Delta Tau 8F User manual

PMAC2
ACCESSORIES
8F & 8FP
Digital Interface Board
3A0-602775-10X,3A0-602765-10X
July 1999
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User’s Manual

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Contents i
CONTENTS
INTRODUCTION.................................................................................................. 1
Overview........................................................................................................................................................1
Features .........................................................................................................................................................1
Options...........................................................................................................................................................2
ACC-8F Limit and Flag Wiring...................................................................................................................2
ACC-8F Circuit ..........................................................................................................................................2
Connecting to the ACC-8F.........................................................................................................................2
BOARD LAYOUT................................................................................................. 5
ACC-8F Layout.............................................................................................................................................5
ACC-8FP Layout ..........................................................................................................................................6
CONNECTORS AND JUMPERS......................................................................... 7
Connector Summary.....................................................................................................................................7
JMACH1 ....................................................................................................................................................7
J1 10-Pin IDC Header ..............................................................................................................................12
J2 10-Pin IDC Header ..............................................................................................................................13
J3 10-Pin IDC Header ..............................................................................................................................14
J4 14-Pin IDC Header ..............................................................................................................................15
P1 DB15-pin Connector...........................................................................................................................16
P2 DB15-pin Connector...........................................................................................................................17
P3 DB9-pin Connector.............................................................................................................................18
P4 DB9-pin Connector.............................................................................................................................18
P5 36-pin Mini-D Connector....................................................................................................................19
P6 36-pin Mini-D Connector....................................................................................................................20
TB1 12 Point Terminal Block ..................................................................................................................22
TB2 12 Point Terminal Block ..................................................................................................................23
TB3 6 Point Terminal Block ....................................................................................................................23
TB4 8 Point Terminal Block ....................................................................................................................24
TB5 8 Point Terminal Block ....................................................................................................................24
Jumper Summary........................................................................................................................................25
SCHEMATICS
8F
8FP

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Contents
ii

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Introduction 1
INTRODUCTION
Overview
The Accessory 8F digital interface board (ACC-8F) for the PMAC2 family of controllers
provides pinouts for 2 channels with digital-input amplifiers. The amplifier inputs are direct
PWM commands.
The ACC-8F board has one flat-cable connection to the PMAC2. The connection to each digital
amplifier is through a separate Mini-D connector. Encoder inputs can be brought in either
through DB15 connectors, IDC Headers, or removable modular terminal blocks. Main flag
inputs are brought in through DB9 connectors or removable modular terminal blocks.
Supplementary flag inputs can be interfaced via either the DB15 connectors, removable modular
terminal blocks, or an IDC header.
Note:
Early prototype ACC-8F boards (Part # 602481-100) were 4-channel boards.
The pinouts on some connectors were different. Pilot-run ACC-8F boards (Part
# 602481-101) had DB-37 amplifier connectors instead of Mini-D 36-pin
amplifier connectors.
Features
Detects a loss of any encoder quadrature signal (A+, A-, B+, B-) or if the encoder is not
connected. It will bring AFLT1+ and AFLT2+ lines (JMAC1 pins 19 and 69) low in either case.
Supports Hall-effect signals for power-on phase information through its supplemental U, V, W
and T inputs.
Decodes U, V, W, T and Index signals (Option 6) if they are encoded on the C+/C- channels (i.e.
Yaskawa multiplexed encoders). Jumper selectable.
Accepts regular quadrature encoder feedback (A, B,C/Z) either single ended or differential.
(Default).
Has built-in power delay circuit (Option 6) which will supply a power to an encoder only after a
PMAC2’s hardware and software circuits were determined to function properly. If this feature is
selected by jumping pins 2 and 3 of E24, it is assured that a motor power-on information is read
correctly by PMAC2. Delta Tau recommends to use this feature when working with encoders
that send power-on information right after the encoder power is applied.(i.e. Yaskawa
multiplexed encoders )
The main input flags (HOME, PLIM, MLIM and USER) are optically isolated with sinking or
sourcing capability to 24 V. AC opto modules are used.
Amplifier Fault Detection. If the amplifier fault condition causes low on FLTx+ or FLTx- (P5,
P6), ACC 8F passes amplifier FCx-A, FCx-B, FCx-C and FCx-D fault code bits to PMAC2 via
CHUx+, CHVx+, CHWx+ and CHTx+ lines. If this function is not required, remove E21 and
E23 jumpers.

