Delta Tau ACC-68M User Manual
1^ USER MANUAL
^2 Accessory 68M
^3 MACRO UR Protected/OPTO (Sinking 24in/24out)
^4 3Ax-603747-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
Copyright Information
© 2009 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 UPDATED MANUAL FOR RELEASE. NEW 24V CONNECTOR 2/20/2007 C. PERRY R.NADDAF
2 UPDATED 16-BIT ADC OPTION 12/08/2009 C.PERRY S.FIERRO
Accessory 68M
Table of Contents
INTRODUCTION .......................................................................................................................................................... 1
Options ......................................................................................................................................................................... 1
HARDWARE REFERENCE SUMMARY .................................................................................................................. 3
Product Layout ............................................................................................................................................................. 3
Connectors and Indicators............................................................................................................................................ 4
Inputs and Outputs LED Indicators......................................................................................................................... 4
Status LED Indicators.............................................................................................................................................. 4
7-segment LED Indicator......................................................................................................................................... 4
Relay Status LED Indicators.................................................................................................................................... 4
USB Connector ........................................................................................................................................................ 4
24V Input Connector................................................................................................................................................ 4
MACRO Link Connectors ........................................................................................................................................ 4
DB-15 Option-1 Connector .....................................................................................................................................4
Inputs and Outputs Terminal Blocks........................................................................................................................ 4
Connections Example: Sourcing Inputs and Sinking Outputs...................................................................................... 5
Connections Example: Sinking Inputs and Sinking Outputs........................................................................................ 5
Connections Example: OPT-1 Amplifier Signals ........................................................................................................ 5
JUMPERS DESCRIPTION........................................................................................................................................... 7
E1: Watchdog Timer Disable....................................................................................................................................... 7
E2: CPU Mode Operation ............................................................................................................................................ 7
E3: USB Port Serial Baud Rate.................................................................................................................................... 7
E4: MACRO Type Connection .................................................................................................................................... 7
JP1: T ........................................................................................................................................................................... 7
JP2 – JP6: Reserved for Future Use ............................................................................................................................. 7
JP7: Re-initialization .................................................................................................................................................... 7
CONNECTORS DESCRIPTION ................................................................................................................................. 9
USB Universal Serial Bus Port .................................................................................................................................... 9
24VDC Input Edge Connector ..................................................................................................................................... 9
MACRO RJ-45 Copper Connectors............................................................................................................................. 9
Inputs Connector: 30-pin Terminal Block.................................................................................................................. 10
Outputs Connector: 30-pin Terminal Block............................................................................................................... 11
OPT-1: DB-15 Connector .......................................................................................................................................... 12
SOFTWARE SETUP ................................................................................................................................................... 13
ASCII Ring Order Initial Binding of the ACC-68M Station...................................................................................... 13
Establishing Communications with the ACC-68M Station .................................................................................... 14
Using ACC-68M Inputs and Outputs......................................................................................................................... 15
Using the ACC-68M ADC......................................................................................................................................... 16
Using the ACC-68M DAC Output............................................................................................................................. 17
Using the ACC-68M Amplifier Enable Outputs........................................................................................................ 18
FLAGs Command Register .................................................................................................................................... 19
FLAGs Status Register........................................................................................................................................... 19
MACRO ASCII Communication Reference:............................................................................................................. 19
Firmware Updates ...................................................................................................................................................... 21
ACC-68M MACRO STATION MI-VARIABLE REFERENCE............................................................................. 22
Global MI-Variables .................................................................................................................................................. 22
MS{anynode},MI0 Station Firmware Version (Read Only).................................................................................. 22
MS{anynode},MI1 Station Firmware Date (Read Only) ...................................................................................... 22
MS{anynode},MI2 Station ID and User Configuration Word .............................................................................. 22
MS{anynode},MI3 (Reserved for Future Use)...................................................................................................... 23
