Delta Tau Acc-24E2S User Manual
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
ccUSER MANUAL
^2 Accessory 24E2S
^3 Axis Expansion Board
^4 3Ax-603441-xUxx
^5 October 17, 2018
DELTA TAU
Data Systems, Inc.
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: (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
ADDED CE DECLARATION
06/07/06
CP
S. FIERO
2
UPDATED TERMINAL BLOCK DESC., PP. 37-41
04-17-09
CP
A. OHMORI
3
UPDATED JUMPERS & RESISTOR PACK DESCR.
07/22/09
CP
S. SATTARI
4
ADDED UL SEAL TO MANUAL COVER
UPDATED AGENCY APPROVAL/SAFETY SECTION
09/30/09
CP
S.FIERRO
5
CORRECTED RESISTOR PACK INFO, P.9
02/18/10
CP
M. YAHYAEI
6
UPDATED POWER REQUIREMENTS
07/21/15
RN
R.NADDAF
7
ADDED KC CONFORMITY
10/17/18
SM
R.NADDAF
Accessory 24E2S
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 3
Features ..................................................................................................................................................................... 3
Board Configuration .................................................................................................................................................. 3
SPECIFICATIONS ..................................................................................................................................................... 4
Environmental Specifications .................................................................................................................................... 4
Physical Specifications .............................................................................................................................................. 4
Electrical Specifications ............................................................................................................................................ 4
Agency Approval and Safety .................................................................................................................................... 5
E-POINT JUMPER SETTINGS ................................................................................................................................ 6
Acc-24E2S Jumpers* ................................................................................................................................................ 6
HARDWARE SETUP ................................................................................................................................................. 7
Switch Configuration ................................................................................................................................................ 7
UMAC Address DIP Switch S1 ............................................................................................................................. 7
MACRO Station Address DIP Switch S1 .............................................................................................................. 7
Acc-24E2 Clock Settings .......................................................................................................................................... 7
Resistor Pack Configuration ...................................................................................................................................... 8
Differential or Single-Ended Encoder Selection ................................................................................................... 8
Termination Resistors ........................................................................................................................................... 8
Acc-24E2 Limit and Flag Wiring .............................................................................................................................. 9
Connecting Limits/Flags to the Acc-24E2 ............................................................................................................ 9
Loss of Encoder Circuit ............................................................................................................................................. 9
Acc-24E2S Discrete On-board Logic with UMAC Turbo CPU .......................................................................... 10
Acc-24E2S Discrete On-board Logic with UMAC MACRO CPU ...................................................................... 10
Position Compare Port Driver IC ............................................................................................................................ 10
CONNECTIONS ....................................................................................................................................................... 11
Acc-24E2S Terminal Block Layout Diagram ......................................................................................................... 11
Acc-24E2S DB15 Option Layout Diagram ............................................................................................................. 11
Mating Connectors .................................................................................................................................................. 11
Terminal Block Connectors ................................................................................................................................ 11
5 Connector Option ............................................................................................................................................ 12
Indicators ................................................................................................................................................................. 12
Sample Wiring Diagrams ........................................................................................................................................ 12
TTL Level Inputs and Outputs ............................................................................................................................ 12
Acc-24E2S Stepper Motor Outputs (TTL level) .................................................................................................. 13
Position Limits, Home Flag, and User Flag ....................................................................................................... 13
UMAC SOFTWARE SETUP ................................................................................................................................... 14
System Configuration I-Variables ........................................................................................................................... 14
