Delta Tau 24E2A User manual

^1 USER MANUAL
^2 Accessory 24E2A
^3 Axis Expansion Board
^4 4Ax-603398-xUxx
^5 June 7, 2006
1
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com

Copyright Information
© 2006 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: [phone]
Fax: [phone]
Email: [email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or handling
Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only
qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.

REVISION HISTORY
REV. DESCRIPTION DATE CHG APPVD
1 ADDED CE DECLARATION 06/07/06 CP S. FIERO

Accessory 24E2A
Table of Contents
INTRODUCTION .....................................................................................................................................................1
Overview.................................................................................................................................................................1
Features ...................................................................................................................................................................1
Board Configuration................................................................................................................................................2
SPECIFICATIONS ...................................................................................................................................................3
Environmental Specifications..................................................................................................................................3
Physical Specifications............................................................................................................................................3
Electrical Specifications..........................................................................................................................................4
EMC and Safety ......................................................................................................................................................4
E-POINT JUMPER SETTINGS..............................................................................................................................5
Acc-24E2A Base Board (Channels* 1 and 2).........................................................................................................5
Acc-24E2A Option 1 Board (Channels 3 and 4).....................................................................................................6
HARDWARE SETUP ...............................................................................................................................................7
Switch Configuration ..............................................................................................................................................7
UMAC Address DIP Switch S1...........................................................................................................................7
MACRO Station Address DIP Switch S1 ............................................................................................................7
Acc-24E2 Clock Settings ........................................................................................................................................7
Resistor Pack Configuration....................................................................................................................................8
Differential or Single-Ended Encoder Selection ................................................................................................8
Termination Resistors Packs ..............................................................................................................................8
Encoder Loss Resistor Packs..............................................................................................................................8
Limit/Flag Voltage Level Resistor Packs............................................................................................................9
OPTO-Isolation Considerations ..............................................................................................................................9
Acc-24E2 Limit and Flag Wiring..........................................................................................................................10
Connecting Limits/Flags to the Acc-24E2 ........................................................................................................10
Amplifier Fault Circuit..........................................................................................................................................11
Amplifier Enable Circuit.......................................................................................................................................11
Loss of Encoder Circuit ........................................................................................................................................11
Acc-24E2A Encoder Loss Detection with UMAC Turbo CPU.........................................................................12
Acc-24E2A Encoder Loss Detection with UMAC MACRO CPU.....................................................................12
Position Compare Port Driver IC ..........................................................................................................................12
CONNECTIONS .....................................................................................................................................................13
Acc-24E2A Board Layout -Terminal Block Option .............................................................................................13
Acc-24E2A Board Layout -DB15 Option.............................................................................................................13
Mating Connectors ................................................................................................................................................14
Terminal Block Connectors ..............................................................................................................................14
DB15 Connector Option...................................................................................................................................14
Indicators...............................................................................................................................................................14
Overall Wiring Diagram........................................................................................................................................15
Sample Wiring Diagrams......................................................................................................................................16
TTL Level Inputs and Outputs ..........................................................................................................................16
Position Limits, Home Flag, and User Flag.....................................................................................................16
Acc-24E2A DAC Ouputs ..................................................................................................................................17
Acc-24E2A Stepper Motor Outputs (TTL Level) ..............................................................................................17
Amplifier Fault Inputs ......................................................................................................................................18
Amplifier Enable Outputs .................................................................................................................................19
UMAC SOFTWARE SETUP .................................................................................................................................21
Servo IC Configuration I-Variables ......................................................................................................................21
Servo IC Numbering .........................................................................................................................................21
Servo Channel Numbering................................................................................................................................21
Multi-Channel I-Variables................................................................................................................................21
Single-Channel I-Variables ..............................................................................................................................22
Table of Contents i

