Delta Tau ACC-65M User Manual

^1 USER MANUAL

^2 Accessory 65M

^3 UR Protected/OPTO (Sourcing 24 in 24 out)

^4 3Ax-603740-xUxx

^5November 19, 2013

Single Source Machine Control

……………………………………………..…...……………….

Power // Flexibility // Ease of Use

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

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 understanding or use of
the equipment. It follows the discussion of interest.

Copyright Information

© 2013 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.

Accessory 65M

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG

APPVD

1

Update manual for new release: new 24 V connector

2/20/07

C.P

R.N

2

Updated 16-bit ADC option

12/9/09

C.P

S.F

3

Completely revised manual

12/17/12

DCDP

R.N

4

Reformatted entire manual
Added Power PMAC3/PMAC2

11/15/2013

R.N

R.N

Accessory 65M

Table of Contents

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

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

Part Number ................................................................................................................................7

Environmental Specifications ......................................................................................................8

Electrical Specifications ..............................................................................................................8

Physical layout, Mounting ...........................................................................................................9

USING THE ACC-65M WITH POWER PMAC3 ................................................................ 10

Step 1: Preparing the Ring Controller ................................................................ ........................ 11

Step 2: MACRO ASCII Communication ................................................................................... 13

Step 3: Finishing up the ACC-65M Setup .................................................................................. 15

Step 4: I/O Data Registers ......................................................................................................... 16

Step 5: Using the ACC-65M Data ............................................................................................. 17

Digital Inputs and Outputs.................................................................................................... 19

Analog Inputs (ADCs) and Outputs (DACs) .......................................................................... 20

Using the ADCs for Servo Feedback ..................................................................................... 22

General Purpose Relay Outputs ............................................................................................ 23

USING THE ACC-65M WITH POWER PMAC2 ................................................................ 25

Step 1: Preparing the Ring Controller ................................................................ ........................ 26

Step 2: MACRO ASCII Communication ................................................................................... 27

Step 3: Finishing up the ACC-65M Setup .................................................................................. 29

Step 4: I/O Data Registers ......................................................................................................... 30

Step 5: Using the ACC-65M Data ............................................................................................. 31

Digital Inputs and Outputs.................................................................................................... 33

Analog Inputs (ADCs) and Outputs (DACs) .......................................................................... 35

Using the ADCs for Servo Feedback ..................................................................................... 38

General Purpose Relays ....................................................................................................... 39

USING THE ACC-65M WITH TURBO PMAC2 ................................................................. 41

Step 1: Preparing the Ring Controller ................................................................ ........................ 42

Step 2: MACRO ASCII Communication ................................................................................... 44

Step 3: Finishing up the ACC-65M Setup .................................................................................. 46

Step 4: I/O Data Registers ......................................................................................................... 47

Nodes and Addressing .......................................................................................................... 47

Turbo Ring Controller I/O Node Registers ............................................................................ 48

Step 5: Using the ACC-65M Data ............................................................................................. 49

Digital Inputs and Outputs.................................................................................................... 49

Analog Inputs (ADCS) .......................................................................................................... 52

Introduction 4

Accessory 65M

Using the ADCs for Servo Feedback ..................................................................................... 54

Analog Outputs (DACs) ................................................................ ........................................ 55

General Purpose Relay Outputs ............................................................................................ 57

CONNECTOR PINOUTS AND WIRING ............................................................................. 59

24 VDC Input ........................................................................................................................... 59

Digital Inputs ............................................................................................................................ 60

Wiring the digital Inputs ....................................................................................................... 61

Digital Outputs .......................................................................................................................... 62

Wiring the digital outputs ..................................................................................................... 63

Analog Connector ................................................................................................ ..................... 64

Wiring the Analog (ADC) Inputs ........................................................................................... 65

Wiring the Analog (DAC) Outputs ........................................................................................ 66

Wiring the General Purpose Relays ...................................................................................... 66

MACRO Connection ................................................................................................................. 68

Universal Serial Bus (USB) ....................................................................................................... 69

TROUBLESHOOTING .......................................................................................................... 70

Initializing the ACC-65M, Clearing Faults ................................................................................ 70

Error Codes (7-Segment LED) ................................................................................................ .. 71