MS{anynode},MI4 Station Status Word (Read Only) ........................................................................................... 23
Table of Contents i
Accessory 68M
MS{anynode},MI5 Ring Error Counter................................................................................................................ 23
MS{anynode},MI6 Maximum Permitted Ring Errors in One Second................................................................... 24
MS{anynode},MI7 (Reserved for Future Use)...................................................................................................... 24
MS{anynode},MI8 MACRO Ring Check Period................................................................................................... 24
MS{anynode},MI9 MACRO Ring Error Shutdown Count.................................................................................... 24
MS{anynode},MI10 MACRO Sync Packet Shutdown Count ................................................................................25
MS{anynode},MI11 Station Order Number.......................................................................................................... 25
MS{anynode},MI12 Card Identification ............................................................................................................... 25
MS{anynode},MI13 (Reserved for Future Use).................................................................................................... 25
MS{anynode},MI14 (Reserved for Future Use).................................................................................................... 26
MS{anynode},MI15 Enable MACRO PLCC......................................................................................................... 26
MACRO IC MI-Variables.......................................................................................................................................... 26
MS{anynode},MI176 MACRO IC Base Address................................................................................................... 26
MS{anynode},MI177 MACRO IC Address for Node 14 ....................................................................................... 26
MS{anynode},MI178 MACRO IC Address for Node 15 ....................................................................................... 26
MS{anynode},MI181–MI188 MACRO Channels 1 - 8 Address ...........................................................................26
MACRO IC I/O Transfer MI-Variables..................................................................................................................... 26
MS{anynode},MI198 Direct Read/Write Format and Address............................................................................. 27
MI198 Format Digits............................................................................................................................................. 28
MS{anynode},MI199 Direct Read/Write Variable................................................................................................ 30
Global MACRO Status MI-Variables ........................................................................................................................ 30
MS{anynode}, MI203 Phase Period ..................................................................................................................... 30
MS{anynode}, MI204 Phase Execution Time ....................................................................................................... 30
MS{anynode}, MI205 Background Cycle Time .................................................................................................... 30
MS{anynode}, MI206 Maximum Background Cycle Time ................................................................................... 30
MS{anynode}, MI208 User Ram Start.................................................................................................................. 30
MACRO IC MI-Variables.......................................................................................................................................... 31
MS{anynode},MI942 ADC Strobe Word for ADC1 and ADC2 Inputs................................................................. 31
MACRO IC Setup MI-Variables................................................................................................................................ 31
MS{anynode},MI970-MI973 (Reserved for Future Use)...................................................................................... 31
MS{anynode},MI1974 Station Display Status (Read Only).................................................................................. 31
MS{anynode},MI977 Motor Nodes Reporting Ring Break................................................................................... 31
MS{anynode},MI978-MI986 (Reserved for Future Use)...................................................................................... 31
MACRO IC I/O Control and Initialize....................................................................................................................... 32
MS{anynode},MI987 TBD .................................................................................................................................... 32
MS{anynode},MI988 TBD .................................................................................................................................... 32
MS{anynode},MI989 TBD .................................................................................................................................... 32
MACRO IC MI-Variables.......................................................................................................................................... 32
MS{anynode},MI992 MaxPhase Frequency Control............................................................................................ 32
MS{anynode},MI993 Hardware Clock Control Handwheel Channels................................................................. 32
MS{anynode},MI994 PWM Deadtime / PFM Pulse Width Control for Handwheel........................................... 34
MS{anynode},MI995 MACRO Ring Configuration/Status................................................................................... 35
MS{anynode},MI996 MACRO Node Activate Control ......................................................................................... 35
MS{anynode},MI997 Phase Clock Frequency Control ........................................................................................ 36
MS{anynode},MI998 Servo Clock Frequency Control......................................................................................... 37
MS{anynode},MI999 Handwheel DAC Strobe Word (Not used).......................................................................... 37
Other Acc-68M MACRO Station Mm & MP-Variables............................................................................................ 37
ACC-68M MACRO STATION MACPLCCS............................................................................................................ 38
Requirements.............................................................................................................................................................. 38
Arithmetic Data Types ............................................................................................................................................... 38
MACRO MI Integer Variables (n = 0 – 1099)........................................................................................................... 38
MACRO MM and MP Integer Variables (n = 0 – 511) ............................................................................................. 38
MACROPlcc Ln Integer Variables (n = 0 – 511) .......................................................................................................38
Direct Memory Addressing for Integer Ln & Ln[] Variable Definitions............................................................... 38
Standard MACRO Program Commands .................................................................................................................... 38