Accessory 24E2A
Encoder Conversion Table I-Variables ............................................................................................................23
Motor Addressing I-Variables ..........................................................................................................................23
UMAC Turbo Example Setups .............................................................................................................................25
ULTRALITE/MACRO STATION SETUP ..........................................................................................................27
Hardware Setup for MACRO Station Use ............................................................................................................27
Software Setup for MACRO Station Use..............................................................................................................27
Node-Specific Gate Array MI-Variables ..........................................................................................................27
Encoder/Timer n Decode Control (MSn,MI910) ..................................................................................................28
Flag Capture Control (MSn,MI911-MI913) .........................................................................................................29
Output Mode Select (MSn,MI916) .......................................................................................................................30
MACRO Station Encoder Conversion Table (MSn,MI120-MI151).....................................................................30
MLDT FEEDBACK FOR UMAC-TURBO & UMAC-MACRO .......................................................................31
MLDT Hardware Setup of the Acc-24E2A ..........................................................................................................31
MLDT Software Setup of the UMAC Turbo ........................................................................................................31
Hardware Setup I-Variables for Servo IC m ....................................................................................................31
Conversion Table Processing I-Variables........................................................................................................31
Motor I-Variables .............................................................................................................................................32
Pulse Output Frequency ...................................................................................................................................33
PMAC2/Turbo PMAC2 Conversion Table and Motor I-Variables ..................................................................34
MLDT Feedback for UMAC-MACRO.................................................................................................................35
MLDT Software Setup of the UMAC MACRO..................................................................................................35
Station Hardware Setup I-Variables for Servo IC............................................................................................35
Station Conversion Table Processing I-Variables............................................................................................35
Station Motor Node I-Variables .......................................................................................................................36
Power-On Feedback Address for PMAC2 Ultralite .........................................................................................36
MACRO Parallel Absolute Position Setup .......................................................................................................37
ACC-24E2A TERMINAL BLOCK DESCRIPTION...........................................................................................39
Connector TB1 TOP - Encoder 1..........................................................................................................................39
Connector TB2 Top - Encoder 2...........................................................................................................................39
Connector TB3 Top – EQU Outputs.....................................................................................................................39
Connector TB1 Bottom Amp – Out 1 ...................................................................................................................40
Connector TB2 Bottom Amp – Out 2 ...................................................................................................................40
Connector TB3 Bottom – Analog Power ..............................................................................................................40
Connector TB1 Front- Limits 1.............................................................................................................................41
Connector TB2 Front- Limits 2.............................................................................................................................41
ACC-24E2 OPTION 1A TERMINAL BLOCK DESCRIPTION.......................................................................43
Connector TB1 Top - Encoder 3...........................................................................................................................43
Connector TB2 Top – Encoder 4 ..........................................................................................................................43
Connector TB3 Top – EQU Outputs.....................................................................................................................43
Connector TB1 Bottom Amp-Out 3......................................................................................................................44
Connector TB2 Bottom Amp-Out 4......................................................................................................................44
Connector TB3 Bottom-Analog Power.................................................................................................................44
Connector TB1 Front - Limits 3............................................................................................................................45
Connector TB2 Front - Limits 4............................................................................................................................45
ACC-24E2A DB15 CONNECTOR OPTION .......................................................................................................47
DB15 Style Connector J1 Top - Encoder 1 / EQU................................................................................................47
DB15 Style Connector J2 Top - Encoder 2 / EQU................................................................................................47
DB15 Style Connector J1 Bottom Amp – Out 1/Analog Power ...........................................................................48
DB15 Style Connector J2 Bottom Amp – Out 2/Analog Power ...........................................................................48
Connector TB1 Front-Limits 1..............................................................................................................................49
Connector TB2 Front-Limits 2..............................................................................................................................49
UBUS PINOUTS......................................................................................................................................................51
P1 UBUS (96-Pin Header) ..............................................................................................................................51
ii Table of Contents

Accessory 24E2A
DECLARATION OF CONFORMITY .................................................................................................................52
SCHEMATICS ........................................................................................................................................................54
Table of Contents iii