LED Status ................................................................................................................................ 72

Input and Output LED Indicators ......................................................................................... 72

Status LED ........................................................................................................................... 72

Relay Status LED.................................................................................................................. 72

MACRO Link LED ................................................................................................................ 72

APPENDIX A: MEMORY MAP............................................................................................ 73

PMAC3 Style ASIC .................................................................................................................. 73

Using the ACC-65M with PMAC3 Address Offsets ............................................................... 74

PMAC2 Style ASIC .................................................................................................................. 75

Using the ACC-65M with PMAC2 Address Offsets ............................................................... 76

APPENDIX B: E-POINT JUMPERS ..................................................................................... 77

APPENDIX C: SCHEMATICS .............................................................................................. 78

Introduction 5

Accessory 65M

The accessory 65M (ACC-65M) is a boxed MACRO peripheral I/O module with 24
isolated, self-protected, digital inputs and 24 isolated, self-protected, digital outputs. The
ACC-65M is typically configured as a slave in a MACRO ring via either fiber optic or RJ­45 connection.

The inputs can be either sinking or sourcing depending on the user’s wiring.

The outputs are strictly sourcing up to 600 mA per channel.

Optional sets of two analog inputs, two analog outputs and two general purpose relay
contacts are available.

INTRODUCTION

The ACC-65M is compatible with the following Delta Tau controllers:

 All Turbo PMAC2 board-level MACRO cards
 Turbo PMAC2 Ethernet Ultralite
 Power or Turbo UMAC with ACC-5E
 Power or Turbo Brick family (equipped with the MACRO option)
 Power UMAC with ACC-5E3
 Power PMAC EtherLite

Introduction 6

Accessory 65M

4 - 3 7 4 0 - 0 0 - 0 0 - 0 00

ACC-65M

MACRO Communication Options

G

0 - No Option
2 - Two relay contact outputs

Two 12-bit bipolar DAC outputs (±10 Volts)
Two 16-bit bipolar ADC inputs (± 32767 Counts)

MACRO Node Options

G

A - Fiber-Optic MACRO Transceiver
C - RJ-45 MACRO Connector

D

K L

H

00 - No Additional* Options
xx - Factory assigned digits
for Additional* Options

K L

Factory Assigned Options

D

Options

Part Number

Fiber optic connectors

4-3740-00-A000-00000

RJ-45 connectors

4-3740-00-C000-00000

Fiber optic connectors
2 x 16-bit bipolar ADC analog inputs (±10 VDC)
2 x 12-bit bipolar DAC analog outputs (±10 VDC)
2 x general purpose relay contacts

4-3740-00-A002-00000

RJ-45 connectors
2 x 16-bit bipolar ADC analog inputs (±10 VDC)
2 x 12-bit bipolar DAC analog outputs (±10 VDC)
2 x general purpose relay contacts

4-3740-00-C002-00000

Note

Revisions 101 and older of the ACC-65M could only support the 12­bit ADC inputs which allowed the user to have ± 2047 counts of
resolution. The 16-bit ADCs provide ± 32767 counts.

SPECIFICATIONS

Part Number

The possible part number configurations are:

Specifications 7

Accessory 65M

Description

Specification

Notes

Operating Temperature

0 °C to 50 °C

Storage Temperature

-25 °C to 70 °C

Humidity

5% to 95%

Non-Condensing Relative Humidity

Logic Power

Required Voltage

24 VDC

Current Requirements

1.5 A

Permitted Time at Peak Current

2 seconds

Digital Inputs

Voltage Range

12 – 24 V

DC

Continuous Current Rating

1 Amp per channel

Peak Current Rating

2 Amps per channel

Permitted Time at Peak Current

2 seconds

Direction

Sourcing or Sinking (see wiring samples)

Digital Outputs

Voltage Range

0 – 24 V

DC

Continuous Current Rating

600 mA per channel

Peak Current Rating

1.2 Amps per channel

Permitted Time at Peak Current

2 seconds

Analog Inputs

Maximum Input Voltage Range

± 10 V

Resolution

16 bits

16-bit ADC Chip

Burr Brown ADS8361E

12-bit ADC Chip (Rev 1 and older)

