^1 USER MANUAL ^2 Accessory 70P
Contents
1. Y SFFDO Channel 1 single turn data with SW1 default setting Y SFFD1 Channel 1 multi turn data with SW1 default setting Y SFFD2 Channel 2 single turn data with SW1 default setting Y SFFD3 Channel 2 multi turn data with SW1 default setting Y SFFD4 Channel 3 single turn data with SW1 default setting Y SFFD5 Channel 3 multi turn data with SW1 default setting Y SFFD6 Channel 4 single turn data with SW1 default setting Y SFFD7 Channel 4 multi turn data with SW1 default setting OPEN PLC1 CLEAR WHILE P501 12 Execute reset sequence 12 times CMD WY S FFDO O Zero reset channel 1 single turn data 501 50141 ENDW 501 0 51 20 8388608 110 20msec timer 51 gt 50700 0 24 5 WHILE M51 gt 0 ENDW WHILE P501 lt 12 CMD WY SFFD1 0 Zero reset channel 1 multi turn data P501 P501 1 ENDW P501 0 DIS CLOSE Sample Turbo PMAC PLC 578 00 1 1 single turn data with SW1 default setting 578 01 Channel 1 multi turn data with SW1 default setting Y S78A02 Channel 2 single turn data with SW1 default setting Y 78A03 Channel 2 multi turn data with SW1 default setting 578 04 Channel 3 single turn data with SW1 default setting 578 05 Chan2. When changing the actual position register using a PLC program make sure that the motors are not enabled Sample PMAC PLC Program for Initialize Position 138 gt 53 18 1 1 Open loop mode bit 162 gt 52 1 Actual position 1 Ixx08 32 110 gt 5 0 0 20 0 Single turn data M111 gt Y SFFD1 0 16 S ENC1 Multi turn data M238 gt X 79 18 1 2 Open loop mode bit M262 gt D 67 2 Actual position 1 1 08 32 M210 gt Y SFFD2 0 20 U ENC2 Single turn data M211 gt Y SFFD3 0 16 S ENC2 Multi turn data Ne Ne Ne Ne Ne Ne Acc 70P Setup Accessory 70P OPEN PLC2 CLEAR POS initialize PLC IF M138 1 AND M238 1 Make sure if motor is open loop 162 111 amp SIFFFF 131072 Convert Multi turn data for to cts for 262 211 amp SIFFFF 131072 Convert Multi turn data for to cts for ENC2 M162 P162 M110 I108 32 Combine Multi turn and single turn for 262 P262 M210 I208 32 Combine Multi turn and single turn for ENC2 DIS PLC2 Disable PLC ENDIF CLOSE Sample Turbo PMAC PLC Program for Initialize Position 138 gt 5 0 18 1 Open loop mode bit M162 5D 8B Actual position 1 Ixx08 32 110 gt 578 00 0 20 0 ENC1L Single turn data M111 Y 78C01 0 16 S ENC1 Multi turn data 238 gt 5130 18 1 2 Open loop mode bit 262 gt 610 2 Actual
3. 03h Multi turn data and alarms Base 04h 3 Channel Single turn data and alarms Base 05h Multi turn data and alarms 06h 4 Channel Single turn data and alarms Base 07h Multi turn data and alarms Turbo PMAC Tamagawa Encoder Data Address Select Set up the address select dip switch S1 Turbo Encoder Data Dip Switch SW1 Position PMAC Chip Address 6 4 3 1 Select Used 54 Y 78A00 07 Open Open Closed Closed Open Closed CS6 Y 78B00 07 Open Open Closed Closed Open Open 510 Y 78C00 07 Open Open Closed Open Closed Closed CS12 Y 78D00 07 Open Open Closed Open Closed Open CS14 Y 78E00 07 Open Open Closed Open Open Closed CS16 Y 78F00 07 Open Open Closed Open Open Open The default setting is 2 5 6 Open and 1 3 4 Closed position CS4 Offset Register Mapping Definitions Address X Memory Y Memory Base 00h 1 Channel Single turn data amp alarms Base 01h Multi turn data amp alarms Base 02h 2 Channel Single turn data amp alarms Base 03h Multi turn data amp alarms Base 04h 3 Channel Single turn data amp alarms Base 05h Multi turn data amp alarms Base 06h 4 Channel Single turn data amp alarms Base 07h Multi turn data amp alarms Acc 70P Setup Accessory 70P Acc 70P Setup Accessory 70P ENCODER CONVERSION TABLE SETUP PMAC Encoder Conversion Table Setup Use the previous table and SW1 to select the address Once the addres
