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^1 USER MANUAL ^2 Accessory 34AA

1. TB9 2 Pin Terminal le 2 Block Top View 1 Pin Symbol Function Description Notes 1 AGND Common External Supply Ground 2 24 Power Supply External Supply for Opto Isolators 12V to 24 V Unregulated 9 is a 2 terminal block used to bring in the power supply 12 24V for the I O side of the opto isolation circuitry For proper operation of the board this power supply must be brought in through TB9 Connector Pinouts Accessory 34AA MECHANICAL DIMENSIONS 25 Mechanical Dimensions Accessory 34AA 26 Mechanical dimenSions Accessory 34AA MEMORY MAP Memory UPLOAD FROM HOST OOVPUIER 32K x 24 1Kx48 MDEFINITION ROM 128K x8 EAROM 2K x8 Stores Pararreters only RAM 128K X 24 Battery Backed Program X amp Y Memory RAM NORIVAL 65 nsecs 1 WAIT STATE 20 MHz MEDIUM 45 nsecs O WAIT STATE 20 FAST 25 nsecs Oo WAIT STATE 30 MHz End of RAMis definable by user Memory Map 27
2. PMAC Turbo PMAC Comments M1000 gt TWS 1 M1000 gt TWS 1 Port A AIO 0 31 M1001 gt D 770 M1003 gt D 0010F0 Image word for PLCs M800 gt Y 770 0 M800 gt Y 0010F0 0 LSB M801 gt Y 770 1 801 gt 0010 0 1 M802 gt Y 770 2 M802 gt Y 0010F0 2 Bit2 M822 gt Y 770 22 M822 gt Y 0010F0 22 Bit22 M823 gt Y 770 23 M823 gt Y 0010F0 23 Bit23 M824 gt X 770 0 824 gt 0010 0 0 Bit24 M825 gt X 770 M825 gt X 0010F0 1 Bit25 M830 gt X 770 6 M830 gt X 0010F0 6 Bit30 M831 gt X 770 7 M831 gt X 0010F0 7 Bit31 MSB Port B Setup Write Only PMAC Turbo PMAC Comments M1002 gt TWS 6 M1002 gt TWS 6 Port B BIO 0 31 M1003 gt D 771 M1003 gt D 0010F1 Image word for PLCs M900 gt Y 771 0 M900 gt Y 0010F 1 0 LSB M901 gt Y 771 1 M901 gt Y 0010F1 1 902 gt 771 2 M902 gt Y 0010F1 2 Bit2 922 gt Y 771 22 M922 gt Y 0010F 1 22 Bit22 923 gt 771 23 923 gt 0010 1 23 Bit23 924 gt X 771 0 M924 gt X 0010F1 0 Bit24 925 gt X 771 1 M925 gt X 0010F1 1 Bit25 M930 gt X 771 6 M930 gt X 0010F 1 6 Bit30 931 gt 8771 7 M931 gt X 0010F1 7 Bit3 1 MSB PMAC Dual Ported RAM Locations Port A Setup Read Only PMAC Turbo PMAC Comments M1000 gt TWS 1 M1000 gt TWS 1 Port A AIO 0 31 M1001 gt DP D800 M1001 gt DP 060800 Image word for PLCs M800 gt Y
3. Accessory 34AA TB7 10 Pin Terminal Block naagcgacodl PRETI Cdi 90 Top View Pin Symbol Function Description Notes 1 16 Output Port B Bit 16 2 17 Output Port B Bit 17 3 BO18 Output Port B Bit 18 4 19 Output Port B Bit 19 5 BO20 Output Port B Bit 20 6 BO21 Output Port B Bit 21 7 BO22 Output Port B Bit 22 8 BO23 Output Port B Bit 23 9 AGND Common Return Signal 10 AV 7 Supply 12 to 24 Volts nthe sourcing configuration this supply will be used to drive the loads on all eight lines up to 800 mA maximum at 24V In the sinking configuration the current requirement from this power supply is minimal approx 70 mA 8 10 Pin Terminal Block 2 Pin Symbol Function Description Notes 1 24 Output Port B Bit 24 2 BO25 Output Port B Bit 25 3 26 Output Port B Bit 26 4 BO27 Output Port B Bit 27 5 BO28 Output Port B Bit 28 6 BO29 Output Port B Bit 29 7 BO30 Output Port B Bit 30 8 BIO31 Output Port B Bit 31 9 AGND Common Return Signal 10 AV 8 Supply 5 to 24 Volts In the sourcing configuration this supply will be used to drive the loads on all eight lines up to 800 mA maximum at 24V In the sinking configuration the current requirement from this power supply is minimal approx 70 mA
4. CCC 0002 Pin Symbol Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DATO Output Data Bit 0 4 SELO Input Address Line 0 5 DATI Output Data Bit 1 Not connected 6 SEL 1 Input Address Line 1 7 DAT2 Output Data Bit 2 Not connected 8 SEL2 Input Address Line 2 9 DAT3 Output Data Bit 3 Not connected 10 SEL3 Input Address Line 3 11 DAT4 Output Data Bit 4 Not connected 12 SEL 4 Input Address Line 4 13 DAT5 Output Data Bit 5 Not connected 14 SELS Input Address Line 5 15 DAT6 Output Data Bit 5 Not connected 16 SEL6 Input Address Line 6 17 DAT7 Output Data Bit 6 Not connected 18 SEL7 Input Data Bit 7 19 N C Not connected 20 GND Common PMAC Common 21 N C Not connected 22 GND Common PMAC Common 23 N C Not connected 24 GND Common PMAC Common 25 5V Input 5V DC Supply 26 N C Not connected This header should be connected to PMAC s JTHW connector via the supplied 26 pin flat cable TB1 10 pin Terminal Block a eNe Symbol AIO Input Common Supply AB 5 AGND 10 AV 1 4 40120 Top View Notes Port A Bit 0 Port A Bit 1 Port A Bit 2 Port A Bit 3 Port A Bit 4 Port A Bit 5 Port A Bit 6 Port A Bit 7 Return Signal 15 to 24V Used o
5. Write Only These variables are implemented on MACRO Station firmware versions V1 111 and newer Example To connect two ACC 34AAAs to the multiplexer port on the MACRO station for 128 bits of The SWI settings for the boards in this example are shown below Board Byte Port A amp Port B 5 2 1 1 ON 2 8 amp 12 ON OFF Based on the switch settings the port address settings would be MSn MI90 1 Port A Board 1 5 92 6 Port Board 1 5 194 9 Port Board 2 5 196 14 Port Board 2 Read and write from and to the MACRO station using the following definitions and commands PMAC Ultralite Turbo PMAC Ultralite Comments M1000 gt D 07FO M1000 gt D 0061F0 Input image word for Ultralite board 1 M1001 gt D 07F1 M1001 gt D 0061F1 Output image word for Ultralite board 1 M1002 gt D 07F2 M1002 gt D 0061F2 Input image word for Ultralite board 2 M1003 gt D 07F3 M1003 gt D 0061F3 Output image word for Ultralite board 2 Use the following commands as either on line commands for testing or in PLC or motion program as buffer commands MSRn MI91 M1000 Reads the value of MSn MI91 to M1000 MSWn MI93 M1001 Writes the value of M1001 to MSn MI93 MSRn MI95 M1002 Reads the value of MSn MI95 to M1002 MSRn MI97 M1003 Reads the value of M1003 to MSn MI97 Using ACC 34x w