Burr Brown ADS7861E

Analog Outputs

Maximum Output Voltage Range

± 10 V

Output Polarity

Bipolar

Resolution

12 bits

DAC Type

Filtered PWM

Environmental Specifications

Electrical Specifications

Specifications 8

Accessory 65M

6.50"

(165.1 mm)

6.25"

(158.75)

9.75"

(247.65 mm)

0.5"

(12.7)

8.625"

(219.075 mm)

1.25"

(31.75)

0.188"
(4.760)

2.00"
(50.8)

1.00"
(25.4)

9.375"

(238.13 mm)

Physical layout, Mounting

Specifications 9

Accessory 65M

IN

OUT

IN

OUT

OUT

IN

IN

OUT

STN = 1STN = 3

STN = 2

Ring Controller

Note

The MACRO link LED must be green on all the devices in the
MACRO ring for the software setup to work properly.

USING THE ACC-65M WITH POWER PMAC3

A Power PMAC3 Style MACRO Ring Controller can be one of the following hardware:

 Power UMAC with ACC-5E3
 Power EtherLite
 Power Brick (equipped with MACRO)

Power Brick AC, Power Brick LV, Power Brick Controller

The first step into setting up the ACC-65M is to make sure that the MACRO cables are plugged-in in the
correct manner. The OUT from the Ring Controller or previous device goes into the IN of the ACC-65M.
The IN of the ACC-65M goes into the OUT of the ring controller or the next device on the ring.

For example, the illustration below shows how a MACRO ring with three ACC-65Ms is typically
connected:

Using the ACC-65M with Power PMAC3 10

Accessory 65M

Structure Element

Typical Setting

Sys.ClockSource (Set by Firmware)

48

Gate3[i].PhaseFreq

9000

Gate3[i].ServoClockDiv

3

Sys.ServoPeriod = 1000*(Gate3[i].ServoClockDiv+1)/Gate3[i].PhaseFreq

0.442

Sys.PhaseOverServoPeriod = 1/(Gate3[i].ServoClockDiv+1)

0.250

Sys.RtIntPeriod

0

Macro.TestPeriod

20

Macro.TestMaxErrors = Macro.TestPeriod / 10

2

Macro.TestReqdSynchs = Macro.TestPeriod – Macro.TestMaxErrors

18

Gate3[i].MacroModeA

$403000

Gate3[i].MacroModeB

$1000

Gate3[i].MacroEnableA

$iFC00000

Gate3[i].MacroEnableB

$(i+1)F800000

Note

The Power PMAC can interface to up to 16 PMAC3 Style MACRO
ICs.

Note

These settings require a SAVE followed by a reset $$$ to take effect.

Once implemented, these settings should ensure that the
Power PMAC is now a MACRO ring Controller. And the
MACRO Status window in the Power PMAC IDE
software should look like:

Step 1: Preparing the Ring Controller

The Power PMAC used to control a MACRO ring must be configured as a ring controller in order to
establish communication and transfer data over the ring.

Following, is a summary list of the relevant parameters which need to be set properly on the Ring
Controller side to allow proper functionality of the MACRO ring, and configuration of the ACC-65M.

Detailed description of these parameters can be found in the pertaining Ring Controller Hardware
Reference/User manual or in the Power SRM (Software Reference Manual).

Using the ACC-65M with Power PMAC3 11

Accessory 65M

Using the ACC-65M with Power PMAC3 12

Accessory 65M

Note

Make sure that the watch window does not contain any MS{}
commands prior to establishing Master Slave communication. This will
latch a MACRO communication error (MACRO Status window).

Note

If the ACC-65M is to be inserted into an existing MACRO ring system.
It may be more practical to place it in a MACRO ring all by itself with
the ring controller. Set up and save all the necessary parameters, and
then place it back into the system with the other devices.

Note

If the ACC-65M has been initialized and set up previously then it may
have a station number saved to it. If you know that number (e.g. I11=1),
then you would address it with the command MacroStation1.

Step 2: MACRO ASCII Communication

There are two possible MACRO communication methods between the ring controller and the ACC-65M:

 MACRO ASCII communication

Direct communication to the ACC-65M; it is useful for initial setup, troubleshooting, and allows to
eventually establish Master Slave (MS) communication.