ii Table of Contents
Accessory 68M
Valid Math, Assignment and Conditional Operators .................................................................................................38
Valid Expressions and Arrays.................................................................................................................................... 39
Ln Arrays Definition Examples.................................................................................................................................. 39
Example Program.................................................................................................................................................. 39
MACRO PLCC Code Memory .................................................................................................................................. 39
MAC PLCC Related ASCII Commands .................................................................................................................... 39
ACC-68M MACRO STATION SERIAL COMMANDS.......................................................................................... 40
Serial Commands ....................................................................................................................................................... 40
$$$ Station Reset ...................................................................................................................................................40
$$$*** Station Re-initialize................................................................................................................................... 40
CHN Reports Channel Number ............................................................................................................................. 40
CID Reports Card ID Number............................................................................................................................... 40
CLRF Clears Station Faults .................................................................................................................................. 40
DATE Reports Firmware Date .............................................................................................................................. 40
DISABLE PLCC or CNTRL D Disables PLCC ..................................................................................................... 40
ENABLE PLCC Enables PLCC............................................................................................................................. 40
MI{constant} Reports Station MI-Variable Value ................................................................................................. 40
MI{constant}={constant} Sets Station MI-Variable Value.................................................................................... 40
MM{constant} Report Station MM-Variable Value............................................................................................... 41
MM{constant}={constant} Sets Station MM-Variable Value................................................................................ 41
MP{constant} Reports Station MP-Variable Value............................................................................................... 41
MP{constant}={constant} Sets Station MP-Variable Value.................................................................................. 41
MM{constant}-> Reports Station MM-Variable Definition ................................................................................. 41
MM{constant}->{X/Y:offset,width,format} Sets Station MM-Variable Definition................................................ 41
R{address} Reads Station Address ........................................................................................................................ 41
SAVE Saves Station MI-Variables ......................................................................................................................... 41
SID Reports Serial Identification Number............................................................................................................. 41
VERS Reports Firmware Version .......................................................................................................................... 41
VID Reports Vendor ID Number............................................................................................................................42
W{address},{value} Writes Value to Station Address............................................................................................ 42
PMAC TYPE 1 ACC-68M MACRO STATION COMMANDS .............................................................................. 44
On-Line Commands ................................................................................................................................................... 44
MS Command ........................................................................................................................................................ 44
MS Variable Read.................................................................................................................................................. 44
MS Variable Write ................................................................................................................................................. 45
MS Variable Read Copy ........................................................................................................................................ 45
MS Variable Write Copy........................................................................................................................................ 46
Turbo PMAC PLC Commands for Type 1 Acc-68M MACRO Stations................................................................... 46
MS Variable Read Copy ........................................................................................................................................ 46
MS Variable Write Copy........................................................................................................................................ 47
ACC-68M MACRO STATION MEMORY AND I/O MAP..................................................................................... 48
Global Servo Calculation Registers............................................................................................................................ 48
Open Memory ............................................................................................................................................................48
DSPGATE2 Registers................................................................................................................................................ 48
DSPGATE2 Channel 1* and Channel 2*................................................................................................................... 53
Table of Contents iii
Accessory 68M
iv Table of Contents
Accessory 68M
INTRODUCTION
The Acc-68M is a boxed accessory with 24 isolated self-protected digital inputs and 24 isolated selfprotected digital outputs. The inputs and outputs are controlled through a MACRO link either with fiber
optic or copper RJ-45 connector. The inputs are either sinking or sourcing (user configurable, by wiring)
at 12 to 24 Volt levels. The outputs are sinking, each at up to 24VDC with 600mA continuous and 1.2A
peak for up to two seconds. Optional sets of 2 analog inputs, 2 analog outputs and 2 relay contacts are
available(i.e. control one or two inverter drives through the MACRO link). This accessory works only
with Turbo PMAC2 system, either in Ultralite or in UMAC MACRO versions.
Options
• OPT-A (30A-603747-OPT): Fiber Optic MACRO connectors
• OPT-C (30C-603747-OPT): RJ45 MACRO connectors
• OPT-1 (301-603747-OPT): This option includes:
• Two relay contact outputs
• Two 12-bit bipolar DAC outputs (±10 Volts)
• Two 16-bit bipolar ADC inputs (± 32767 Counts)
Note
Older revisions (rev 100, 101, and 102) could only support the 12-bit ADC inputs
which allowed the user to have ± 2047 counts of resolution. All examples in this
manual refer to the 16-bit ADC setup.