6. 6 OFF ON 8 ON OFF 9 ON 10 OFF a ON 12 OFF ON 14 OFF ON 16 OFF a ON 18 OFF 9 ON 20 OFF e ON 22 OFF ON 24 ON OFF 26 OFF e ON DT OFF 329 30 OFF Bi 240 amp 24 om orr orF OFF ON OFF This table shows the daisy chain board address relationship with respect to the 5 bit SW1 DIP position setting Note ON Closed OFF Open To turn off a switch push down on the open side To turn on a switch push down on the numbered side m o 53 Hj Hardware Specifications Accessory 34AA Hardware Specifications Accessory 34AA INPUT AND OUTPUT PORTS Port A is always configured as an input port and the output lines are driven by writing to Port B The input and the output lines can be read or written using TWS type M variables Once the correct M variable definition assignment is done use these M variables in the usual ways e g motion programs PLC programs Jumpers E1 through E8 determine the sinking sourcing characteristics of the input port For sourcing a high level on an input line is read as binary positive logic For sinking a high level on an input line is read as binary 0 negative logic Jumpers E9 through E16 together with drivers U51 through U54 determine the sinking sourcing characteristic of the output port For a sourcing setup writing a binary generates a high level on the correspon
7. D800 0 M800 gt Y 060800 0 LSB M801 gt Y D800 M801 gt Y 060800 Bitl M802 gt Y D800 2 M802 gt Y 060800 2 Bit2 M814 gt Y D800 14 M814 gt Y 060800 14 Bit14 815 gt 50800 15 M815 gt Y 060800 15 Bit15 M816 gt X D800 0 M816 gt X 060800 0 Bit16 M817 gt X D800 1 M817 gt X 060800 Bit17 M830 gt X D800 14 M830 gt X 060800 14 Bit30 M831 gt X D800 15 M831 gt X 060800 15 Bit3 1 MSB Port B Setup Write Only PMAC Turbo PMAC Comments M1002 gt TWS 6 M1002 gt TWS 6 Port B BIO 0 31 M1003 gt DP D801 M1003 gt DP 060801 Image word for PLCs M900 gt Y D801 0 M900 gt Y 060801 0 LSB M901 gt Y D801 1 M901 gt Y 060801 1 M902 gt Y D801 2 M902 gt Y 060801 2 Bit2 ACC 34x Setup 15 Accessory 34AA M914 gt Y D801 14 M914 gt Y 060801 14 Bitl4 M915 gt Y D801 15 M915 gt Y 060801 15 Bitl5 M916 gt X D801 0 M916 gt X 060801 0 Bitl6 M917 gt X D801 1 M917 gt X 060801 1 Bitl7 M930 gt X D801 14 M930 gt X 060801 14 Bit30 M931 gt X D801 15 M931 gt X 060801 15 Bit3 1 MSB Programs OPEN PLC M1003 0 M1007 0 1 CLEAR DISABLE PLC 1 CLOSE OPEN PLC 2 CLEAR M1001 M1000 M1005 M1004 SFFFFFFFF CLOSE OPEN PLC IF M100 M301 ELSE M301 ENDIF CLOSE OPEN PLC 3 CLEAR 1 AND M101 0 1 0 31 CLEAR
8. E 5 Options inei erben Pe CH EIE EET E ER Ree re RETE EE 5 OPTOMA RS 5 0o ios a a 5 gn E E E E 5 Jumper SPEC Cations E 6 EI E8 Sinking or Sourcing Input Select essent nennen rernm ren een nennen trennen 6 E9 E16 Sinking or Sourcing Output Select eese eene enne enne tentent enne trennen nete 6 E22 ACC 34AA Watchdog Timer Jumper eese eese eee nee neen enne nennen trennen eren nenne 6 E23 ACC 34AA Standard Alternate Read eee eese 6 Miuilttpl x nhu rero PITE 6 DIP SWiteh Setting 7 INPUT AND OUTPUT PORTS s aood 9 BENESSERE 9 Processing ACC 34x 8 42 2 10 When to Access ACC 34x 10 SETUP ue 11 Word Variables E H 11 Locationf Image Words 11 Open Memory Standard EEA 11 DPRAM Standard PMAC viicissssscceccserccsscsetscscesasssacscateassonasensescascnsnteascauecesdessteesdaestcosdesaesendodas condentocetsensesansed 11
9. M1002 M1003 M1004 M1005 SFFFFFFFF 16 4 0 4 Reset PLC program that only runs once power up or reset Clear output image word to make sure all outputs off Ditto To make sure this only runs once on power up reset PLC program to copy the inputs into image words at beginning of each scan Copy first input word into its image register Copy second input word into its image register inverting PLC program that works with individual bits of image words AND P43 gt 50 PLC program that copies image words to outputs at end of scan ec Copy first output image word to 34 Copy second output image word to 34 inverting ACC 34x Setup Accessory 34AA USING ACC 34 WITH MACRO STATION Two ACC 34s could be used at each MACRO Station in the ring The MACRO Station has eight variables used for this purpose MI90 MI91 MI92 MI93 MI94 MI95 MI96 and MI97 Each ACC 34 Port has two variables associated with it The first variable is the multiplexer port address and the second 15 the actual input or output word To read or write to these variables special MACRO Station read and write commands buffered and on line can be used to read and write to and from the Ultralite or Turbo Ultralite Port Address Actual Word Type MI90 MI91 Input Read Only MI92 MI93 Output Write Only MI94 MI95 Input Read Only MI96 MI97 Output
10. Turbo PMAC Location of Image 12 Open Memory Turbo P MAC ox phun astare 12 DPRAM Standard Turbo eerte eee 12 Preventing Conflicts in Output Image Words sess 12 Image Wotds iecit cn e i re C RE D C e E O CX C E EP 14 Individual Pieces of Image Words mesis nii rirse sedeer nrimaa eene 15 PMAC Memory Locations sce dss Pe bic ine ba ttp oed 15 PMAC Dual Ported RAM Locations eese i E ae tns inest tensione tenens enne tnn 15 USING ACC 34 WITH MACRO STATION eese esee esee eene atentos tatus 0 000000000000110 17 MS anynode MI90 Multiplexer Port 1 Read Address esee enne 18 MS anynode MI91 Multiplexer Port 1 Read Value eese eene nee nennen 18 MS anynode MI92 Multiplexer Port 1 Write Address esee tenentem enne 18 Introduction Accessory 34AA 5 193 Multiplexer Port 1 Write Value esee nennen enne enne 18 5 194 Multiplexer Port 2 Read Address eese enne 18 MS anynode MI95 Multiplexer Port 2 Read Value eese eene enne enne 19 MS anynode M196 Multiplexer Port 2 Write Address esee eee eene nennen 19 MS anynode M197 Multiplexer Port 1 Write Value esses eee eene ener nene 19 CONNECTOR PINOUT C H 21 a
11. bits 0 to 11 for the PLCs then at Y 0771 0010F1 for Turbo bits 12 to 23 and ACC 34x Setup 13 Accessory 34AA X 0771 0010F1 for Turbo bits 0 to 7 for the motion programs At the end of a PLC scan to create the actual output word on an ACC 34x from the image words we would use the program statement M103 M101 amp 00000FFF M102 SFFFFFO000 The bit by bit AND amp operations make sure no falsely set bits in unused portions of the image words get into the output word They are not strictly necessary if the unused bits can be guaranteed to be zero The bit by bit OR operation combines the word The assignment of the resulting value to M103 causes it to be written to the ACC 34x To write to the same bit of an output image word with two different priority levels or processors one of the tasks must do so indirectly by writing into a holding register The other task must take this holding register and transfer the bit value into the image word This task must decide what to do in case of any conflict one task wants to clear the bit and the other wants to set it The following example illustrates the method of working with ACC 34x I O It describes the procedure for memory allocation for the inputs and for the outputs Image Word Variables that will work with either Dual Ported RAM or PMAC memory locations Example This example shows the image variables both in DPRAM and several places in internal