 Master Slave (MS) communication

Establishing MS commands (through an I/O node) is ultimately what we want.

If the ACC65M is at factory default settings then the user needs to issue a MacroStation255. This
command searches the MACRO ring for new and unassigned devices. If successful, the AsciiCom status bit
is highlighted in the MACRO status window:

Now, you are talking directly to the ACC-65M. You should be able to issue commands such as type TYPE,
version VERS etc…

Using the ACC-65M with Power PMAC3 13

Accessory 65M

Note

One I/O node is sufficient for transferring all the data available on the
ACC-65M.

The goal of MACRO ASCII communication is to enable a selected I/O node over which Master Slave
communication can then be used to set up the rest of the necessary parameters of the ACC-65M.

Choosing I/O node #2 as an example, enabling it is done through I996:

Issue a MacroStationClose to terminate MACRO ASCII communication:

Using the ACC-65M with Power PMAC3 14

Accessory 65M



































 23

q].PhaseFreGate3[

1000117964.8

CeilI992MS2,

i

ckDiv].PhaseCloGate3[I997MS2, i





















 1

3)I992MS2,(2

1)I997(MS2,117964.8)Period(Ringcheck

INTI8MS2,















 1

100

rcent)MaxErrorPeI8(MS2,

INTI9MS2,

I9MS2,I8MS2,I10MS2, 

Note

These equations must be computed ahead of time, expressions cannot
be written directly into MS{} variables.

These settings must be retained on the ACC­65M. This is done by issuing a save (e.g.
MSSAVE2), followed by a reset (e.g. MS$$$2)
to take effect:

Step 3: Finishing up the ACC-65M Setup

Having enabled a selected I/O node on ACC-65M (i.e. node 2), the corresponding I/O node should be
enabled on the ring controller side. For example, at MACRO IC 0, Bank A, node 2:

Gate3[0].MacroEnableA = Gate3[0].MacroEnableA | $400

Master Slave communication should be now available over I/O node 2. And the following parameters can
be downloaded from the project editor. For example, station number 1 and I/O node 2:

MS2,I11=1 // Station number assignment (user configurable) for future
// MACRO ASCII communication (e.g. MACSTA1)

MS2,I992=6527 // See euqation below
MS2,I997=0 // See equation below

MS2,I995=$4080 // Typical setting for MACRO slave device
MS2,I996=$0F8004 // Nodes enabling, e.g. I/O node #2

MS2,I8=181 // Ring check period (see equation below)
MS2,I9=28 // Maximum ring error count (see equation below)
MS2,I10=153 // Minimum synch packet count (see equation below)

MS{}, I992, and I997 are set so that the phase frequency is the same as the ring controller:

// Where ceil is rounding to the higher integer

If the clock settings are not at default, MS{},I8, I9, and I10 can be calculated using the following equations.
Assuming a typical ring check period (RingCheckPeriod) of 20 milliseconds and a fatal packet error
(MaxErrorPercent) of 15 percent:

Using the ACC-65M with Power PMAC3 15

Accessory 65M

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Auxiliary

Nodes

I/O Nodes

Servo Nodes

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0Node

Auxiliary

Nodes

Servo Nodes

I/O Nodes

Bank B Bank A

PMAC3 Style I/O Node

71531 23 0

24-bit Register

16-bit Register 1

16-bit Register 2

16-bit Register 3

Note

The Power PMAC can interface with up to 16 PMAC3 Style MACRO
ICs. ICs present are reported by the variable Macro.IC3s.

Step 4: I/O Data Registers

A single I/O node is sufficient for transferring the data to/from the ACC-65M. This is handled automatically

in the firmware. The user’s responsibility is choosing an available I/O node, enabling it per the example

above, and finding the corresponding register or data element structure (listed in the tables below) for
reading/writing to the data.

A MACRO IC consists of a number of auxiliary, servo, and I/O nodes:

 Auxiliary nodes are Master/Control registers and for internal firmware use.
 Servo nodes carry information such as feedback, commands, and flags for motor control.
 I/O nodes are by default unoccupied and are configurable for transferring miscellaneous data.