Accessory 24E2A
INTRODUCTION
Overview
The Acc-24E2 Axis Expansion Board provides two or four channels of PMAC2-style servo interface
circuitry for UMAC and Ultralite/MACRO Station controllers. The Acc-24E2 is part of the UMAC or
MACRO Pack family of expansion cards and these accessory cards are designed to plug into an industrial
3U rack system. The information from these accessories is passed directly to either the UMAC or
MACRO Station CPU via the high speed JEXP expansion bus or UBUS. Other axis or feedback UBUS
accessories include the following:
Acc-14E Parallel Feedback Inputs (absolute enc. or interferometers)
Acc-24E2 Digital Amplifier Breakout w/ TTL encoder inputs
Acc-24E2A Analog Amplifier Breakout w/ TTL encoder inputs
Acc-24E2S Stepper Amplifier Breakout w/ TTL encoder inputs
Acc-28E 16-bit A/D Converter Inputs (up to four per card)
Acc-51E 4096 times interpolator for 1Vpp sinusoidal encoders
Acc-53E SSI encoder interface (up to 8 channels)
Note:
Many Acc-24E2A features are common to other accessories of the Acc-24E
family; these common features are referred to in this manual as Acc-24E2.
Up to eight Acc-24E2x boards can be connected to one UMAC providing up to 32 additional channels of
servo interface circuitry. Because each MACRO Station CPU can service only eight channels of servo
data, only two Acc-24E2x boards can be connected to the MACRO-Station. The 16-Axis MACRO CPU
can support four Acc-24E2x cards.
The Acc-24E2 board contains no processor; it has one highly integrated 4-channel PMAC2-style Servo
IC with the buffering circuitry and connectors around them. The two-axis Acc-24E2 plugs into the
backplane and uses one slot in the rack. If two more axes are needed, Acc-24E2 Option 1 can be plugged
into the Acc-24E2 connectors. The Acc-24E2 with its Option 1 card takes up a total of two slots.
Some new features added to the family of Acc-24E2 breakout boards include:
Loss of encoder circuit•
•
•
5V to 24V Flag inputs
Pulse and direction outputs for stepper systems or MLDTs
Features
The Acc-24E2A board can be used with any UMAC or MACRO Station CPU, interfacing through the
expansion port.
The Acc-24E2A supports a wide variety of servo and stepper interfaces:
Analog +/-10V velocity commands•
•
•
•
Analog +/-10V torque commands
Sinusoidal analog +/-10V phase current commands
Pulse-and-direction commands
Introduction 1

Accessory 24E2A
Board Configuration
An Acc-24E2A comes standard with one Servo IC providing four servo interface channels, which are
brought out on terminal blocks (standard) or DB15 connector. Each channel of servo interface circuitry
includes the following:
•
•
•
•
•
Two output command signal sets, configurable as either:
One pulse-and-direction
Two DAC outputs
3-channel differential/single-ended encoder input
Eight input flags, two output flags
Option 1A: If Option 1A is ordered, the circuitry and input/output connectors are provided for the third
and fourth channels associated with the Servo IC on the main Acc-24E2A. The command signals for this
option are ±10V.
Option 1D: If Option 1D is ordered, the circuitry and input/output connectors are provided for the third
and fourth channels associated with the Servo IC on the main Acc-24E2A. The command signals for this
option are digital PWM signals for direct PWM commutation. The option 1D description can be found in
the Acc-24E2 manual.
Option DB: If the option DB is ordered the outputs and inputs to the amplifiers and encoders will be
serviced from DB15 connectors. See Acc-24E2A DB15 Connector Option section for pin outs.
2 Introduction