Servo IC Configuration I-Variables ........................................................................................................................ 14
Servo IC Numbering ........................................................................................................................................... 14
Servo Channel Numbering .................................................................................................................................. 14
Multi-Channel I-Variables .................................................................................................................................. 15
Single-Channel I-Variables ................................................................................................................................ 15
Encoder Conversion Table I-Variables .............................................................................................................. 16
Motor Addressing I-Variables ............................................................................................................................ 16
UMAC Turbo Example Setups ............................................................................................................................... 19
ULTRALITE/MACRO STATION SETUP ............................................................................................................ 20
Hardware Setup for MACRO Station Use .............................................................................................................. 20
Node-Specific Gate Array MI-variables ............................................................................................................. 20
Encoder/Timer n Decode Control (MSn,MI910) .................................................................................................... 20
Flag Capture Control (MSn,MI911-MI913) ............................................................................................................ 21
Accessory 24E2S
Table of Contents ii
Output Mode Select (MSn,MI916)................................................................ .......................................................... 22
MACRO Station Encoder Conversion Table (MSn,MI120-MI151) ....................................................................... 23
Using Acc-24E2S with the MACRO Station/Ultralite or Turbo Ultralite Change Output Mode to PFM on the
Third Channel ................................................................................................ .......................................................... 23
PMAC2 Ultralite ................................................................................................................................................. 23
PMAC2 Turbo Ultralite MACRO IC0 ................................................................................................................ 23
PMAC2 Turbo Ultralite MACRO IC1 ................................................................................................................ 24
PMAC2 Turbo Ultralite MACRO IC2 ................................................................................................................ 24
PMAC2 Turbo Ultralite MACRO IC3 ................................................................................................................ 24
MOTOR PARAMETER SETUP FOR UMAC AND MACRO ............................................................................ 25
PMAC2 Motor Servo Gain I-Variables for Stepper Motors.................................................................................... 25
Ix30 Motor x Proportional Gain ......................................................................................................................... 25
Ix31 Motor x Derivative Gain ............................................................................................................................. 25
Ix32 Motor x Velocity Feedforward Gain ........................................................................................................... 25
Ix33 Motor x Integral Gain ................................................................................................................................. 26
Ix34 Motor x Integration Mode .......................................................................................................................... 26
Ix35 Motor x Acceleration Feedforward Gain ................................................................................................... 26
MLDT FEEDBACK FOR UMAC-TURBO & UMAC-MACRO ......................................................................... 27
MLDT Hardware Setup of the Acc-24E2S ............................................................................................................. 27
MLDT Software Setup of the UMAC Turbo .......................................................................................................... 27
Hardware Setup I-Variables for Servo IC m ...................................................................................................... 27
Conversion Table Processing I-Variables .......................................................................................................... 27
Motor I-Variables ............................................................................................................................................... 28
Pulse Output Frequency ..................................................................................................................................... 29
PMAC2/Turbo PMAC2 Conversion Table and Motor I-Variables .................................................................... 30
MLDT Feedback for UMAC-MACRO ................................................................................................................... 30
MLDT Software Setup of the UMAC MACRO .................................................................................................... 30
Station Hardware Setup I-Variables for Servo IC .............................................................................................. 30
Station Conversion Table Processing I-Variables .............................................................................................. 31
Station Motor Node I-Variables.......................................................................................................................... 31