Each PMAC3 style MACRO IC consists of 32 nodes: 4 auxiliary, 16 servo, and 12 I/O nodes:

Each I/O node consists of 1 x 24-bit and 3 x 16-bit data registers residing in the following fields:

Using the ACC-65M with Power PMAC3 16

Accessory 65M

PMAC3 Style I/O Node

71531 23 0

24-bit Register

16-bit Register 1

16-bit Register 2

16-bit Register 3

Digital I/O

Analog I/O

GP Relays

Bank B

Bank A

Data

Register

Inputs

Outputs

Inputs

Outputs

Gate3[i].MacroInB[j][0]

Gate3[i].MacroOutB[j][0]

Gate3[i].MacroInA[j][0]

Gate3[i].MacroOutA[j][0]

24-bit

Gate3[i].MacroInB[j][1]

Gate3[i].MacroOutB[j][1]

Gate3[i].MacroInA[j][1]

Gate3[i].MacroOutA[j][1]

1st 16-bit

Gate3[i].MacroInB[j][2]

Gate3[i].MacroOutB[j][2]

Gate3[i].MacroInA[j][2]

Gate3[i].MacroOutA[j][2]

2nd 16-bit

Gate3[i].MacroInB[j][3]

Gate3[i].MacroOutB[j][3]

Gate3[i].MacroInA[j][3]

Gate3[i].MacroOutA[j][3]

3rd 16-bit

Where:

 i is the PMAC3 Style MACRO IC index
 j is the I/O node number.

Note

Bitwise mapping, and signed assignments into the PMAC3 Style
MACRO structure elements require Power PMAC firmware version

1.5.8.305 or newer.

Step 5: Using the ACC-65M Data

Having configured the following:

 Set up the MACRO ring controller
 Set up the phase clock to be the same across the ring
 Enabled a selected I/O node on the ACC-65M
 Enabled the corresponding I/O node on the ring controller side
 Saved and reset both the ACC-65M and the ring controller

The ACC-65M data should now be available to access from the ring controller side. The ACC-65M
firmware places the data automatically in the following data registers of a selected I/O node:

And each I/O node possesses data structure elements for inputs and outputs separately for either bank:

Using the ACC-65M with Power PMAC3 17

Accessory 65M

Note

Power PMAC firmware versions older than 1.5.8.305 must use explicit
address offsets found in the memory map appendix section.

Gate3[0]

Bank A

Bank B

ACC-65M I/O Node#

2 3 6 7 10

11 2 3 6 7

11

12

Ring Controller I/O Node [j]

2 3 6 7 10

11

18

19

22

23

26

27

Gate3[1]

Bank A

Bank B

ACC-65M I/O Node#

2 3 6 7 10

11 2 3 6 7

11

12

Ring Controller I/O Node [j]

34

35

38

39

42

43

50

51

54

55

58

59

Gate3[2]

Bank A

Bank B

ACC-65M I/O Node#

2 3 6 7 10

11 2 3 6 7

11

12

Ring Controller I/O Node [j]

66

67

70

71

74

75

82

83

86

87

90

91

Gate3[3]

Bank A

Bank B

ACC-65M I/O Node#

2 3 6 7 10

11 2 3 6 7

11

12

Ring Controller I/O Node [j]

98

99

102

103

106

107

114

115

118

119

122

123

Below, are example tables showing I/O Node numbers of the first 4 PMAC3 Style MACRO ICs:

Using the ACC-65M with Power PMAC3 18

Accessory 65M

The ACC-65M firmware transfers
automatically the digitals inputs and
outputs into/from the upper 24 bits of
the 24-bit data register of the chosen
I/O node.