12. 1 6 40 amp 44 ON ON OFF ON OFF M300 gt TWS 41 Port A AIO 0 31 of an ACC 34 with SW1 switches assigned for read only 41 40 1 Note A 32 bit Read or a 32 bit Write to an individual port takes approximately 64 microseconds of time in the PMAC s background time slot 20MHz CPU significantly less on faster CPUs As a result excessive and unnecessary references to TWS type M variables 5 not recommended Processing ACC 34x Inputs amp Outputs Because the PMAC interface to the Accessory 34 family of I O boards ACC 34x is by full 32 bit words transmitted serially even when access to only a single bit is desired carefully consider how the interface is done and how frequently Care must also be taken to work efficiently with the data so that PMAC is not bogged down with slow serial reads and writes and time consuming logic to assemble and disassemble I O words The recommended strategy is to keep images of each input or output word in PMAC s internal memory or in the dual ported RAM The input words are copied into their image words and the output words are copied from their image words Most program operations deal with these image words this way slow transfer to or from an ACC 34x board is performed less frequently During the act of copying bit inversion can also be performed with the exclusive or function When to Access ACC 34x The actual reads and writes for an ACC 34x board
13. 12 to 24V At 24V the current requirement is approximately 70mA For TBS to TB8 outputs in the sourcing configuration the supply voltage may range from 12 to 24V The maximum current requirement should be limited to 100mA per output line which translates to 800mA per terminal block For sinking configurations the supply voltage may range between 12 and 24V the maximum current is limited to that which flows through the nine 3 3 K Q pull up resistors approximately 70mA ACC 34AA LED Indicators The ACC 34AA is equipped with bi color LEDs allowing verification of a sinking or sourcing signal On power up to the board the low bit LED will display green if the jumpers for the I O port are set for sinking It will display red if set for sourcing See ACC 34AA Hardware Reference manual for exact jumper settings Similarly the actual I O LEDs will display green when pulled low or red when pulled high ACC 34AA Watchdog Timer Watchdog timer circuitry is enabled on ACC 34AA when jumper E22 is not installed This jumper is installed in the default factory setup When the timer is enabled and if PMAC through a PLC program does not read from or write to the ACC 34AA board at least once per 1 5 seconds the watchdog timer trips When this occurs the output transistors are turned OFF no current is driven on any of the 32 outputs A subsequent read or write always reinitializes the board J1A and J1B This 26 pin Header provides the link
14. O procedure Actual Word Variable Variable which is read or written to by ACC 34x amp PMAC Image Word Variable Variable assigned set equal to Image actual word variable Image Bit Variable Single bit of image word variable Image Word Variables It is best to use fixed point M variables as the internal image variables for the I O words When this is done a single M variable representing the entire I O word can be used for the copying operation Then separate M variables can be used to access individual bits or segments of the image word Use of these smaller M variables allows PMAC s efficient firmware to do the masking and logic necessary to pick out portions of the I O word rather than slower user program code PMAC Location of Image Words The internal images reside in PMAC s memory as follows Open Memory Standard PMAC For a standard PMAC with no DPRAM on board the image word will be in an otherwise unused double register in PMAC s own memory There are 16 open registers at PMAC addresses 0770 to 077F that are set to zero automatically on power up There are 16 more open registers at PMAC addresses 07F0 to 07FF whose values are held when power is off It is possible to use the registers of otherwise unused P and Q variables for this purpose Access these registers with fixed point M variables not floating point P or Q variables A double fixed point register in PMAC s internal
15. 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 34AA Table of Contents TNTRODUUG TION Pese 1 Parity Checking 1 Optical Isolation 2 Porn Headers seus sev subsea 2 ACC 34AA HARDWARE 8 422 4 00000 2 0 seen 3 Power Supply and Opto Isolation Considerations 2 1 0 22022 020000200 00 000000000000 ener nnne 4 LED 4 ACG 34 AA Watchdog 4 DTA 4 JD 4 jy PP 4 4 5 yy n M M 5 DBO ELEME 5 UMS EUM I 5 5
16. in PMAC that can write to these image words the foreground level which includes all of the motion programs and PLC 0 and the background level which includes PLCs 1 31 and on line commands The problem can occur when a higher priority task interrupts a lower priority task that is in the middle of changing the image word with a read modify write operation When the lower priority task resumes it will undo the changes made by the higher priority task Similarly if the image word is in the DPRAM and one side starts its read modify write cycle on the word but does not finish it before the other side starts its own cycle the side that starts later can undo the changes made by the side that starts first Note Two tasks at the same priority level cannot interrupt each other one will always finish an operation before the other starts Therefore there is no need to worry about two motion programs writing to the same image word or a motion program and PLC 0 because these tasks are at the same priority level Similarly there is no need to worry about two background PLC programs writing to the same image word or a background PLC and on line commands To prevent this possible conflict the different priority levels or different processors must use different image words even if they each represent only a part of the same total output word These partial words are then combined in the act of writing to the actual output word The simplest way to