Accessory 24E2A
SPECIFICATIONS
Environmental Specifications
Description Specification Notes
Operating Temperature 0°C to 45°C,
Storage Temperature -25°C to 70°C
Humidity 10% to 95 % non-condensing
Physical Specifications
Description Specification Notes
Dimensions w/o Option 1A Length: 16.256 cm (6.4 in.)
Height: 10 cm (3.94 in.)
Width: 2.03 cm (0.8 in.)
Dimensions with Option 1A Length: 16.256 cm (6.4 in.)
Height: 10 cm (3.94 in.)
Width: 4.06 cm (1.6 in.)
Weight w/o Option 1A 192 g Front Plate included
Weight with Option 1A 370 g Front Plate included
Terminal Block Connectors FRONT-MC1,5/12-ST3,81
FRONT-MC1,5/5-ST3,81
FRONT-MC1,5/3-ST3,81
Terminal Blocks from Phoenix
Contact. UL-94V0
DB Option Connectors DB15 Female UL-94V0
The width is the width of the front plate. The length and height are the dimensions of the PCB.
Specifications 3

Accessory 24E2A
Electrical Specifications
Description Specification Notes
ACC-24E2A Power
Requirements
5V @ 0.55A (±10%)
+15V @ 0.16A (±10%)
-15V @ 0.07A (±10%)
ACC-24E2A with Option 1A
Power Requirements
5V @ 0.95A (±10%)
+15V @ 0.30A (±10%)
-15V @ 0.12A (±10%)
Warning
If more than four ACC-24E2A’s with Option 1A are used in a UMAC system, the
ACC-E1 or ACC-F1 power supplies will not have enough 15V power. Delta Tau
recommends using an external ±15V power supply for systems with more than
four ACC-24E2A boards. The external power supply should be connected to the
unit from the terminal blocks (TB3 bottom) or DB connections (J1 or J2 Bottom)
and jumpers E85, E87, and E88 must also be removed.
EMC and Safety
Item Description
CE Mark Full Compliance
EMC EN55011 Class A Group 1
EN61000-3-2 Class A
EN61000-3-3
EN61000-4-2
EN61000-4-3
EN61000-4-4
EN61000-4-5
EN61000-4-6
EN61000-4-11
Safety EN 61010-1
Flammability Class UL 94V-0
4 Specifications

Accessory 24E2A
E-POINT JUMPER SETTINGS
Acc-24E2A Base Board (Channels* 1 and 2)
Jumper Config. Description Default
E1A 1-2 No Jumper for TTL Level input for CHU1 flag
Jumper 1-2 for DIR1+ output in Stepper Mode
No jumper
E1B 1-2 No Jumper for TTL Level input for CHV1 flag
Jumper 1-2 for DIR1- output in Stepper Mode
No jumper
E1C 1-2 No Jumper for TTL Level input for CHW1 flag
Jumper 1-2 for PUL1+ output in Stepper Mode
No jumper
E1D 1-2 No Jumper for TTL Level input for CHT1 flag
Jumper 1-2 for PUL1- output in Stepper Mode
No jumper
E2A 1-2 No Jumper for TTL Level input for CHU2 flag
Jumper 1-2 for DIR2+ output in Stepper Mode
No jumper
E2B 1-2 No Jumper for TTL Level input for CHV2 flag
Jumper 1-2 for DIR2- output in Stepper Mode
No jumper
E2C 1-2 No Jumper for TTL Level input for CHW2 flag
Jumper 1-2 for PUL2+ output in Stepper Mode
No jumper
E2D 1-2 No Jumper for TTL Level input for CHT2 flag
Jumper 1-2 for PUL2- output in Stepper Mode
No jumper
E5 1-2-3 Jump 1-2 for Turbo 3U CPU and MACRO CPU
** Jump 2-3 for legacy MACRO CPU (before 6/00)
Jump 1-2
E13 1-2-3 Jump 1-2 to receive phase and servo clocks
Jump 2-3 to transmit phase and servo clocks
Factory set
E85 1-2 Jump 1-2 for Backplane Supplied +15V
No Jumper for External Supplied +15V
Jump 1-2
E87 1-2 Jump 1-2 for Backplane Supplied AGND
No Jumper for External Supplied AGND
Jump 1-2
E88 1-2 Jump 1-2 for Backplane Supplied -15V
No Jumper for External Supplied -15V
Jump 1-2
OPT1 1-2 For factory use only
OPT2 1-2 For factory use only
* The channels refer to the Servo IC associated with the Acc-24E2 base board. For example,
an eight-axis application would have two Acc-24E2s with option 1. The first Acc-24E2
would have axes 1-4 and the second Acc-24E2 would contain axes 5-8.
** For legacy MACRO Stations (part number 602804-100 thru 602804-104)
E-Point Jumper Settings 5