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Introduction
2
The ACC-8F has a 6-point terminal block (TB3) that permits a +5V supply to be brought in
externally for encoders and the like. Alternatively, the +5V supply can come from the PMAC2
through the ACC-8F if the jumper E1 on ACC-8F is ON. If more than about 250 mA will be
used through the ACC-8F, the +5V power should be brought in through this terminal block, and
the E1 jumper should be OFF to keep this supply from fighting the +5V supply on PMAC2.
Options
Option 1: Encoder, Supplemental flags and Main flags use terminals (TB1, TB2, TB4, TB5)
Option 2: Encoder, Supplemental flags and Main flags use DB connectors (P1, P2, P3, P4)
Option 4: Rail mount
Option 6: Mulitplexed encoder and power-on read option
ACC-8F Limit and Flag Wiring
The ACC-8F allows the user to use sinking or sourcing position limits and flags to the PMAC2.
The optoisolator 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).
ACC-8F Circuit
A sample of the positive limit circuit is shown below. The 4.7K resistor pack used will allow
12-24V flag inputs. If lower voltages are needed, then a lower value resistor could be used in its
place (470Ωfor 5V). Please call the factory if this is the case for your application.
Connecting to the ACC-8F
The following diagrams illustrate the sinking and sourcing connections to an ACC-8F.

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Introduction 3
The actual connection to the ACC-8F can be accomplished several ways. The connection shown
in below is a photo-transistor device which is open collector or sinking. This device will have
0V output when not activated and 12-24V output when activated.
Depending on the output of the flag, the return line (RETn) to the ACC-8F could be wired to the
flag power or ground.
Sinking,
Separate
Supply
Sourcing,
Separate
Supply

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Introduction
4

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Board Layout 5
BOARD LAYOUT
ACC-8F Layout

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Board Layout
6
ACC-8FP Layout

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Connectors and Jumpers 7
CONNECTORS AND JUMPERS
Connector Summary
JMACH1
Top View
JMACH1 is a 100-pin high-density header that provides the connection to the matching 100-pin header on
the PMAC2. It contains all of the input and output signals for the 2 axes between the ACC-8F board and
the PMAC2.
Pin # Symbol Function Description Notes
1 +5V Output/ Input +5V Power For external circuit or from ext.
supply
2 +5V Output/Input +5V Power For external circuit or from ext.
supply
3 GND Common Reference Voltage
4 GND Common Reference Voltage
5 CHA1+ Output Enc 1 Pos. A Chan. Also pulse input
6 CHA1- Output Enc 1 Neg. A Chan. Also pulse input
7 CHB1+ Output Enc 1 Pos. B Chan. Also direction input
8 CHB1- Output Enc 1 Neg. B Chan. Also direction input
9 CHC1+ Output Enc 1 Pos. C Chan. Index channel
10 CHC1- Output Enc 1 Neg. C Chan. Index channel
11 CHU1 Output Chan 1 U Flag Hall Effect, fault code, or sub-count
12 CHV1 Output Chan 1 V Flag Hall Effect, fault code, or sub-count
13 CHW1 Output CHAN 1 W FLAG Hall Effect, fault code, or sub-count
14 CHT1 Output Chan 1 T Flag Fault code, or sub-count
15 USER1 Output General Purpose User
Flag Hardware capture flag, or sub-count
16 PLIM1 Output Positive Overtravel
Limit Hardware capture flag
17 MLIM1 Output Negative Overtravel
Limit Hardware capture flag
18 HOME1 Output Home Switch Input Hardware capture flag
19 ACCFLT1 Output Accessory Fault Flag For loss of acc supply voltage
JMACH1 (Continued)