17. memory Ina real application a single location range probably would be chosen Set up and Definitions Actual ACC 34 I O Words M1000 TWS 1 First side of first ACC 34x board an input here Location is at port address 0 added 1 for read only M1002 TWS 6 Second side of first ACC 34x board an output here Location is at port address 4 added 2 for write only M1004 TWS 9 First side of second ACC 34x board an input here Location is at port address 8 added 1 for read only 1006 gt 5 14 Second side of second ACC 34x board an output here Location is at port address 12 added 2 for write only Image Words PMAC Turbo PMAC Comments M1001 gt DP D800 M1001 gt DP 060800 32 bit fixed point DPRAM register M1003 gt D 0770 M1003 gt D 0010F0 48 bit fixed point register set to zero on power up M1005 gt D 07F0 Power down hold PMAC 48 bit fixed point register value held registers are not available through power down Turbo use this register for P variable M1005 gt D 0061F0 treated as 48 bit fixed point value M1007 gt D 13FF M1007 gt D 0063FF Register for P1023 treated as 48 bit fixed point value User Buffer Storage Space is same for the battery backed Turbo PMAC 14 ACC 34x Setup Accessory 34AA Individual Pieces of Image Words PMAC Memory Locations Port A Setup Read Only
18. memory is defined by the D format of M variable e g M61 gt D 07F0 This is a 48 bit register only the low 32 bits will be used The low 24 bits of the I O will be in the Y memory and the high eight bits of the I O will be in the low eight bits of X memory DPRAM Standard PMAC If the system has dual ported RAM use a 32 bit register in DPRAM This way the host computer always has immediate access to the I O In fact PMAC can be used just as a pass through between the host computer and the ACC 34x boards letting the host computer do all the processing A 32 bit fixed point register in DPRAM is defined by the DP format of M variable e g M60 gt DP SDFO00 This type of variable occupies the low 16 bits bits 0 to 15 of PMAC Y memory and the low 16 bits of PMAC X memory at the same address with the less significant bits in Y memory It appears to the host computer as two 16 bit registers at consecutive even addresses with the less significant bits at the lower address ACC 34x Setup 11 Accessory 34AA Turbo PMAC Location of Image Words Open Memory Turbo PMAC For a Turbo PMAC with no DPRAM on board the image word will be in an unused double register in Turbo PMAC s own memory There 16 open registers at Turbo PMAC addresses 0010FO0 to 0010FF that are set to zero automatically on power up Also use the registers of otherwise unused P and Q variables for this purpose Access these registers with fixed poin
19. procedure will allow the most efficient and flexible use of TWS M variables Note This type of variable can only be used in background tasks PLCs and PLCCs 1 31 They cannot be used in foreground tasks motion programs PLC and PLCC 0 For an input port m plex is a legal byte number from column 2 of Table 1 plus one Any attempt to write to a TWS type M variable defined with bit zero of its address set to one 1s automatically prevented by PMAC s firmware For an output port m plex is a legal byte number from column 2 of Table 1 plus two An attempt to read a TWS type M variable defined with bit one of its address set to one returns Zero and the actual read is prevented by PMAC s firmware Example To address Port A bits 0 to 31 of board 1 as an input using M100 use the following definition Board 4 Byte PortA amp Port 5 4 3 2 1 Input and Output Ports 9 Accessory 34AA 1 0 amp 4 ON ON ON ON ON 100 gt 5 1 Port A AIO 0 31 of an ACC 34 with SW1 switches all ON assigned for read only 1 0 1 Similarly to address Port B of the same board 1 as an output using M101 use the following definition M101 gt TWS 6 Port BIO 0 31 of an ACC 34 with SW1 switches all ON assigned for write only 4 2 6 To address Port A of board 6 as an input using M300 use the following definition Board Byte Port A amp Port B 5 4 3 2
20. split an image word is to use the natural X memory vs Y memory split in PMAC s memory If using a double word in PMAC s internal memory reserve the 24 bits in Y memory for one priority level and the eight bits in X memory for the other If using the DPRAM reserve the 16 bits in Y memory for one processor or priority level and the 16 bits in X memory for another If using the memory way no special techniques need to be used On PMAC simply write to the partial words with a X or Y format M variable PMAC will do the read modify write cycle automatically without touching the other part of the word On the host computer access the DPRAM register with the short 16 bit integer format not the long However if the split cannot be arranged in this fashion create separate overlapping image words and explicitly combine them Example Take a system in which the low 12 bits will be written to by background PLCs and the high 20 bits will be written to by motion programs Create two separate image words one for each priority level and the actual output word PMAC TURBO PMAC Comments M101 gt D 0770 M81 gt D 0010F0 Image word for PLC programs background M102 gt D 0771 M82 gt D 0010F1 Image word for motion programs foreground M103 gt TWS 6 M83 gt TWS 6 ACC 34x output word write only Also single bit M variables are defined to parts of these same internal addresses at Y 0770 0010F0 for Turbo