Introduction 1
Accessory 68M
2 Introduction
Accessory 68M
HARDWARE REFERENCE SUMMARY
Product Layout
Hardware Reference Summary 3
Accessory 68M
Connectors and Indicators
Inputs and Outputs LED Indicators
Each of the 24 input and 24 output lines has an associated LED on the front panel of the unit that displays
its current state; either active or inactive.
Status LED Indicators
+24V: when lit, this LED indicates that 24V is applied to the unit
Fuse: when lit, this LED indicates that the internal fuse protecting the external 24V is properly
functional
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:
0: Ring Active with no errors
1-9: NA
A: 24V Input fault
B: Ring-break fault
C: Configuration change fault
D: Ring data-error fault
E: NA
F: Momentary ring fault
Relay Status LED Indicators
RLY1: when lit, this LED indicates that the first amplifier enable relay is activated
RLY2: when lit, this LED indicates that the second amplifier enable relay is activated
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 PEWIN32PRO2 or equivalent software package.
24V Input Connector
the power is applied to the unit through this connector. The power requirements are 25A @ 24VDC.
MACRO Link Connectors
The ACC-68M could be ordered with either RJ45(twisted pair copper wires) or fiber optic connectors. In
either case, one input and one output connectors are present to insert the unit in the MACRO ring. The
input connector is tied to the MACRO output connector of the previous device on the ring. The output
connector connects to the input MACRO connector of the next device on the ring.
DB-15 Option-1 Connector
When OPT-1 is ordered, this connector provides the lines for two relay contact outputs, two 12-bit ±10V
DAC outputs and two bipolar 16-bit ADC inputs (producing ±32767 Counts) .
Inputs and Outputs Terminal Blocks
The digital inputs are connected through a 30-pin terminal block on the top panel of the unit, and the
digital outputs are connected through a 30-pin terminal block on the bottom panel of the unit
4 Hardware Reference Summary
Accessory 68M
Connections Example: Sourcing Inputs and Sinking Outputs
Load
600 mA max
-+
25A @ 24VDC
Power Supply
OUTPUTS
Pin # Symbol
1 OUT01
5 +24V
ACC-68M
24VDC Input
+-
24V RET
+24V
INPUTS
Input Switch
Pin # Symbol
1 IN01
5 RET
Connections Example: Sinking Inputs and Sinking Outputs
Load
600 mA max
-+
25A @ 24VDC
Power Supply
+-
OUTPUTS
Pin # Symbol
1 OUT01
5 +24V
ACC-68M
24VDC Input
24V RET
+24V
INPUTS
Input Switch
Pin # Symbol
1 IN01
5 RET
Connections Example: OPT-1 Amplifier Signals
In this example, the amplifier is enabled with a ground connection. If single-ended DAC or ADC signals
are used, leave the negative side of the differential lines floating.
DB-15 Connector
Analog
Feedback
Amplifier
GND
ANALOG+
ANALOG-
GND
ENABLE
DAC+
DAC-
Pin # Symbol
1 GND
2 ADC1+
9 ADC1-
1 GND
13 AE-COM-1
14 AE-NO-1
4 DAC1+
11 DAC1-
ACC-68M
Hardware Reference Summary 5
Accessory 68M
6 Hardware Reference Summary
Accessory 68M
j
JUMPERS DESCRIPTION
E1: Watchdog Timer Disable
Jumper
Type
2-Pin Remove jumper to enable Watchdog Timer.
Jump pins 1 and 2 to disable Watchdog Timer (for test purposes only).
Description Default
E2: CPU Mode Operation
Jumper
Type
3-Pin Jump pins 1 and 2 for firmware download through USB port.
Jump pins 2 and 3 for normal operation.
Description Default
E3: USB Port Serial Baud Rate
Jumper
Type
2-Pin Jump pins 1 and 2 for 9600-baud serial port operation. Remove
Description Default
umper for 38400-baud serial port operation.
E4: MACRO Type Connection
Jumper
Type
2-Pin Jump pins 1 and 2 for RJ-45 connection.
Description Default
Jump pins 2 and 3 for fiber optic connection.
Not jumpered
Pin 2-3
Not jumpered
Factory set
JP1: T
Jumper
Type
2-Pin Remove jumper for Acc-68M.
Description Default
Factory set
Install jumper for Acc-68M.