4. Off Disable request signal for Channel 2 E8 On Default Enable request signal for Channel 3 Off Disable request signal for Channel 3 E9 On Default Enable request signal for Channel 4 Off Disable request signal for Channel 4 JP2 4 FPGA Mode Select Position Setting Function JP2 JP3 JP4 1 2 Factory test Off default Normal operation Jumper Configurations 13 Accessory 70P 14 Jumper Configurations Accessory 70P CONNECTOR PINOUTS Connector J6 Encoder 1 Pin Symbol Function Description 1 GND Reference 5V and battery return 2 DATA Input Encoder Data 3 CLOCK Output Encoder request signal clock out 4 5V Output 5 BATTERY Output 3 6V battery voltage out 6 N A 7 CASE GND Chassis 8 CASE GND Chassis 9 GND Reference 5V and battery return 10 DATA Input Encoder data 11 CLOCK Output Encoder request signal clock out 12 5V Output 13 N A 14 N A 15 CASE GND Chassis Connector J7 Encoder 2 Pin Symbol Function Description 2 DATA Input Encoder data 3 CLOCK Output Encoder request signal clock out 4 5V Output 5 BATTERY Output 3 6V battery voltage out 6 N A 7 CASE GND Chassis 8 CASE GND Chassis 9 GND Reference 5V and battery return 10 DATA Input Encoder data 11 CLOCK Output Encoder requ
5. 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 70P Table of Contents TINTRODUGTION t C 1 JE voti 1 ACC 70P SETUP ete 3 PMAC Tamagawa Encoder Data Address nennen trennen 3 Offset Register Mapping Definitions cesses eene enne tnnt trente enne et eene tne enne tene trente enne 3 Turbo PMAC Tamagawa Encoder Data Address Select essere ren 3 Offset Register Mapping Definitions cesses eene enne nennen teen teen nest erste enne tenente tree trennen nen 3 ENCODER CONVERSION TABLE 2 4 4 0 124 4 40 0 0 enses testen sese suns tastes suse 5 PMAC Encoder Conversion Table 44 24222222 0 00 000000 ene nennen eene nenne treten tnen eterne enne nnne enne 5 Turbo PMAC Encoder Conversion Table Setup 2 0 04 2424 4 1 enne ene
6. position 1 Ixx08 32 M210 gt Y 78C02 0 20 U ENC2 Single turn data M211 Y 78C03 0 16 S ENC2 Multi turn data OPEN PLC2 CLEAR POS initialize PLC IF M138 1 AND M238 1 Make sure if motor is open loop 162 111 amp SIFFFF 131072 Convert Multi turn data for to cts for 262 211 amp SIFFFF 131072 Convert Multi turn data for to cts for ENC2 M162 P162 M110 I108 32 Combine Multi turn and single turn for 262 P262 M210 I208 32 Combine Multi turn and single turn for ENC2 DIS PLC2 Disable PLC ENDIF CLOSE 6 Acc 70P Setup Accessory 70P SERVO PHASE CLOCK SELECTION Jumper E2 selects the servo or phase clock as the encoder request clock signal With I Variable setup such as I7m00 I7m01 and I7m02 clock frequency can be adjusted Default servo clock frequency is 2 25kHz 442 us and default phase clock frequency is 9 0khz 110us Refer to the PMAC PMAC2 Software Reference or Turbo PMAC Software Reference manuals on how to set up the servo or phase clock Acc 70P is responsible for requesting and converting data from the encoder and the process is synchronized with either the servo or the phase clock The rising edge of the clock will trigger the start of the request The whole process takes approximately 50us to 100us Therefore the positive pulse width of the clock must be set to greater than or equal to 100us in order to guarantee completion If
7. A Mode Select ein ioter ettet rti eerie tle tb eH reb 13 FG EO Menu V 13 JP2 4 FPGA Mode Select 200 SER RR pes vd e sU RES 13 8 15 Connector JO Encoder pu 15 Connector ITS D ae O1 E ER 15 Connector 19 lt 3 16 Connector 18 Encoder 4 a iecit hito 16 MI QE auMIIL s EE 16 HP 17 i oL PE 19 Table of Contents i Accessory 70P Table of Contents Accessory 70P INTRODUCTION The Tamagawa interface card Acc 70P is a UMAC accessory that connects to PMAC via the JEXP port The card is designed to handle two or four channels add Option1 The Tamagawa interface protocol is a 2 5Mbps RS485 multi drop style protocol that is designed to receive data serially from an encoder device It supports encoders that return 17 bits of position data 16 bits of multi turn data and 8 bits of alarm data when Data ID3 d