PMAC3 Style I/O Node

71531 23 0

ACC-65M Digital Inputs / Outputs

16-bit Register 1

16-bit Register 2

16-bit Register 3

Bank B

Bank A

Data

Register

Inputs

Outputs

Inputs

Outputs

Gate3[i].MacroInB[j][0]

Gate3[i].MacroOutB[j][0]

Gate3[i].MacroInA[j][0]

Gate3[i].MacroOutA[j][0]

24-bit

Digital Outputs Bitwise

Digital Inputs Bitwise

PTR Output1->Gate3[0].MacroOutA[2][0].8.1;

PTR Output2->Gate3[0].MacroOutA[2][0].9.1;

PTR Output3->Gate3[0].MacroOutA[2][0].10.1;

PTR Output4->Gate3[0].MacroOutA[2][0].11.1;

PTR Output5->Gate3[0].MacroOutA[2][0].12.1;

PTR Output6->Gate3[0].MacroOutA[2][0].13.1;

PTR Output7->Gate3[0].MacroOutA[2][0].14.1;

PTR Output8->Gate3[0].MacroOutA[2][0].15.1;

PTR Output9->Gate3[0].MacroOutA[2][0].16.1;

PTR Output10->Gate3[0].MacroOutA[2][0].17.1;

PTR Output11->Gate3[0].MacroOutA[2][0].18.1;

PTR Output12->Gate3[0].MacroOutA[2][0].19.1;

PTR Output13->Gate3[0].MacroOutA[2][0].20.1;

PTR Output14->Gate3[0].MacroOutA[2][0].21.1;

PTR Output15->Gate3[0].MacroOutA[2][0].22.1;

PTR Output16->Gate3[0].MacroOutA[2][0].23.1;

PTR Output17->Gate3[0].MacroOutA[2][0].24.1;

PTR Output18->Gate3[0].MacroOutA[2][0].25.1;

PTR Output19->Gate3[0].MacroOutA[2][0].26.1;

PTR Output20->Gate3[0].MacroOutA[2][0].27.1;

PTR Output21->Gate3[0].MacroOutA[2][0].28.1;

PTR Output22->Gate3[0].MacroOutA[2][0].29.1;

PTR Output23->Gate3[0].MacroOutA[2][0].30.1;

PTR Output24->Gate3[0].MacroOutA[2][0].31.1;

PTR Input1->Gate3[0].MacroInA[2][0].8.1;

PTR Input2->Gate3[0].MacroInA[2][0].9.1;

PTR Input3->Gate3[0].MacroInA[2][0].10.1;

PTR Input4->Gate3[0].MacroInA[2][0].11.1;

PTR Input5->Gate3[0].MacroInA[2][0].12.1;

PTR Input6->Gate3[0].MacroInA[2][0].13.1;

PTR Input7->Gate3[0].MacroInA[2][0].14.1;

PTR Input8->Gate3[0].MacroInA[2][0].15.1;

PTR Input9->Gate3[0].MacroInA[2][0].16.1;

PTR Input10->Gate3[0].MacroInA[2][0].17.1;

PTR Input11->Gate3[0].MacroInA[2][0].18.1;

PTR Input12->Gate3[0].MacroInA[2][0].19.1;

PTR Input13->Gate3[0].MacroInA[2][0].20.1;

PTR Input14->Gate3[0].MacroInA[2][0].21.1;

PTR Input15->Gate3[0].MacroInA[2][0].22.1;

PTR Input16->Gate3[0].MacroInA[2][0].23.1;

PTR Input17->Gate3[0].MacroInA[2][0].24.1;

PTR Input18->Gate3[0].MacroInA[2][0].25.1;

PTR Input19->Gate3[0].MacroInA[2][0].26.1;

PTR Input20->Gate3[0].MacroInA[2][0].27.1;

PTR Input21->Gate3[0].MacroInA[2][0].28.1;

PTR Input22->Gate3[0].MacroInA[2][0].29.1;

PTR Input23->Gate3[0].MacroInA[2][0].30.1;
PTR Input24->Gate3[0].MacroInA[2][0].31.1;

Digital Inputs and Outputs

Where: i is the card index, and j is the I/O node number

Example: Digital I/O mapping at MACRO IC 0, Bank A, I/O node 2

Using the ACC-65M with Power PMAC3 19

Accessory 65M

The ACC-65M firmware transfers
automatically the analog inputs and
outputs from/to upper 16 bits of the
1st and 2nd 16-bit data registers of
the chosen I/O node.