Power-On Feedback Address for PMAC2 Ultralite ........................................................................................... 32
MACRO Parallel Absolute Position Setup.......................................................................................................... 33
Example MLDT Setup for UMAC-MACRO ........................................................................................................ 34
ACC-24E2S TERMINAL BLOCK DESCRIPTION.............................................................................................. 35
Connector TB1 Top – Output1/Encoder 1 .......................................................................................................... 35
Connector TB2 Top – Output2/Encoder 2 .......................................................................................................... 35
Connector TB3 Top – EQU Outputs ................................................................................................................... 35
Connector TB1 Bottom Encoder 3 ...................................................................................................................... 36
Connector TB2 Bottom Encoder 4 ...................................................................................................................... 36
Connector TB3 Bottom- Compare Outputs ......................................................................................................... 36
Connector TB1 Front- Limits 1 .......................................................................................................................... 37
DB15 Style Connector J1 Top - Encoder 1 / EQU .................................................................................................. 37
DB15 Style Connector J2 Top - Encoder 2 / EQU .................................................................................................. 38
DB15 Style Connector J1 Bottom - Encoder 3 / EQU ............................................................................................ 38
DB15 Style Connector J2 Bottom - Encoder 4 / EQU ............................................................................................ 39
UBUS PINOUTS ........................................................................................................................................................ 40
P1 UBUS (96-Pin Header) ................................................................................................................................. 40
SCHEMATICS .......................................................................................................................................................... 41
Accessory 24E2S
Table of Contents 3
INTRODUCTION
The Acc-24E2S Axis Expansion Board provides four channels of PMAC2-style stepper interface and/or
encoder/MLDT circuitry for UMAC and Ultralite/MACRO Station controllers. The Acc-24E2S is part of
the UMAC or MACRO Pack family of expansion cards and these accessory cards are designed to plug
into an industrial 3U rack system. The information from these accessories is passed directly to either the
UMAC or MACRO Station CPU via the high speed UBUS. Other axis or feedback interface accessories
include the following:
Acc-14E
Parallel Feedback Inputs (absolute enc. or interferometers)
Acc-24E2
Digital Amplifier Breakout w/ TTL encoder inputs
Acc-24E2A
Analog Amplifier Breakout w/ TTL encoder inputs
Acc-24E2S
Stepper Amplifier Breakout w/ TTL encoder inputs
Acc-28E
16-bit A/D Converter Inputs (up to four per card)
Acc-51E
4096 times interpolator for 1Vpp sinusoidal encoders
Acc-53E
SSI encoder interface (up to 8 channels)
The step and direction outputs are RS422 compatible and are capable of being connected in either
differential mode or single ended configurations for 5V input drivers. Flag input terminals are provided
to allow connection of 12V-24V sensors or limit switches.
Up to eight Acc-24E2S boards can be connected to one UMAC providing up to 32 additional channels of
stepper interface circuitry. Because each MACRO Station CPU can service only eight channels of servo
data, only two Acc-24E2S boards can be connected to the MACRO Station for stepper motor connection.
The Acc-24E2S is also an ideal board to use for dual feedback systems because it can process four
encoders with one single board on the 3U rack.
The Acc-24E2S board contains no processor; it has one highly integrated 4-channel PMAC2-style Servo
IC with the buffering circuitry and connectors around them. The four-axis Acc-24E2S plugs into the
backplane and uses one slot in the Rack.
Features
The Acc-24E2S board can be used with any UMAC or MACRO Station CPU, interfacing through the
Expansion port.
The Acc-24E2S can only support pulse and direction commands from the controller.
Board Configuration
An Acc-24E2S comes standard with one Servo IC providing four servo interface channels, which are
brought out on terminal blocks. Each channel of servo interface circuitry includes the following:
Four output command signal sets, configurable as pulse and direction outputs only:
Four 3-channel differential/single-ended encoder input
Four sets of five input flags and one compare output flag
Accessory 24E2S
Specifications 4
SPECIFICATIONS
Environmental Specifications
Description
Specification
Notes
Operating Temperature
0°C to 45°C,
Storage Temperature
-25°C to 70°C
Humidity
10% to 95 % non-condensing
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
210 g
Front, top, and bottom plates
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.
Electrical Specifications
Description
Specification
Notes
ACC-24E2S Power
Requirements
5V @ 0.9 A (10%)
Accessory 24E2S
Specifications 5
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. 입
력에 EMC 필터, 서지 보호기, 페라이트 코어 또는 1차측의 케이블에 노이즈
필터를 입력으로 사용하십시오.
Accessory 24E2S
E-Point Jumper Settings 6
E-POINT JUMPER SETTINGS
Acc-24E2S Jumpers*
Jumper
Config.
Description
Default
E1
1-2-3
1-2 send PWM/PFM output regardless of AENA1 status
2-3 send PWM/PFM only when AENA1 if true.
No Jumper for Channel 1 TUVW inputs.
Jump 1-2
E2
1-2-3
1-2 send PWM/PFM output regardless of AENA2 status
2-3 send PWM/PFM only when AENA2 if true.
No Jumper for Channel 2 TUVW inputs.
Jump 1-2
E3
1-2-3
1-2 send PWM/PFM output regardless of AENA3 status
2-3 send PWM/PFM only when AENA3 if true.
No Jumper for Channel 3 TUVW inputs.
Jump 1-2
E4
1-2-3
1-2 send PWM/PFM output regardless of AENA4 status
2-3 send PWM/PFM only when AENA4 if true.
No Jumper for Channel 4 TUVW inputs.