8. F IF M113 amp 2 2 SENDS ALARM D1 FS ENDI IF M113 amp 4 4 SENDS ALARM D2 CE ENDI IF M113 amp 8 8 SENDS ALARM D3 OF ENDI IF M113 amp 20 20 SENDS ALARM D5 ME IF M113 amp 40 540 SENDS ALARM BE IF M113 amp 80 580 SENDS ALARM D7 BA IF M112 amp 8 8 SENDS ALARM D24 CONTE ENDI IF M112 s 10 10 DS ALARM D25 CRCE Fl Zu ENDI IF M112 amp 20 20 SENDS ALARM D26 FOME IF M112 amp 40 540 SENDS ALARM D27 SFOME ENDI IF M112 amp 80 580 Servo Phase Clock Selection Accessory 70P SENDS ALARM D28 TIOT ENDIF 15311 10000 8388608 110 WHILE I15311 gt 0 ENDW CLOSE 10 Servo Phase Clock Selection Accessory 70P RESET ENCODER S ABSOLUTE POSITION REGISTERS The absolute and multi turn data position registers can be reset to zero When resetting the single turn resister to zero only the MSB 11 bits will be cleared The remaining six LSB bits are not cleared When resetting the absolute position registers in the encoder reset the single turn data before resetting the multi turn data To reset absolute position write 00 to the base address 12 times for the single turn reset To reset the multi turn data register write 00 to the base address 1 also 12 times Sample PMAC PLC
9. Select 36 CS06 Input PMAC Chip Select 37 CS10 Input PMAC Chip Select 38 511 Input PMAC Chip Select 39 CS12 Input PMAC Chip Select 40 CS13 Input PMAC Chip Select 41 CS14 Input PMAC Chip Select 42 CS16 Input PMAC Chip Select 43 WR Write Strobe Write Strobe Low True 44 RD Read Strobe Read Strobe Low True 45 GND Common PMAC Common 46 GND Common PMAC Common 47 RESET Input Internal Reset High True 48 WT Output CPU Wait 49 SER Input CPU Servo Clock 50 PHA Input CPU Phase Clock TB1 Pin Signal Description Note 1 For external power supply 2 For external power supply Jumper Configurations 17 Accessory 70P 18 Jumper Configurations SCHEMATICS BUE Sanita ui Sag E ij a
10. Status Flag of SPECIFICATION of Sample PMAC PLC for Alarm 112 gt 5 0 16 8 0 1 ERR1 M113 gt Y SFFD1 16 8 U 1 ERR2 53 gt 50700 0 24 5 Timer OPEN PLC3 CLEAR P111 M113 100 M112 IF M113 amp 1 1 SENDS ALARM DO OS ENDIF IF M113 amp 2 2 SENDS ALARM D1 FS ENDI IF M113 amp 4 4 SENDS ALARM D2 CE IF M113 amp 8 8 NDS ALARM D3 OF IF M113 amp 20 20 NDS ALARM D5 ME 40 40 DS ALARM D6 BE H B Hy ZH w e Zu ENDI IF M113 amp 80 580 SENDS ALARM D7 BA ENDI IF M112 amp 8 8 SENDS ALARM D24 CONTE 8 Servo Phase Clock Selection Accessory 70P IF M112 amp 10 10 SENDS ALARM D25 CRCE zZ DIF M112 amp 20 20 SENDS ALARM D26 FOME H pH 2 ZH D 112 S H pH 40 540 DS ALARM D27 SFOME Lr zu z D H pH hj 80 580 DS ALARM D28 TIOT 112 amp SE Zu Z DIF 10000 8388608 110 ILE M53 gt 0 DW OSE Sample Turbo PMAC PLC for Alarm 112 gt 578 00 16 8 0 ENC1 113 gt 578 01 16 8 0 ENC1 ERR2 OPEN PLC3 CLEAR 111 113 5100 112 IF M113 amp 1 2 1 SENDS ALARM DO OS Z Q Bl Zi 5 I ENDI
11. USER MANUAL Accessory 7 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 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
12. ata code is requested This interface accessory card operates with FA CODER TS5667N420 SA48 and FA CODER TS5667N120 SA35 Addressability of the Acc 70P Tamagawa interface allows up to 16 cards 24 encoder channels to be daisy chained with the JEXP port Layout so CICER 8 CLE CER LER 605692 1 PCB Fri Sep 12 13 45 50 2003 Introduction Accessory 70P Introduction Accessory 70P ACC 70P SETUP PMAC Tamagawa Encoder Data Address Select Set up the address select dip switch S1 PMAC Chip Encoder Data Dip Switch SW1 Position Select Used Address 6 5 4 3 2 1 54 Y FFDO 7 Closed Closed Open Closed CS6 Y FFD8 F i Closed Closed Open Open CS10 Y SFFEO0 7 Closed Open Closed Closed CS12 Y FFE8 F Closed Open Closed Open 514 Y FFFO 7 id i Closed Open Open Closed CS16 Y SFFF8 F T T Closed Open Open Open Can be either Closed or Open The default setting is 2 5 6 Open and 1 3 4 Closed position CS4 Offset Register Mapping Definitions Address X Memory Y Memory Base 00h 1 Channel Single turn data and alarms Base Olh Multi turn data and alarms Base 02h 2 Channel Single turn data and alarms Base