21. the ACC 34AA has with respect to the ACC 34A Individual optical isolation of all I O points RC filter with 1 msec time constant on all inputs Parity checking on serial communications with PMAC Two multiplexer port headers for easier daisychaining Parity Checking Parity checking is done on all serial communications between the PMAC and the ACC 34AA This requires PMAC firmware version 1 16 or newer When PMAC sends data to the ACC 34AA 32 bit output word by writing to the TWS M variable pointing to that word the ACC 34AA evaluates the parity bits sent with that word and compares them to the parity bits it calculated itself If there 1s a difference the output word is 1gnored the outputs stay in the state of the last successful write and PMAC is notified of a parity error PMAC shows this error by setting bit 6 of the global status register X 0003 X 000006 in Turbo PMAC The user program can check this bit with an M variable to see if the data must be sent again When the ACC 34AA sends the 32 input word to PMAC by a PMAC read of the TWS M variable pointing to that word the ACC 34AA creates parity bits that are sent with the word PMAC evaluates the parity bits sent with that word and compares them to the parity bits it calculated itself If there is a difference PMAC shows the error by setting this parity error bit The user program can check this bit with an M variable to see if the data must be sent again In
22. 2 input lines AIO to AI31 Port B contains the 32 output lines BOO to BO31 The actual I O Reads and Writes are carried out using a special form of M variables which will be described later in this manual ACC 34AA is one of a series of I O accessories for PMAC that uses the JTHW multiplexer port connector Others are ACC 34A The Opto 64 bit Input Output board ACC 34B The 64 bit Standard Opto I O Interface board ACC 18 The Thumbwheel Multiplexer board ACC 8D Option 7 The Resolver to Digital Converter board ACC 8D Option 8 Yaskawa Absolute Encoder Interface board All of the above accessories use the JTHW multiplex address scheme and several of them may be daisy chained to a single PMAC For enhanced noise reduction and long distance installation Accessories 35A and 35B provide differential buffer capabilities for the JTHW signals The use of the long distance buffer pair ACC 35A and ACC 35B is recommended whenever the required cable length between PMAC and ACC 34x is over 3 meters 10 feet Up to 32 ACC 34AAs may be connected to a single PMAC which gives a possible 1 024 input and 1 024 output lines in addition to those available on the PMAC board and on the parallel I O expansion boards Accessory 34 communicates to PMAC via its JTHW connector The ACC 34AA is compatible operationally with the older ACC 34A board and provides several important improvements The improvements that
23. Multiplexer Port 2 Read Value Range 00000000 FFFFFFFF Units Individual bits MI95 contains the 32 bit value read from the input port of the ACC 34 whose multiplexer port address is specified by MI94 Each bit represents one input from the port Bit of MI95 represents Input n on the port MS anynode MI96 Multiplexer Port 2 Write Address Range 00 FF Units MACRO Station Multiplexer Port Addresses Default 00 MI96 specifies the address on the MACRO Station s JTHW multiplexer port of a 32 bit output port on an ACC 34 family I O board If MI96 is set greater than 0 the 32 output values will be copied periodically from Station variable MI97 MI96 must match the multiplexer port address of the ACC 34 board from which the inputs are to be read as set by the SW1 DIP switch bank on the board The value of MI96 should be set six greater than the base address of the board set by the DIP switch bank MS anynode MI97 Multiplexer Port 1 Write Value Range 00000000 FFFFFFFF Units Individual bits MI97 contains the 32 bit value written to the output port of the ACC 34 whose multiplexer port address is specified by MI96 Each bit represents one output on the port Bit n of MI97 represents Output n on the port Using ACC 34x with MACRO Station 19 Accessory 34AA 20 Using ACC 34 with MACRO Station Accessory 34AA CONNECTOR PINOUTS J1A and J1B 26 Pin Header 25
24. USER MANUAL Accessory 34AA DELTA TAU Data Systems Inc NEW IDEAS IN MOTION 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 2003 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
25. between PMAC s JTHW multiplexer port connector and ACC 34AA Using the supplied flat cable connect PMAC to or JIB Through this connector PMAC sets the outputs and reads the inputs The power for the processor side of the opto isolation circuitry is provided from the PMAC board through this connector For the connection of multiple ACC 34AAs to a single PMAC and additional cable is required for each ACC 34AA TB1 This 10 pin terminal block is used to connect to the first set of eight input lines AIO to AI7 This connector 12 to 24V 70mA is used to bring in a separate power supply for the pull up down resistors of AIO to AI7 TB2 This 10 pin terminal block is used to connect to the second set of eight input lines AI8 to AI15 In addition this connector 12 to 24V 70mA is used to bring in a separate power supply for the pull up down resistors of AI8 to 5 TB3 This 10 pin terminal block is used to connect to the third set of eight input lines AI16 to AI23 This connector 12 to 24V 70mA is used to bring in a separate power supply for the pull up down resistors of to AI23 4 Hardware Specifications Accessory 34AA TB4 This 10 pin terminal bloclk is used to connect to the fourth set of eight input lines AI24 to AI31 This connector 12 to 24V 70mA is used to bring in a separate power supply for the pull up down resistors of ADA to AI31 TB5 This 10 pin terminal block is used to connect to the f