JP2 – JP6: Reserved for Future Use
JP7: Re-initialization
Jumper
Type
2-Pin Jump pins 1 and 2 for re-initialization on power-up\reset
Jumpers Description 7
Description Default
Not jumpered
Remove jumper for normal operation
Accessory 68M
8 Jumpers Description
Accessory 68M
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 used only to change the operational firmware, or to perform basic software diagnostic
operations. The user can use a serial port terminal window such as Microsoft
HyperTerminal to
communicate MACRO Device. Set the serial port communication settings as follows:
Baud Rate: 38400 for E3 not jumpered or 9600 for E3 jumpered
Data Bits: 8
Parity: None
Stop Bits: 1
Flow Control: Xon/Xoff
If PEWIN PRO2 software is installed on the pc, then the USB device should be recognized by the
operating system. If the device is not recognized, contact technical support for assistance.
24VDC Input Edge Connector
PIN # Symbol Function
1 24 V RET GND
2 +24 V +24 V CONTROL
3 + 24 V +24 V PWR
This 3-pin spring cage connector is used to power the unit with a 24VDC power supply at 25A.
Note: Delta Tau Part No: 014-188305-001
Phoenix Contact Part No: 1883051
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
7 Unused Unused terminated pin
8 Unused Unused terminated pin
Connectors Description 9
Accessory 68M
The cable used for MACRO wired connections is CAT5 verified straight-through 8 conductor. 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.
Inputs Connector: 30-pin Terminal Block
Pin # Symbol Function
1 IN01 INPUT 1
2 IN02 INPUT 2
3 IN03 INPUT 3
4 IN04 INPUT 4
5 RET
6 IN05 INPUT 5
7 IN06 INPUT 6
8 IN07 INPUT 7
9 IN08 INPUT 8
10 RET
11 IN09 INPUT 9
12 IN10 INPUT 10
13 IN11 INPUT 11
14 IN12 INPUT 12
15 RET
16 IN13 INPUT 13
17 IN14 INPUT 14
18 IN15 INPUT 15
19 IN16 INPUT 16
20 RET
21 IN17 INPUT 17
22 IN18 INPUT 18
23 IN19 INPUT 19
24 IN20 INPUT 20
25 RET
26 IN21 INPUT 21
27 IN22 INPUT 22
28 IN23 INPUT 23
29 IN24 INPUT 24
30 RET
RETURN FOR INPUTS 1-8
RETURN FOR INPUTS 1-8
RETURN FOR INPUTS 9-16
RETURN FOR INPUTS 9-16
RETURN FOR INPUTS 17-24
RETURN FOR INPUTS 17-24
The inputs are sinking or sourcing by user wiring. For sinking inputs, connect the +24V side of the power
supply to the corresponding return line. For sourcing inputs, connect the GND side of the power supply
to the corresponding return line. See the connections example diagram in this manual for details.
10 Connectors Description
Accessory 68M
Outputs Connector: 30-pin Terminal Block
Pin # Symbol Function
1 OUT01 OUTPUT 1
2 OUT02 OUTPUT 2
3 OUT03 OUTPUT 3
4 OUT04 OUTPUT 4
5 +24V
6 OUT05 OUTPUT 5
7 OUT06 OUTPUT 6
8 OUT07 OUTPUT 7
9 OUT08 OUTPUT 8
10 +24V
11 OUT09 OUTPUT 9
12 OUT10 OUTPUT 10
13 OUT11 OUTPUT 11
14 OUT12 OUTPUT 12
15 +24V
16 OUT13 OUTPUT 13
17 OUT14 OUTPUT 14
18 OUT15 OUTPUT 15
19 OUT16 OUTPUT 16
20 +24V
21 OUT17 OUTPUT 17
22 OUT18 OUTPUT 18
23 OUT19 OUTPUT 19
24 OUT20 OUTPUT 20
25 +24V
26 OUT21 OUTPUT 21
27 OUT22 OUTPUT 22
28 OUT23 OUTPUT 23
29 OUT24 OUTPUT 24
30 +24V
OUTPUTS RETURN
OUTPUTS RETURN
OUTPUTS RETURN
OUTPUTS RETURN
OUTPUTS RETURN
OUTPUTS RETURN
The outputs are always sinking type. Pins 5, 10, 15, 20, 25 and 30 are internally connected. See the
connections example diagram in this manual for details.
Connectors Description 11
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