13. est signal clock out 12 5V Output 13 N A 14 N A 15 CASE GND Chassis Jumper Configurations Accessory 70P Connector J9 Encoder 3 Pin Symbol Function Description 1 GND Reference 5V and battery return 2 DATA Input Encoder data 3 CLOCK Output Encoder request signal clock out 4 5V Output 5 BATTERY Output 3 6V battery voltage out 6 N A 7 CASE GND Chassis 8 CASE GND Chassis 9 GND Reference 5V and battery return 10 DATA Input Encoder data 11 CLOCK Output Encoder request signal clock out 12 45V Output 13 N A 14 N A 15 CASE GND Chassis Connector J8 Encoder 4 Pins Symbol Function Description 1 GND Reference 5V and battery return 2 DATA Input Encoder data 3 CLOCK Output Encoder request signal clock out 4 45V Output 5 BATTERY Output 3 6V battery voltage out 6 N A 7 CASE GND Chassis 8 CASE GND Chassis 9 GND Reference 5V and battery return 10 DATA Input Encoder data 11 CLOCK Output Encoder request signal clock out 12 5V Output 13 N A 14 N A 15 CASE GND Chassis J1 JEXP 50 Pin Header Top View Pin Symbol Function Description 1 DO Bidirectional PMAC Data Bus Bit 0 2 D1 Bidirectional PMAC Data Bus Bit 1 3 D2 Bidirectio
14. nal PMAC Data Bus Bit 2 4 D3 Bidirectional PMAC Data Bus Bit 3 5 D4 Bidirectional PMAC Data Bus Bit 4 6 D5 Bidirectional PMAC Data Bus Bit 5 7 D6 Bidirectional PMAC Data Bus Bit 6 8 D7 Bidirectional PMAC Data Bus Bit 7 9 D8 Bidirectional PMAC Data Bus Bit 8 10 D9 Bidirectional PMAC Data Bus Bit 9 11 D10 Bidirectional PMAC Data Bus Bit 10 12 Dil Bidirectional PMAC Data Bus Bit 11 16 Jumper Configurations Accessory 70P 13 D12 Bidirectional PMAC Data Bus Bit 12 14 D13 Bidirectional PMAC Data Bus Bit 13 15 14 Bidirectional PMAC Data Bus Bit 14 16 D15 Bidirectional PMAC Data Bus Bit 15 17 D16 Bidirectional PMAC Data Bus Bit 16 18 D17 Bidirectional PMAC Data Bus Bit 17 19 D18 Bidirectional PMAC Data Bus Bit 18 20 D19 Bidirectional PMAC Data Bus Bit 19 21 D20 Bidirectional PMAC Data Bus Bit 20 22 D21 Bidirectional PMAC Data Bus Bit 21 23 D22 Bidirectional PMAC Data Bus Bit 22 24 D23 Bidirectional PMAC Data Bus Bit 23 25 GND Common PMAC Common 26 GND Common PMAC Common 27 AO Input PMAC Address Bus Bit 0 28 Al Input PMAC Address Bus Bit 1 29 A2 Input PMAC Address Bus Bit 2 30 A3 Input PMAC Address Bus Bit 3 31 CS02 Input PMAC Chip Select 32 X Y Input PMAC Select 33 CS2 Input PMAC Chip Select 34 CS3 Input PMAC Chip Select 35 CS04 Input PMAC Chip
15. nel 3 multi turn data with SW1 default setting 578 06 Channel 44 single turn data with SW1 default setting 578 07 Channel 4 multi turn data with SW1 default setting OPEN CLEAR WHILE P501 12 Execute reset sequence 12 times CMD WY 5 78A08 0 Zero reset 1 1 single turn data 501 50141 ENDW 501 0 5111 20 8388608 110 20msec timer WHILE I5111 0 ENDW Reset Encoder s Absolute Position Registers 11 Accessory 70P WHILE P501 lt 12 CMD WY 78A09 0 Zero reset channel41 multi turn data 501 50141 ENDW 501 0 DIS CLOSI Lu Reset Encoder s Absolute Position Registers Accessory 70P JUMPER CONFIGURATIONS E1 Factory Use Position Setting Function El 1 2 Factory use for future use Off default E2 SYNC Clock Select Position Setting Function E2 1 2 Use phase clock as encoder request signal 1 3 default Use servo clock as encoder request signal 1 4 Future use E3 E5 FPGA Mode Select Position Setting Function E3 E4 E5 1 2 Factory test 2 3 default Normal operation E6 E9 Request Signal Select Position Setting Function E6 On Default Enable request signal for Channel 1 Off Disable request signal for Channel 1 E7 On Default Enable request signal for Channel 2