Jump 1-2
E5
1-2-3
Jump 1-2 for Turbo 3U CPU and MACRO CPU
** Jump 2-3 for legacy MACRO CPU (before 6/00)
Jump 1-2
E11
1-2
Jump 1-2 to enable AENA1
No Jumper to disable AENA1
Jump 1-2
E12
1-2
Jump 1-2 to enable AENA2
No Jumper to disable AENA2
Jump 1-2
E13
1-2
Jump 1-2 to enable AENA3
No Jumper to disable AENA3
Jump 1-2
E14
1-2
Jump 1-2 to enable AENA4
No Jumper to disable AENA4
Jump 1-2
E16
1-2-3
Jump 1-2 to receive phase and servo clocks
Jump 2-3 to transmit phase and servo clocks
Factory set
OPT1
1-2
For factory use only (No jumper on JP1-JP9)
Factory set
OPT2
1-2
For factory use only (Jumper JP1-JP9)
Factory set
OPT3
1-2
For factory use only (jumper JP1-JP9)
Factory set
*The channels refer to the Servo IC associated with the individual Acc-24E2S board. For example, in
an eight-axis application, there would be two Acc-24E2S boards. The first Acc-24E2S would have
axes 1-4 and the second Acc-24E2S would contain axes 5-8.
** For legacy MACRO Stations (part number 602804-100 through 602804-104)
Note:
Delta Tau added the amplifier enable outputs with the release of the 603441-101
revision of the Acc-24E2S card and jumpers E11, E12, E13, and E14 were added
for this feature. The first revision of this accessory (603441-100) does not have
amplifier enable outputs or jumpers E11, E12, E13, or E14.
Accessory 24E2S
Hardware Setup 7
HARDWARE SETUP
Switch Configuration
UMAC Address DIP Switch S1
S1-1
S1-3
S1-4
Board No.
IC No.
I-Variable Range
Base Address
ON
ON
ON 1 2
I7200
$078200
OFF
ON
ON 2 3
I7300
$078300
ON
OFF
ON 3 4
I7400
$079200
OFF
OFF
ON 4 5
I7500
$079300
ON
ON
OFF 5 6
I7600
$07A200
OFF
ON
OFF 6 7
I7700
$07A300
ON
OFF
OFF 7 8
I7800
$07B200
OFF
OFF
OFF 8 9
I7900
$07B300
S1, S1-3, S1-4 are used to address the Acc-24E2S as shown in this table.
S1-2
S1-5
S1-6
Function
ON
ON
ON
3U Turbo PMAC Use
S1-2, S1-5, and S1-6 are used to determine whether the Acc-24E2S is communicating to a Turbo
3U PMAC or a MACRO Station CPU.
MACRO Station Address DIP Switch S1
S1-1, S1-2, S1-3, S1-4 are used to address the Acc-24E2 as shown in the table below.
S1-1
S1-2*
S1-3
S1-4
Board No.
IC No.
Base Address
ON
ON
OFF
OFF 1 2
$00C040
OFF
OFF
OFF
OFF 2 3
$00C060
* Always set to OFF for legacy MACRO Stations (part number 602804-100 thru 602804-104)
S1-5 and S1-6 are used to determine whether the Acc-24E2 is communicating to a Turbo 3U PMAC or a
MACRO Station CPU.
S1-5
S1-6
Function
OFF
OFF
3U MACRO Station use
Acc-24E2 Clock Settings
The Phase Clock and Servo Clock must be configured on each Acc-24E2S. Each system can have only
one source for the servo and phase clocks and jumpers must be set appropriately to avoid a timing conflict
or a watchdog condition.
Starting in UMAC-Turbo firmware version 1.937, the firmware will set the clock settings automatically
for the Acc-24E2 cards in the UBUS. To enable this feature, set jumper E16 from 2 to 3 for all of the
Acc-24E2Ss plugged into the UMAC. At re-initialization (either $$$*** command or power up with E3
jumpered on UMAC), the firmware will know that all of the cards are in the auto configuration setup and
will assign the card with the lowest base address setting (usually $78200) the task of sourcing the clocks
by setting variable I19 to the appropriate register. The clocks will be set initially to the factory default
servo update cycle and phase clock cycle. For a better understanding of this feature, refer to the
description of I19 in the Turbo Software Reference Manual.