26. cally from Station variable MI93 MI92 must match the multiplexer port address of the ACC 34 board from which the inputs are to be read as set by the SW1 DIP switch bank on the board The value of MI92 should be set 6 greater than the base address of the board set by the DIP switch bank MS anynode MI93 Multiplexer Port 1 Write Value Range 00000000 FFFFFFFF Units Individual bits MI93 contains the 32 bit value written to the output port of the ACC 34 whose multiplexer port address is specified by MI92 Each bit represents one output on the Bit n of 9 represents Output on the port MS anynode MI94 Multiplexer Port 2 Read Address Range 00 FF Units MACRO Station Multiplexer Port Addresses Default 00 MI94 specifies the address on the MACRO Station s JTHW multiplexer port of a 32 bit input port on an ACC 34 family I O board If MI94 is set greater than 0 the 32 input values will be copied periodically into Station variable MI95 MI94 must match the multiplexer port address of the ACC 34 board from which the inputs are to be read as set by the SW1 DIP switch bank on the board For the regular input port the value of MI94 should be set one greater than the base address of the board set by the DIP switch bank For the ACC 34C s optional second 32 bit input port the value of MI94 should be set three greater than the base address 18 Using ACC 34 with MACRO Station Accessory 34AA MS anynode MI95
27. can be done only in a background PLC program PLC 1 31 or through on line commands which are executed between PLC programs Motion programs and PLC 0 cannot access this I O directly They can work only with the image words Reading an input word from an ACC 34x is simply a question of using the TWS form M variable for that word on the right side of an equation Usually this operation simply copies the input word into its internal image variable Similarly writing an output word to an ACC 34x involves using the M variable for that word on the left side of an equation typically just copying it from its internal image word Most will treat ACC 34x I O the same way that a traditional PLC treats its I O all of the inputs are read at the beginning of a PLC software scan and all of the outputs are written to at the end of the scan In between all the processing of the variables is done while working with the internal image words It is possible to make the write operation to the output word conditional on a change in the image word for the output from the previous scan but the time involved in making the decision and storing each scan s value is about the same as the actual writing to the output 10 Input and Output Ports Accessory 34AA ACC 34X SETUP For the purpose of ACC 34x setup the following example will demonstrate how to utilize 32 inputs and 32 outputs of an ACC 34x The following three variables will be used during the ACC 34x I
28. ding output line positive logic For a sinking setup writing a binary turns on the corresponding open collector transistor output and this in turn switches on the output negative logic M Variable Assignments TWS is a special format 32 bit wide M variable for reading the data from and writing the data to an ACC 34 card M constant TWS m plex Serial Thumbwheel Multiplexer M Variable Definition This command causes PMAC to define the specified M variable to point to a 32 bit word of input or output serially multiplexed on the thumbwheel port on an ACC 34x board Note The individual bits of the thumbwheel port on an ACC 34x board cannot be directly assigned to an M variable Only 32 bit words ports of input or output can be accessed The address on the multiplex port specified here must match the address set by the DIP switch on the ACC 34x board The ACC 34x Hardware Reference manual contains a table listing all of the possibilities The best procedure for using TWS M variables in a program is as follows The input word TWS M variable should be copied into its image variable at the beginning of a sequence of operations The operations can then be done on the image variable without requiring PMAC to actually read or write to the I O port for each operation The output word is first assembled into its image variable and then copied to the actual output word once at the end of a sequence of operations This
29. drivers for the four 8 bit output groups With this configuration the current drawn from each output line is limited to 100mA at voltage levels between 12 and 24V Custom orders ordered as ACC 34AA Option 1 are available for current sinking applications In current sinking configurations one ULN2803 driver is used for each 8 bit output group Each open collector output line can sink up to 100mA when pulled up to a voltage level between 12 to 24V external pull up resistors are not supplied When this accessory is ordered with its Option 1 the mixing of current sourcing and sinking drivers is possible in 8 bit groups Sinking Outputs Sourcing Outputs OUTPUT CHIP EQUIVALENT OUTPUT CHIP EQUIVALENT CIRCUIT UDN2981 FOR SOURCING CIRCUIT ULN2803 FOR SINKING e AA d MT E INVERTING OPEN COLLECTOR SINKING 12 24V NON INVERTING SOURCING 12 24V Hardware Specifications 3 Accessory 34AA Power Supply and Opto Isolation Considerations The power for the PMAC processor side of the opto isolation circuitry is brought in directly from J1A or JTHW The power for the external side of the opto isolation circuitry should be from a separate supply brought in through TB9 This can be any level from 12V to 24V The current requirements for the power brought in through TB9 is approximately 0 4A at 24V or 0 8A at 12V For to inputs the power supply Q can range from
30. essory 34AA TB5 10 Pin Terminal Block BUSCO Top View Pin Symbol Function Description Notes 1 BOO Output Port B Bit 0 2 Output Port Bit 1 3 BO2 Output Port B Bit 2 4 BO3 Output Port B Bit 3 5 BO4 Output Port B Bit 4 6 BOS Output Port B Bit 5 7 BO6 Output Port B Bit 6 8 BO7 Output Port B Bit 7 9 AGND Common Return Signal 10 AV 5 Supply 12 to 24V ii is minimal approximately 70mA In the sourcing configuration this supply will be used to drive the loads on all eight lines up to 800mA maximum at 24V In the sinking configuration the current requirement from this power supply TB6 10 Pin Terminal Block Pin Symbol Function Description Notes 1 BO8 Output Port B Bit 8 2 9 Output Port B Bit 9 3 10 Output Port B Bit 10 4 BOII Output Port B Bit 11 5 12 Output Port B Bit 12 6 13 Output Port B Bit 13 7 14 Output Port B Bit 14 8 15 Output Port B Bit 15 9 AGND Common Return Signal 10 AV 6 Supply 12 to 24 Volts In the sourcing configuration this supply will be used to drive the loads on all eight lines up to 800mA maximum at 24V In the sinking configuration the current requirement from this power supply is minimal approximately 70mA Connector Pinouts 23