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Connectors and Jumpers
8
Pin # Symbol Function Description Notes
20 WD0/ Input Watchdog Output Low Is PMAC watchdog fault
21 SCLK12+ Input/Output Encoder Sample Clock Direction Controlled By Pmac2
Jumper
22 SCLK12- Input/Output Encoder Sample Clock Direction Controlled By Pmac2
Jumper
23 ADC_CLK1+ Input A/D Converter Clock Programmable frequency
24 ADC_CLK1- Input A/D Converter Clock Programmable frequency
25 ADC_STB1+ Input A/D Converter Strobe Programmable sequence
26 ADC_STB1- Input A/D Converter Strobe Programmable sequence
27 ADC_DAA1+ Output Chan A ADC Serial
Data MSB first
28 ADC_DAA1- Output Chan A ADC Serial
Data MSB first
29 ADC_DAB1+ Output Chan B ADC Serial Data MSB first
30 ADC_DAB1- Output Chan B ADC Serial Data MSB first
31 AENA1+ Input Amplifier Enable High Is enable
32 AENA1- Input Amplifier Enable Low Is enable
33 FAULT1+ Output Amplifier Fault Programmable polarity
34 FAULT1- Output Amplifier Fault Programmable polarity
35 PWMATOP1+
DAC_CLK1+
Input Phase A Top Cmd. Or
Dac Clock Programmable function control
36 PWMATOP1-
DAC_CLK1-
Input Phase A Top Cmd. Or
Dac Clock Programmable function control
37 PWMABOT1+
DAC1A+
Input Phase A Bottom Cmd.
Or Dac A Serial Data Programmable function control
38 PWMABOT1-
DAC1A-
Input Phase A Bottom Cmd.
Or Dac A Serial Data Programmable function control
39 PWMBTOP1+
DAC_STB1+
Input Phase B Top Cmd. Or
Dac Strobe Programmable function control
40 PWMBTOP1-
DAC_STB1-
Input Phase B Top Cmd. Or
Dac Strobe Programmable function control
JMACH1 (Continued)
Pin # Symbol Function Description Notes

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Connectors and Jumpers 9
41 PWMBBOT1+
DAC1B+
Input Phase B Bottom Cmd.
Or Dac B Serial Data Programmable function control
42 PWMBBOT1-
DAC1B-
Input Phase B Bottom Cmd.
Or Dac B Serial Data Programmable function control
43 PWMCTOP1+
DIR1+
Input Phase B Top Cmd. Or
Pfm Direction Programmable function control
44 PWMCTOP1-
DIR1-
Input Phase B Top Cmd. Or
Pfm Direction Programmable function control
45 PWMCBOT1+
PULSE1+
Input Phase B Bottom Cmd.
Or Pfm Pulse Programmable function control
46 PWMCBOT1-
PULSE1-
Input Phase B Bottom Cmd.
Or Pfm Pulse Programmable function control
47 GND Common Reference Voltage
48 GND Common Reference Voltage
49 +5V Output / Input +5V Power For external circuit or from ext.
supply
50 +5V Output / Input +5V Power For external circuit or from ext.
supply
51 +5V Output / Input +5V Power For external circuit or from ext.
supply
52 +5V Output / Input +5V Power For external circuit or from ext.
supply
53 GND Common Reference Voltage
54 GND Common Reference Voltage
55 CHA2+ Output Enc 2 Pos. A Chan. Also pulse input
56 CHA2- Output Enc 2 Neg. A Chan. Also pulse input
57 CHB2+ Output Enc 2 Pos. B Chan. Also direction input
58 CHB2- Output Enc 2 Neg. B Chan. Also direction input
59 CHC2+ Output Enc 2 Pos. C Chan. Index channel
60 CHC2- Output Enc 2 Neg. C Chan. Index channel
61 CHU2 Output Chan 2 U Flag Hall Effect, fault code, or sub-count
62 CHV2 Output Chan 2 V Flag Hall Effect, fault code, or sub-count
63 CHW2 Output Chan 2 W Flag Hall Effect, fault code, or sub-count
JMACH1 (Continued)
Pin # Symbol Function Description Notes