For UMAC Turbo systems with firmware older than version 1.937, set one of the Acc-24E2s to transmit
(E16 set 2-3) the phase and servo clock (usually the card at the lowest base address setting) and set the
rest of the Acc-24E2s to receive (E16 set 1-2) the phase and servo clocks.
For MACRO systems, the clock select jumper should be set to receive servo and phase clocks. For the
Acc-24E2S, E16 should be set 1-2.
Accessory 24E2S
Hardware Setup 8
Resistor Pack Configuration
Differential or Single-Ended Encoder Selection
The differential input signal pairs to the PMAC have user-configurable pull-up/pull-down resistor
networks to permit the acceptance of either single-ended or differential signals in one setting, or the
detection of lost differential signals in another setting.
The ‘+’ inputs of each differential pair each have a hard-wired 1 k pull-up resistor to +5V. This
cannot be changed.
The ‘-’ inputs of each differential pair each have a hard-wired 2.2 k resistor to +5V; also each has
another 2.2 k resistor as part of a socketed resistor pack that can be configured as a pull-up resistor
to +5V, or a pull-down resistor to GND.
If this socketed resistor is configured as a pull-down resistor (the default configuration), the combination
of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.5V in the
absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines
alone; it is desirable for unconnected inputs to prevent the pick-up of spurious noise; it is permissible for
differential line-driver inputs.
If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the
two parallel 2.2 k resistors act as a single 1.1 k pull-up resistor, holding the line at +5V in the absence
of an external signal. This configuration is required if encoder-loss detection is desired; it is required if
complementary open-collector drivers are used; it is permissible for differential line-driver inputs even
without encoder loss detection.
If Pin 1 of the resistor pack (marked by a dot on the pack) matches Pin 1 of the socket (marked by a wide
white square solder pin on the front side of the board), then the pack is configured as a bank of pull-down
resistors. If the pack is reversed in the socket, it is configured as a bank of pull-up resistors.
The following table lists the pull-up/pull-down resistor pack for each input device:
Device
Resistor Pack
Pack Size
Encoder 1
RP19
6-pin
Encoder 2
RP21
6-pin
Encoder 3
RP27
6-pin
Encoder 4
RP29
6-pin
Termination Resistors
The Acc-24E2S provides sockets for termination resistors on differential input pairs coming into the
board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances
into the Acc-24E2A board and ringing at signal transitions is a problem, SIP resistor packs may be
mounted in these sockets to reduce or eliminate the ringing.
All termination resistor packs have independent resistors (no common connection) with each resistor
using two adjacent pins.
Channel Specific Resistor Packs
Channel 1
Channel 2
Channel 3
Channel 4
SIP
Description
RP19
RP21
RP27
RP29
2.2K
Reverse for encoder loss feature
RP20
RP22
RP28
RP30
220
Termination resistor to reduce ringing
(Installed by default).
RP38
RP42
RP47
RP51
1K
Install for 5V limits
Resistor Pack
SIP
Description
RP5
220
Terminator (not installed, only used for non-UBUS) (Rev 103 and older)
RP6
220
Pull Down for Old MACRO CPU; Pull Up for UMAC Turbo and
MACRO (Rev 103 and older only)
Accessory 24E2S
Hardware Setup 9
Acc-24E2 Limit and Flag Wiring
The Acc-8F allows the use of sinking or sourcing position limits and flags to the PMAC2. The optoisolator IC used is a PS2705-4NEC-ND quad photo-transistor output type. This IC allows the current to
flow from return to flag (sinking) or from flag to return (sourcing).
A sample of the positive limit circuit is shown below. The 4.7K resistor packs used will allow 12-24V
flag inputs. If 0-5V flags are used, then a 1k resistor pack (RP) can be placed in either RP38, RP42,
RP47, or RP51 (refer to the Resistor Pack Configuration section of this manual).
Connecting Limits/Flags to the Acc-24E2
The following diagram illustrates the sinking and sourcing connections to an Acc-24E2. This example
uses 12-24V flags.