31. f variable occupies the low 16 bits bits 0 to 15 of PMAC Y memory and the low 16 bits of PMAC X memory at the same address with the less significant bits in Y memory It appears to the host computer as two 16 bit registers at consecutive even addresses with the less significant bits at the lower address Preventing Conflicts in Output Image Words Care must be taken if tasks of different priority levels are trying to write to the same output image word or if both the host computer and PMAC are trying to write to the same DPRAM output image word If the proper techniques are not used occasional output changes will not be executed and because of the intermittent nature of the problem it will be very difficult to diagnose If the application has two priority levels or two computers that write to the same ACC 34x output word separate partial image words must be used These words combined as the output word is sent 12 ACC 34x Setup Accessory 34AA Note There is no conflict in having different tasks or different processors read from the same input word Remember that a computer cannot actually write to less than a word of memory at a time even if it only wants to change one bit In PMAC the word length is 24 bits for the DPRAM it is 16 bits If a computer wants to change less than a full word it must read the full word modify the bits it wants with mask words then write back the full word There are two priority levels
32. ight lines up to 800mA maximum at 24V In the sinking configuration the current requirement from this power supply is minimal approximately 70mA TB9 This is a 2 pin terminal block used to bring in the power supply 12 24V for logic circuits on the I O side of the opto isolation circuitry For proper operation of the board this power supply must be brought in through 9 ACC 34AA Options There are three options for the ACC 34AA Either Option or Option 2 must be selected Option1 Sinking Outputs Option2 Sourcing Outputs Option3 Din Rail Mount Hardware Specifications 5 Accessory 34AA Jumper Specifications E1 E8 Sinking or Sourcing Input Select Jumpers Descriptions El amp E2 1 2 Sinking inputs at TB1 2 3 Sourcing inputs at TB1 amp 4 1 2 Sinking inputs at TB2 2 3 Sourcing inputs at TB2 E5 amp E6 1 2 Sinking inputs at TB3 2 3 Sourcing inputs at TB3 7 6 E8 1 2 Sinking inputs at TB4 2 3 Sourcing inputs at TB4 Set by factory E9 E16 Sinking or Sourcing Output Select Jumpers Descriptions 9 amp E10 1 2 Sinking outputs with the ULN2803A for TB5 outputs 2 3 Sourcing outputs with the UDN2981A IC for TB5 outputs Ell amp E12 1 2 Sinking outputs with the ULN2803A IC for TB6 outputs 2 3 Sourcing outputs with the UDN2981A IC for outputs E13 amp El4 1 2 Sinking outputs with the ULN2803A IC for TB7 outputs 2 3 Sourcing o
33. irst set of eight output lines BOO to BO7 This connector is used to bring in a separate power supply for BOO to BO7 In the sourcing configuration this supply will be used to drive the loads on the eight lines up to 800mA maximum at 24V In the sinking configuration the current requirement from this power supply is minimal approximately 70mA TB6 This 10 pin terminal block is used to connect to the second set of eight output lines BO8 to 15 This connector is used to bring in a separate power supply for BO8 to 15 In the sourcing configuration this supply will be used to drive the loads on all eight lines up to 800mA maximum at 24V In the sinking configuration the current requirement from this power supply is minimal approximately 70mA TB7 This 10 pin terminal block is used for the connection to the third set of eight output lines BO16 to BO23 This connector is used to bring in a separate power supply for BO16 to BO23 In the sourcing configuration this supply will be used to drive the loads on all the eight lines up to 800mA maximum at 24V In the sinking configuration the current requirement from this power supply is minimal approximately 70mA TB8 This 10 pin terminal block is used to connect to the fourth set of eight output lines BO24 to BO31 This connector is used to bring in a separate power supply for BO24 to In the sourcing configuration this supply will be used to drive the loads on all e
34. ith MACRO Station 17 Accessory 34AA MS anynode MI90 Multiplexer Port 1 Read Address Range 00 FF Units MACRO Station Multiplexer Port Addresses Default 00 MI90 specifies the address on the MACRO Station s JTHW multiplexer port of a 32 bit input port on an ACC 34 family I O board If MI90 is set greater than 0 the 32 input values will be copied periodically into Station variable MI91 MI90 must match the multiplexer port address of the ACC 34 board from which the inputs are to be read as set by the SW1 DIP switch bank on the board For the regular input port the value of MI90 should be set one greater than the base address of the board set by the DIP switch bank For the ACC 34C s optional second 32 bit input port the value of MI94 should be set three greater than the base address MS anynode MI91 Multiplexer Port 1 Read Value Range 00000000 FFFFFFFF Units Individual bits MI91 contains the 32 bit value read from the input port of the ACC 34 whose multiplexer port address is specified by MI90 Each bit represents one input from the port Bit n of MI91 represents Input n on the port MS anynode MI92 Multiplexer Port 1 Write Address Range 800 Units MACRO Station Multiplexer Port Addresses Default 00 MI92 specifies the address on the MACRO Station s JTHW multiplexer port of a 32 bit output port on an ACC 34 family I O board If MI92 is set greater than 0 the 32 output values will be copied periodi