Accessory 24E2A
Acc-24E2A Option 1 Board (Channels 3 and 4)
Jumper Config. Description Default
E1A 1-2 No Jumper for TTL Level input for CHU3 flag
Jumper 1-2 for DIR3+ output in Stepper Mode
No jumper
E1B 1-2 No Jumper for TTL Level input for CHV3 flag
Jumper 1-2 for DIR3- output in Stepper Mode
No jumper
E1C 1-2 No Jumper for TTL Level input for CHW3 flag
Jumper 1-2 for PUL3+ output in Stepper Mode
No jumper
E1D 1-2 No Jumper for TTL Level input for CHT3 flag
Jumper 1-2 for PUL3- output in Stepper Mode
No jumper
E2A 1-2 No Jumper for TTL Level input for CHU4 flag
Jumper 1-2 for DIR4+ output in Stepper Mode
No jumper
E2B 1-2 No Jumper for TTL Level input for CHV4 flag
Jumper 1-2 for DIR4- output in Stepper Mode
No jumper
E2C 1-2 No Jumper for TTL Level input for CHW4 flag
Jumper 1-2 for PUL4+ output in Stepper Mode
No jumper
E2D 1-2 No Jumper for TTL Level input for CHT4 flag
Jumper 1-2 for PUL4- output in Stepper Mode
No jumper
E85 1-2 Jump 1-2 for Backplane Supplied +15V
No Jumper for External Supplied +15V
Jump 1-2
E87 1-2 Jump 1-2 for Backplane Supplied AGND
No Jumper for External Supplied AGND
Jump 1-2
E88 1-2 Jump 1-2 for Backplane Supplied -15V
No Jumper for External Supplied -15V
Jump 1-2
6 E-Point Jumper Settings

Accessory 24E2A
HARDWARE SETUP
Switch Configuration
UMAC Address DIP Switch S1
S1, S1-3, S1-4 are used to address the Acc-24E2A as shown in the table below.
S1-1 S1-3 S1-4 Board No. IC No. I-Var. Range Base Address
ON ON ON 1 2 I7200 $078200
OFF ON ON 2 3 I7300 $078300
ON OFF ON 3 4 I7400 $079200
OFF OFF ON 4 5 I7500 $079300
ON ON OFF 5 6 I7600 $07A200
OFF ON OFF 6 7 I7700 $07A300
ON OFF OFF 7 8 I7800 $07B200
OFF OFF OFF 8 9 I7900 $07B300
S1-2, S1-5, and S1-6 are used to determine whether the Acc-24E2A is communicating to a Turbo 3U
PMAC or a MACRO Station CPU.
S1-2 S1-5 S1-6 Function
ON ON ON 3U Turbo PMAC Use
MACRO Station Address DIP Switch S1
S1-1, S1-2, S1-3, S1-4 are used to address the Acc-24E2A as shown in the table below.
S1-1 S1-2* S1-3 S1-4 Board No. IC No. Base Address
ON ON OFF OFF 1 2 $00C040
OFF OFF OFF OFF 2 3 $00C060
* Always set to OFF for legacy MACRO Stations (part number 602804-100 thru 602804-104)
S1-5 and S1-6 are used to determine whether the Acc-24E2 is communicating to a Turbo 3U PMAC or a
MACRO Station CPU.
S1-5 S1-6 Function
OFF OFF 3U MACRO Station use
Acc-24E2 Clock Settings
The Phase Clock and Servo Clock must be configured on each Acc-24E2A baseboard. Each system can
have only one source for the servo and phase clocks and jumpers must be set appropriately to avoid a
timing conflict or a watchdog condition.
Starting in UMAC Turbo firmware version 1.937, the firmware will set the clock settings for the Acc-
24E2 cards in the UBUS automatically. To enable this feature, set jumper E13 from 2 to 3 for all of the
Acc-24E2s plugged into the UMAC system. At re-initialization (either $$$*** command or power up
with E3 jumpered on UMAC), the firmware will know that all of the cards are in the auto configuration
setup and will assign the card with the lowest base address setting (usually $78200) the task of sourcing
the clocks by setting variable I19 to the appropriate register. The clocks will be set initially to the factory
default servo update cycle and phase clock cycle. For a better understanding of this feature, refer to
description of I19 in the Turbo Software Reference Manual.
For UMAC Turbo systems with firmware older than version 1.937, set one of the Acc-24E2s to transmit
(E13 set 2-3) the phase and servo clock (usually the card at the lowest base address setting) and set the
rest of the Acc-24E2s to receive (E13 set 1-2) the phase and servo clocks.
For MACRO systems, the clock select jumper should be set to receive servo and phase clocks because the
MACRO CPU always provides the clocks. For the Acc-24E2A, E13 should be set 1-2.
Hardware Setup 7

