saved to its memory. This can be done by cycling power or by ussuing the following commands:

mssav2 ;save settings to Macro station which has node 2 activated

ms$$$2 ;reset Macro station which has node 2 activated

Establishing Communications with the ACC-14M Station

After hooking up the Ring and 24VDC power, the user can try to read and write to the IO Device.

1. Ring Order (at the Ring Controller), enter MACSTA255. Now you can assign it a Station number by entering STN=n where n is the Station number. If a Macro I/O error is received, make sure I6840, I6841 and I79 are set correctly. Also make sure that the Unit has not been already assigned a Station number.

If the Station has already been assigned a Station number, there are two options:

a) Find out the station number n and enter MACSTA<n>, where n is the station number, to initiate

MACRO ASCII communication with the Station.

b) Reset the station number of all the stations by entering MACSTA0 and then enter STN=

c) Note:

14 ACC-14M MACRO Station I/O Transfer

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