35. nd JIB 26 Pin Header 21 TBI 10 Terminal BlOCK cccccccecceesceesceescesscesecneconecacecaceeseeseesneeseessceesecesecaeceaecaaecaaecaeesaeeeaeeeaeeeneeeneeeneneess 21 TB2 Cl cpin Terminal BloGk uerit rote edes ei 22 TB3 10 Terminal Block versies ereer 22 4 10 Pin Terminal Block unies states 22 TBS 10 Pin Terminal Block unte stie las Getz ee pede 23 TBO 10 Terminal Block ecccccccccccccsssescececececesecscecececcesenssececeesessaeseeececsesusussecececcesesaeseeececsesseassecececeesenseaeeees 23 10 Pin Terminal Block eese eese e eene enne en there nr en nete sr ente sr 24 TB 6 I0 Pin Terminal Block ere EU 24 24 MECHANICAL DIMENSIONS e eeeeeee 25 27 Table of Contents Accessory 34AA INTRODUCTION The Accessory 34AA ACC 34AA for PMAC and Turbo PMAC controllers is a general purpose discrete input output I O board ACC 34AA provides 32 lines of optically isolated inputs and 32 lines of optically isolated outputs Port A contains the 3
36. nly for the ten 3 3kc pull up down resistors and LEDs 15 to 24V 70mA Connector Pinouts 21 Accessory 34AA 22 TB2 10 pin Terminal Block Top View Pin Symbol Function Description Notes 1 AI8 Input Port A Bit 8 2 AI9 Input Port A Bit 9 3 0 Input Port A Bit 10 4 Input Port A Bit 11 5 Input Port A Bit 12 6 AI13 Input Port A Bit 13 7 Input Port A Bit 14 8 5 Input Port A Bit 15 9 AGND Common Return Signal 10 AV 2 Supply 15 to 24V Used only for the ten 3 3kc pull up down resistors and LEDs 15 to 24V 70mA TB3 10 Pin Terminal Block Pin 1 020 9 10 HEBDO Top View Notes Used only for the ten 3 3kc pull up down resistors and LEDs 15 to 24V 70mA Port A Bit 23 TB4 10 Pin Terminal Block Pin Symbol Function Description Notes 1 ADA Input Port A Bit 24 2 AI25 Input Port A Bit 25 3 AI26 Input Port A Bit 26 4 AI27 Input Port A Bit 27 5 AI28 Input Port A Bit 28 6 AI29 Input Port A Bit 29 7 AI30 Input Port A Bit 30 8 Input Port A Bit 31 9 AGND Common Return Signal 10 AV 4 Supply 15 to 24V Used only for the ten 3 3kc pull up down resistors and LEDs 15 to 24 70mA Connector Pinouts Acc
37. t M variables not floating point P or Q variables A double fixed point register in PMAC s internal memory is defined by the D format of M variable e g M80 gt D 0010F0 This is a 48 bit register only the low 32 bits will be used The low 24 bits of the I O will be in the Y memory and the high 8 bits of the I O will be in the low 8 bits of X memory When using the ACC 34x I O with fixed point image variables the only software overhead is the actual copying between image and I O Including program interpretation time this amounts to about 100 microseconds per 32 bit word Aside from this working with the I O through the image words is at least as fast as direct parallel PMAC I O There is a potential latency of a full PLC scan on the actual I O which must be respected Many systems will have a few critical I O points that cannot tolerate this latency typically these use PMAC s JOPTO port or ACC 14 I O for these time critical points then use ACC 34x for I O that do not need to be so fast DPRAM Standard Turbo PMAC If the system has dual ported RAM Option 2 is required use a 32 bit register in DPRAM This way the host computer always has immediate access to the I O In fact PMAC be used just as a pass through between the host computer and the ACC 34x boards letting the host computer do all the processing A 32 bit fixed point register in DPRAM is defined by the DP format of M variable e g 80 gt DP 060000 This type o
38. troduction 1 Accessory 34AA Optical Isolation If the optical isolation on the ACC 34AA is not to be defeated use different power supplies for the ACC 34A A s internal circuitry via terminal block TB9 and for the I O points themselves via through TB8 Each I O terminal block have a separate isolated supply Port Headers The ACC 34AA has two 26 pin headers and J1B that can be used for connection of boards to the PMAC JTHW Multiplexer port ACC 34A has a single 71 header The identical signals are present on both connectors with a simple pass through on the board so it is possible to use the second header to connect to the next accessory board daisychained to the multiplexer port instead of a multi drop cable 2 Introduction Accessory 34AA ACC 34AA HARDWARE SPECIFICATIONS The inputs to the ACC 34AA board have an activation range from 12V to 24V and can be either sinking or sourcing depending on the reference to the opto circuitry The opto isolator IC used is a PS2705 NEC phototransistor output type This IC allows the current to flow from return to flag sinking or from flag to return sourcing 5V RETURN L GND ACC 34AA output drivers are organized in set of four 8 bit groups Each group each byte may be ordered with either current sourcing drivers default or with current sinking drivers The default configuration of this accessory board uses UDN2981 current sourcing
39. utputs with the UDN2981A IC TB7 for outputs E15 amp E16 1 2 Sinking outputs with the ULN2803A for TB8 outputs 2 3 Sourcing outputs with the UDN2981A IC for 8 outputs Set by factory E22 ACC 34AA Watchdog Timer Jumper Jumpers Descriptions Default E22 On ACC 34AA Watchdog timer is disabled On Off ACC 34AA Watchdog timer is enabled E23 ACC 34AA Standard Alternate Read Jumpers Descriptions Default E23 1 2 Normal Multiplex port read 1 2 2 3 Custom operation not supported by Delta Tau Data Systems Inc Multiplex Address Map Each ACC 34 occupies eight bytes of address space on the PMAC s JTHW multiplex memory space This memory space is eight bits wide which provides the ability to daisychain 32 256 8 ACC 34xs together or a combination of ACC 34xs ACC 18s and ACC 8D OPT7s The 5 bit DIP switch SW1 determines the address of each ACC 34x board on the allocated memory space Port A occupies the base address bytes 0 8 16 etc and Port B occupies the base address plus four 1 e bytes 4 12 20 etc 6 Hardware Specifications Accessory 34AA SW1 DIP Switch Setting The following table shows how SW1 should be set for one or more ACC 34x boards connected to the same PMAC Board Byte Port A amp Port B 5 4 3 2 1 m 044 2 OFF 3 ON 4 OFF 5 ON

^1 USER MANUAL ^2 Accessory 34AA

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