PMAC3 Style I/O Node

71531 23 0

24-bit Register

ACC-65M ADC 1 / DAC 1

ACC-65M ADC 2 / DAC 2

16-bit Register 3

Bank B

Bank A

Data

Register

Inputs

Outputs

Inputs

Outputs

Gate3[i].MacroInB[j][1]

Gate3[i].MacroOutB[j][1]

Gate3[i].MacroInA[j][1]

Gate3[i].MacroOutA[j][1]

1st 16-bit

Gate3[i].MacroInB[j][2]

Gate3[i].MacroOutB[j][2]

Gate3[i].MacroInA[j][2]

Gate3[i].MacroOutA[j][2]

2nd 16-bit

Note

The ADCs on older revisions of the ACC-65M (2-pin Molex logic
connector) are 12 bits. The suffix of the address mapping should be
.12.12S

Note

Typically, the ACC-65M is configured (by the factory) for unsigned
data. Occasionally, it is ordered in the unsigned data format. Remove
the S in the suffix for proper “unsigned” addressing.

Analog Inputs (ADCs) and Outputs (DACs)

Where: i is the card index, and j is the I/O node number

Example: Analog Input ADCs and output DACs mapping at MACRO IC 0, Bank A, I/O node 2

PTR ADC1->Gate3[0].MacroInA[2][1].16.16S; // ADC #1
PTR ADC2->Gate3[0].MacroInA[2][2].16.16S; // ADC #2

PTR DAC1->Gate3[0].MacroOutA[2][1].16.16S; // DAC #1
PTR DAC2->Gate3[0].MacroOutA[2][2].16.16S; // DAC #1

Using the ACC-65M with Power PMAC3 20

Accessory 65M

Single-Ended Signal [VDC]

Differential Signal [VDC]

Software Counts

Bipolar

-10

-5

-32768

Unipolar

0

0

0

10

5

32768

Single-Ended Signal [VDC]

Differential Signal [VDC]

Software Counts

Bipolar

-10

-5

-2048

Unipolar

0

0

0

10

5

2048

For example, with the default clock setting (e.g.
MS2,I992=6527) and by writing to the analog output data
register or suggested pointer, the user should see:

Pointer

Single Ended

[VDC]

Differential

[VDC]

-6527

-10

-20

-3264

-5

-10 0 0

0

3264

+5

+10

6527

+10

+20

Testing the Analog Inputs

Applying a voltage into the physical input pins, and reading the above referenced pointers for unsigned
(unipolar) or signed (bipolar) data, the user should see the following.

With the 16-bit ADCs:

With the 12-bit ADCs:

Testing the Analog Outputs

These are ±10V outputs, where 10 volts corresponds to the value of MS2,I992. Remember that this is
dictated by the ring phase clock, do not attempt to change it in this section.

Using the ACC-65M with Power PMAC3 21

Accessory 65M

Using the ADCs for Servo Feedback

Using an analog ADC input for servo requires bringing it into the encoder conversion table (ECT). Using
the automatic ECT utility in the IDE software:

 Type: Single 32-bit register read
 Source Address: I/O node structure element address (i.e. Gate3[i].MacroInA[j][1])
 LSB Bit#: starting bit of ADC data (typically 16)
 #of Bits Used: ADC data number of bits (16 or 12)
 Result Units: set to 1 to shift data 16 bits for proper scaling

Alternately, using the ECT structure elements:

EncTable[1].type = 1
EncTable[1].pEnc = Gate3[0].MacroInA[2][1].a
EncTable[1].index1 = 16
EncTable[1].index2 = 16
EncTable[1].index3 = 0
EncTable[1].index4 = 0
EncTable[1].index5 = 0
EncTable[1].ScaleFactor = 1 / EXP2(16)

The ADC data is now processed in the encoder conversion table.

A motor element structure can point to it.

Example: Motor[1].pMasterEnc = EncTable[1].a

Or it can be accessed manually using a pointer. Note that you would need to multiply by the scale factor (or
divide by 2^16 in this example) for proper scaling.
Example: PTR ECT1Result->EncTable[1].PrevEnc

Using the ACC-65M with Power PMAC3 22

Accessory 65M

The ACC-65M firmware transfers
automatically the general purpose
relay outputs 1 and 2 into bits 27
and 28 respectively of the 3rd 16-bit
I/O data register.