16. nennen nennen eene 5 Combine Single Turn and Multi Turn Data essere 3 Sample PMAC PLC Program for Initialize Position eese eese eee neen ns 5 Sample Turbo PMAC PLC Program for Initialize Position eese eee nee 6 SERVO PHASE CLOCK SELECTION 2 2 teens eene testes thats tuse ta sos to sene 7 Np P 7 Power Good LED D2 Green esses eee eene enne ener nennen teet teen tren nete teinte intrent erret netten 7 Battery Warning LED D3 Red eee n aaa teen then trente enne teen tn ene tnetn entren teen Eaa 7 M 8 Sample PMAC PLC for ERE ce rhet tapis amp Sample Turbo PMAC PLC for Alarm esses eene teen nennen ren eene sereine ariii veies asini 9 RESET ENCODER S ABSOLUTE POSITION 11 Sample PMAC PLC CE M 11 sample Turbo ariete eter e SX ERI eL Rex ke gea eo MERE Pee 11 JUMPER 000 B Mm 13 E1 Eactory 13 EZ SYNG Clock 13 E3 E5 FPG
17. s is selected via the SW1 the corresponding address is used to read the encoder position data Example For PMAC SW1 2 SW1 5 and SW1 6 are Open positions and the encoder conversion table entry will be Set WY 720 20FFDO 1FFFF Note This is a two line input for one encoder channel Make sure the related I Variable Ix03 Ix04 is pointed to the address of the second line For example for the above set up 1103 and 1104 should 721 Turbo PMAC Encoder Conversion Table Setup Use the previous table and SW1 to select the address Once the address is selected via the SW1 the corresponding address is used to read the encoder position data Example For Turbo PMAC SW1 2 SW1 5 and SW1 6 are Open positions and the rest are Closed positions the encoder conversion table entry will be Set 18000 678C00 Y 3501 18001 11000 Y 3502 Note This is a two line input for one encoder channel Make sure the related I Variable Ix03 Ix04 is pointed to the address of the second line For example for the above set up 103 and 1104 should be 3502 Combine Single Turn and Multi Turn Data Tamagawa absolute encoder has two types of data single turn and multi turn A PMAC PLC program is used to combine the data and then copy it to an actual position register Warning If the actual position is changed while the motors are enabled a runaway condition may occur which can cause machine damage or bodily injury
18. the positive pulse width is less than the process time for the Tamagawa encoder it will send previously requested data Servo or Phase Clock 50 100us 50 100us Within 2 2us after the rising edge Acc 70P will fetch alarm data from the previous conversion and command the encoder to return position data It takes 50us 100us for the encoder to return the new position data LEDs Power Good LED D2 Green The interface board needs 5V power through TB1 or a PCI bus When the voltage drops below 4 75 the power good LED will be turned off Battery Warning LED D3 Red The interface board provides battery back up for the encoder In addition it has a battery voltage monitor circuitry that serves as a battery low warning When the battery voltage drops 5 below 3 6V the red LED will activate Servo Phase Clock Selection 7 Accessory 70P Alarm Code There are bit patterns of alarm code interpreted by the interface card The following drawing shows the format of those bits ALMC bits are data that is returned from encoder register DF7 when DATA ID3 is requested UMAC addres bit 23 19 15 11 T 3 0 ADDRESS 0 Communication Alarm Si data 17bits The detail is described in 10 3 6 Communication Alarm of Specification of RECEIVER ASIC UMAC addres bit 23 19 15 11 7 3 0 ADDRESS 1 D7 BA Multi turn data 16bits The detail is described in 6 3 3 Data Field and 6 4 Description of
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