Accessory 24E2A
Resistor Pack Configuration
Differential or Single-Ended Encoder Selection
The differential input signal pairs to the PMAC have user-configurable pull-up/pull-down resistor
networks to permit the acceptance of either single-ended or differential signals in one setting, or the
detection of lost differential signals in another setting.
The ‘+’ inputs of each differential pair each have a hard-wired 1 kΩpull-up resistor to +5V. This
cannot be changed.
•
• The ‘-’ inputs of each differential pair each have a hard-wired 2.2 kΩresistor to +5V; also each has
another 2.2 kΩresistor as part of a socketed resistor pack that can be configured as a pull-up resistor
to +5V, or a pull-down resistor to GND.
If this socketed resistor is configured as a pull-down resistor (the default configuration), the combination
of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.5V in the
absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines
alone; it is desirable for unconnected inputs to prevent the pick-up of spurious noise; it is permissible for
differential line-driver inputs.
If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the
two parallel 2.2 kΩresistors act as a single 1.1 kΩpull-up resistor, holding the line at +5V in the absence
of an external signal. This configuration is required if encoder-loss detection is desired; it is required if
complementary open-collector drivers are used; it is permissible for differential line-driver inputs even
without encoder loss detection.
If Pin 1 of the resistor pack (marked by a dot on the pack) matches Pin 1 of the socket (marked by a wide
white square solder pin on the front side of the board), then the pack is configured as a bank of pull-down
resistors. If the pack is reversed in the socket, it is configured as a bank of pull-up resistors.
The following table lists the pull-up/pull-down resistor pack for each input device:
Device Resistor Pack Pack Size
Encoder 1 RP22 6-pin
Encoder 2 RP24 6-pin
Encoder 3 RP22 6-pin
Encoder 4 RP24 6-pin
Termination Resistors Packs
The Acc-24E2A provides sockets for termination resistors on differential input pairs coming into the
board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances
into the Acc-24E2A board and ringing at signal transitions is a problem, SIP resistor packs may be
mounted in these sockets to reduce or eliminate the ringing.
All termination resistor packs have independent resistors (no common connection) with each resistor
using two adjacent pins as shown below.
Isolated Resistor Network
1
Encoder Loss Resistor Packs
The Acc-24E2A also provides an encoder loss circuit to detect if the quadrature signals are valid. To
activate this feature, reverse the resistor pack from its default configuration.
8 Hardware Setup