PMAC3 Style I/O Node

71531 23 0

24-bit Register

16-bit Register 1

16-bit Register 2

GP Relays Bits 27, and 28

Bank B

Bank A

Data

Register

Inputs

Outputs

Inputs

Outputs

Gate3[i].MacroInB[j][3]

Gate3[i].MacroOutB[j][3]

Gate3[i].MacroInA[j][3]

Gate3[i].MacroOutA[j][3]

3rd 16-bit

I/O

GP Relay #1

GP Relay #2

Bank A

2

PTR GpRelay1->Gate3[0].MacroOutA[2][3].27.1

PTR GpRelay2->Gate3[0].MacroOutA[2][3].28.1

3

PTR GpRelay1->Gate3[0].MacroOutA[3][3].27.1

PTR GpRelay2->Gate3[0].MacroOutA[3][3].28.1

6

PTR GpRelay1->Gate3[0].MacroOutA[6][3].27.1

PTR GpRelay2->Gate3[0].MacroOutA[6][3].28.1

7

PTR GpRelay1->Gate3[0].MacroOutA[7][3].27.1

PTR GpRelay2->Gate3[0].MacroOutA[7][3].28.1

10

PTR GpRelay1->Gate3[0].MacroOutA[10][3].27.1

PTR GpRelay2->Gate3[0].MacroOutA[10][3].28.1

11

PTR GpRelay1->Gate3[0].MacroOutA[11][3].27.1

PTR GpRelay2->Gate3[0].MacroOutA[11][3].28.1

Bank B

2

PTR GpRelay1->Gate3[0].MacroOutB[2][3].27.1

PTR GpRelay2->Gate3[0].MacroOutB[2][3].28.1

3

PTR GpRelay1->Gate3[0].MacroOutB[3][3].27.1

PTR GpRelay2->Gate3[0].MacroOutB[3][3].28.1

6

PTR GpRelay1->Gate3[0].MacroOutB[6][3].27.1

PTR GpRelay2->Gate3[0].MacroOutB[6][3].28.1

7

PTR GpRelay1->Gate3[0].MacroOutB[7][3].27.1

PTR GpRelay2->Gate3[0].MacroOutb[7][3].28.1

10

PTR GpRelay1->Gate3[0].MacroOutB[10][3].27.1

PTR GpRelay2->Gate3[0].MacroOutB[10][3].28.1

11

PTR GpRelay1->Gate3[0].MacroOutB[11][3].27.1

PTR GpRelay2->Gate3[0].MacroOutB[11][3].28.1

General Purpose Relay Outputs

Example: General purpose relay outputs mapping at MACRO IC 0, both banks, and all nodes:

Using the ACC-65M with Power PMAC3 23

Accessory 65M

GP Relay 1

Connection between

pins #13 (COM) and #14 (NO)

Connection between

pins #13 (COM) and #6 (NC)

Software bit = 0

Open

Closed

Software bit = 1

Closed

Open

GP Relay 2

Connection between

pins #7 (COM) and #8 (NO)

Connection between

pins #7 (COM) and #15 (NC)

Software bit = 0

Open

Closed

Software bit = 1

Closed

Open

Testing the General Purpose Relays

The following table summarizes the relay functions. That is the relationship between the common line and
the normally open / normally closed lines:

Using the ACC-65M with Power PMAC3 24

Accessory 65M

IN

OUT

IN

OUT

OUT

IN

IN

OUT

STN = 1STN = 3

STN = 2

Ring Controller

Note

The MACRO link LED must be green on all the devices in the
MACRO ring for the software setup to work properly.

Note

The Power UMAC with ACC-5E is the only configuration in which a
Power PMAC interfaces to a PMAC2 Style MACRO IC.

USING THE ACC-65M WITH POWER PMAC2

A Power PMAC2 Style MACRO Ring Controller is comprised of a Power UMAC with one or more ACC­5Es in the rack.

The first step into setting up the ACC-65M is to make sure that the MACRO cables are plugged-in in the
correct manner. The OUT from the Ring Controller or previous device goes into the IN of the ACC-65M.
The IN of the ACC-65M goes into the OUT of the ring controller or the next device on the ring.

For example, the illustration below shows how a MACRO ring with three ACC-65Ms is typically
connected:

Using the ACC-65M with Power PMAC2 25