Loss of Encoder Circuit
The encoder-loss detection circuitry works for differential incremental encoders only. In proper
operation, the digital states of the complementary inputs for a channel (e.g. A and A/) always should be
Sinking,
Separate
Supply
Sourcing,
Separate
Supply
Accessory 24E2S
Hardware Setup 10
opposite: when one is high, the other is low. If for some reason, such as a cable connection coming
undone, one or more of the signal lines is no longer driven, pull-up resistors on the input line pull and
hold the signal high.
The encoder-loss detection circuitry uses exclusive-or (XOR) gates on each complementary pair to detect
whether the signals are in the same or opposite states. These results are combined to produce a single
encoder-loss status bit that the processor can read.
In order to enable this function, the socketed resistor packs for the encoder must be reversed from their
factory default setting so that the complementary encoder lines A/, B/, and C/ are pulled up to 5V instead
of pulled to 2.5V. The resistor packs to be reversed are RP19, RP21, RP27, and RP29.
Acc-24E2S Discrete On-board Logic with UMAC Turbo CPU
Channel
Resistor
Pack
Status Bit Address (Even-
Numbered Servo IC)*
Status Bit Address (Odd-
Numbered Servo IC)*
Status
Bit Name
Bit Error
State
1
RP19
Y:$07xF08,5
Y:$07xF0C,5
QL_1- 0 2
RP21
Y:$07xF09,5
Y:$07xF0D,5
QL_2- 0 3
RP27
Y:$07xF0A,5
Y:$07xF0E,5
QL_3- 0 4
RP29
Y:$07xF0B,5
Y:$07xF0F,5
QL_4-
0
*The x digit in this hex address matches the value (8, 9, A, or B) in the fourth digit from the right in the board’s own
base address (e.g. $079200). If alternate addressing of Servo ICs is used (e.g. Servo IC 2*), add $20 to these addresses.
Acc-24E2S Discrete On-board Logic with UMAC MACRO CPU
Channel
Resistor
Pack
Status Bit Address (First-
Servo IC)*
Status Bit Address
(Second Servo IC)*
Status Bit
Name
Bit Error
State
1
RP19
Y:$B8C8,5
Y:$B8EC,5
QL_1-
0 2 RP21
Y:$B8C9,5
Y:$B8ED,5
QL_2-
0 3 RP27
Y:$B8CA,5
Y:$B8EE,5
QL_3-
0 4 RP29
Y:$B8CB,5
Y:$B8EF,5
QL_4-
0
*First Servo IC has base address $C040; second Servo IC has base address $C060.
Position Compare Port Driver IC
As with the other PMAC controllers, the UMAC has the high speed compare outputs allowing the firing
of an output based on position. This circuit will fire within 100 nsec of reaching the desired position.
The position compare output ports on Acc-24E2S have driver IC at components U29 and U30. This IC
gives a fast CMOS driver.
The following table lists the properties of each driver IC:
Part
# of Pins
Max Voltage and Current
Output Type
Max Frequency
DS75451N 8 5V, 10 mA
Totem-Pole
(CMOS)
5 MHz
Accessory 24E2S
Connections 11
CONNECTIONS
Acc-24E2S Terminal Block Layout Diagram
Designates Pin 1
Acc-24E2S DB15 Option Layout Diagram
Mating Connectors
Terminal Block Connectors
Name
Manufacturer
Pins
Type
Details
TB1- Top
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 1 Inputs
TB2- Top
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 2 Inputs
TB3- Top
Phoenix Contact
3
FRONT-MC1,5/3-ST3,81
Compare Outputs
TB1- Bottom
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 3 Inputs
TB2- Bottom
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 4 Inputs
TB3- Bottom
Phoenix Contact
3
FRONT-MC1,5/3-ST3,81
Compare Outputs
TB1- Front
Phoenix Contact
20
FRONT-MC1,5/20-ST3,81
Flags
J2
11 121096 8754
BOTTOM
1
J1
1
1 32 C B 12A 11108 97653 421
1112 10 9 68 7 5 4
1
J1
123 A B 12C 1011 89 7 6 5 4 3 2 1
TOP
J2
1
P1
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