Accessory 24E2A
Limit/Flag Voltage Level Resistor Packs
The Acc-24E2A limit and flag circuits also give the flexibility to wire in standard 12V to 24V limits and
flags or wire in 5V level limits and flags on a channel basis. The default is set for the standard 12V to
24V inputs but if the resistor pack is added to the circuit, the card can read 5V inputs.
Channel Specific Resistor Packs
Channel 1 Channel 2 SIP Description
RP22 RP24
2.2KΩReverse resistor pack for encoder loss feature (for differential
encoders only)
RP23 RP25
220ΩTermination resistor to reduce ringing (not installed by default).
RP45 RP46
1KΩInstall for 5V limits
UBUS Specific Resistor Packs
Resistor Pack SIP Description
RP5 220ΩTerminator (not installed, only used for non-UBUS)
RP6 2.2KΩPull Down for old MACRO CPU
Pull Up for UMAC Turbo and MACRO
OPTO-Isolation Considerations
As shipped from the factory, the Acc-24E2A obtains its power from the UMAC Backplane or UBUS.
Using this type of setup will defeat opto isolation since the analog ground plane will be tied directly to the
digital ground plane.
To optically isolate the analog ground plane from the digital ground plane, connect an external power
supply to one of the many AA+15V, AA-15V, and AAGND inputs on the Acc-24E2A terminal blocks or
DB connectors. Also, remove the E85, E87, and E88 jumpers to isolate the external power from the
UBUS power supplies.
D8
MBRS140T3
A+15V
+
C42
22UF
25V
"AGND" PLANE
E88
D7
MBRS140T3
TP5
A-14V
L2
56uh
D9
1SMC18AT3
E88 2
1
AA+15V
A-14V
+
C3
22UF
25V
+
C43
22UF
25V
D2
MBRS140T3
AGND
AA+5V
VR1
LM7805T
(TO-220)
1
2
3IN
GND
OUT
(ON HEATSINK)
AA-15V
E87 2
1
C45
1UF
50V
E85 2
1
D14
1SMC18AT3
+
C44
22UF
25V
D3
MBRS140T3
TP3
AAGND
TP6
A+14V
L1
56uh
+
C4
22UF
25V
E85
A-15V
A+14V
+
C2
22UF
25V
+
C5
22UF
25V
TP4
AA+5V
E87
R42
18 OHM
2.25W
AAGND
AAGND
Hardware Setup 9

Accessory 24E2A
Acc-24E2 Limit and Flag Wiring
The Acc-24E2 allows the use of sinking or sourcing position limits and flags to the controller. The opto-
isolator IC used is a PS2705-4NEC-ND quad photo-transistor output type. This IC allows the current to
flow from return to flag (sinking) or from flag to return (sourcing).
A sample of the positive limit circuit is shown below. The 4.7K resistor packs used will allow 12-24V
flag inputs. If 0-5V flags are used, then a 1KΩresistor pack (RP) can be placed in either RP45 or RP46
(refer to the Resistor Pack Configuration section of this manual). If these resistor packs are not added, all
flags (±Limits, Home, User, and amplifier fault) will be referenced from 0-5V.
Connecting Limits/Flags to the Acc-24E2
The following diagram illustrates the sinking and sourcing connections to an Acc-24E2. This example
uses 12-24V flags.
10 Hardware Setup

Accessory 24E2A
Amplifier Fault Circuit
The amplifier fault circuit for the Acc-24E2A is functionally the same circuit as the limits and flag circuit.
FAULT_2
A
FAULT_2+
A
FAULT_2-
A
FAULT_1-
A
FAULT_1+
FAULT_1
FAULT_2
FAULT_1
R13
2.2K
"DGND" PLANE
U21
PS2705-2NEC-ND
1
27
8
3
45
6
A
CI1A
A
CI1BE1
C1
A
CI2A
A
CI2BE2
C2
R12
2.2K
RP36
4.7KSIP8I
1 2
3 4
5 6
7 8
"AGND" PLANE
R20
1K
R21
1K
GND
+5V
For single-ended amplifier fault inputs, typically the AFAULT+ would be the actual signal input from the
amplifier and the AFAULT- can be considered the reference.
Single Ended Amplifier Fault Inputs
AFAULT+ AFAULT- Input Type
0V +12V to 24V Sinking – Low True
12V to 24V 0V Sourcing – High True
Amplifier Enable Circuit
Most amplifiers have an enable/disable input that permit s complete shutdown of the amplifier regardless
of the voltage of the command signal. The Acc-24E2A AENA line is meant for this purpose. The
amplifier enable signals of the Acc-24E2A is controlled by a relay with normal opened and normal closed
dry contacts as shown in the diagram below:
AE_CO
M
AE_NO
AE_NC
5V+
AENA
Isolation
Loss of Encoder Circuit
The encoder-loss detection circuitry works for differential incremental encoders only. In proper operation,
the digital states of the complementary inputs for a channel (e.g. A and A/) always should be opposite:
when one is high, the other is low. If for some reason, such as a cable connection coming undone, one or
more of the signal lines is no longer driven, pull-up resistors on the input line pull and hold the signal high.
The encoder-loss detection circuitry uses exclusive-or (XOR) gates on each complementary pair to detect
whether the signals are in the same or opposite states. These results are combined to produce a single
encoder-loss status bit that the processor can read.
Hardware Setup 11

Accessory 24E2A
This technique requires that both signal lines of the pair have pull-up resistors. Note that this is not the
default configuration of a PMAC as it is shipped. The complementary lines (A/ and B/) are pulled to
2.5V in a voltage-divider configuration as shipped to be able to accept both single-ended and normal
differential inputs. This must be changed to a pull-up configuration which involves reversing a socketed
resistor pack on the Acc-24E2A.
Acc-24E2A Encoder Loss Detection with UMAC Turbo CPU
Channel Resistor
Pack
Status Bit Address (Even-
Numbered Servo IC)*
Status Bit Address (Odd-
Numbered Servo IC)*
Status Bit
Name
Bit Error
State
1 RP22 Y:$07xF08,5 Y:$07xF0C,5 QL_1- 0
2 RP24 Y:$07xF09,5 Y:$07xF0D,5 QL_2- 0
3 RP22** Y:$07xF0A,5 Y:$07xF0E,5 QL_3- 0
4 RP24** Y:$07xF0B,5 Y:$07xF0F,5 QL_4- 0
*The x digit in this hex address matches the value (8, 9, A, or B) in the fourth digit from the right in the board’s own
base address (e.g. $079200). If alternate addressing of Servo ICs is used (e.g. Servo IC 2*), add $20 to these
addresses.
**These resistor packs are on the Option 1A piggyback board (if present) of the module, not on the baseboard.
Acc-24E2A Encoder Loss Detection with UMAC MACRO CPU
Channel Resistor
Pack
Status Bit Address (First-
Servo IC)*
Status Bit Address
(Second Servo IC)*
Status Bit
“Name”
Bit Error
State
1 RP22 Y:$B8C8,5 Y:$B8EC,5 QL_1- 0
2 RP24 Y:$B8C9,5 Y:$B8ED,5 QL_2- 0
3 RP22** Y:$B8CA,5 Y:$B8EE,5 QL_3- 0
4 RP24** Y:$B8CB,5 Y:$B8EF,5 QL_4- 0
*First Servo IC has base address $C040; second Servo IC has base address $C060
**These resistor packs are on the Option 1A piggyback board (if present) of the module, not on the baseboard.
Position Compare Port Driver IC
As with the other PMAC controllers, the UMAC has the high-speed position compare outputs allowing
the firing of an output based on position. This circuit will fire within 100 nsec of reaching the desired
position. The position compare output port on Acc-24E2x has driver IC at component U27.
The following table lists the properties of each driver IC:
Part # of Pins Max Voltage and Current Output Type Max Frequency
DS75451N 8 5V, 10 mA Totem-Pole 5 MHz
12 Hardware Setup