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Connectors and Jumpers
10
64 CHT2 Output Chan 2 T Flag Fault code, or sub-count
65 USER2 Output General Purpose
User Flag
Hardware capture flag, or sub-count
66 PLIM2 Output Positive Overtravel
Limit Hardware capture flag
67 MLIM2 Output Negative Overtravel
Limit Hardware capture flag
68 HOME2 Output Home Switch Input Hardware capture flag
69 ACCFLT2 Input Accessory Fault Flag For loss of acc. supply voltage
70 WD0/ Output Watchdog Output Low Is PMAC Watchdog Fault
71 SCLK12+ Input/Output Encoder Sample Clock Direction Controlled By PMAC2
Jumper
72 SCLK12- Input/Output Encoder Sample Clock Direction Controlled By PMAC2
Jumper
73 ADC_CLK2+ Input A/D Converter Clock Programmable frequency
74 ADC_CLK2- Input A/D Converter Clock Programmable frequency
75 ADC_STB2+ Input A/D Converter Strobe Programmable sequence
76 ADC_STB2- Input A/D Converter Strobe Programmable sequence
77 ADC_DAA2+ Output Chan A ADC Serial
Data MSB first
78 ADC_DAA2- Output Chan A ADC Serial
Data MSB first
79 ADC_DAB2+ Output Chan B ADC Serial Data MSB first
80 ADC_DAB2- Output Chan B ADC Serial Data MSB first
81 AENA2+ Input Amplifier Enable High Is enable
82 AENA2- Input Amplifier Enable Low Is enable
83 FAULT2+ Output Amplifier Fault Programmable polarity
84 FAULT2- Output Amplifier Fault Programmable polarity
85 PWMATOP2+
DAC_CLK2+
Input Phase A Top Cmd. Or
Dac Clock Programmable function control
86 PWMATOP2-
DAC_CLK2-
Input Phase A Top Cmd. Or
Dac Clock Programmable function control
JMACH1 (Continued)
Pin # Symbol Function Description Notes

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Connectors and Jumpers 11
87 PWMABOT2+
DAC2A+
Input Phase A Bottom Cmd.
Or Dac A Serial Data Programmable function control
88 PWMABOT2-
DAC2A-
Input Phase A Bottom Cmd.
Or Dac A Serial Data Programmable function control
89 PWMBTOP2+
DAC_STB2+
Input Phase B Top Cmd. Or
Dac Strobe Programmable function control
90 PWMBTOP2-
DAC_STB2-
Input Phase B Top Cmd. Or
Dac Strobe Programmable function control
91 PWMBBOT2+
DAC2B+
Input Phase B Bottom Cmd.
Or Dac B Serial Data Programmable function control
92 PWMBBOT2-
DAC2B-
Input Phase B Bottom Cmd.
Or Dac B Serial Data Programmable function control
93 PWMCTOP2+
DIR2+
Input Phase B Top Cmd. Or
Pfm Direction Programmable function control
94 PWMCTOP2-
DIR2-
Input Phase B Top Cmd. Or
Pfm Direction Programmable function control
95 PWMCBOT2+
PULSE2+
Input Phase B Bottom Cmd.
Or Pfm Pulse Programmable function control
96 PWMCBOT2-
PULSE2-
Input Phase B Bottom Cmd.
Or Pfm Pulse Programmable function control
97 GND Common Reference Voltage
98 GND Common Reference Voltage
99 +5V Output / Input +5V Power For external circuit or from ext.
supply
100 +5V Output / Input +5V Power For external circuit or from ext.
supply
The cable-to-board connector is from AMP with 0.025 Centerline ribbon cable. This is the AMPMODU
System 50 ribbon connector and the part number specified by AMP is 1-111196-6.
The maximum length specified by Delta Tau is 18 inches.

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Connectors and Jumpers
12
J1 10-Pin IDC Header
1
Top View
Pin# Symbol Function Description Notes
1 CHA1+ Input Enc 1 Pos. A Chan. Also pulse Input
2 ENCPWR Output Digital Supply Volt. Power for encoder
3 GND Common Reference Voltage
4 CHA1- Input Enc 1 Neg. A Chan. Also pulse Input
5 CHB1- Input Enc 1 Neg. B Chan. Also direction Input
6 GND Common Reference Voltage
7 ENCPWR Output Digital Supply Volt. Power for encoder
8 CHB1+ Input Enc 1 Pos. B Chan. Also direction Input
9 ENCPWR Output Digital Supply Volt. Power for encoder
10 CHC1+ Input Enc 1 Pos. C Chan. Index channel
A 10-pin IDC header for connection to 1st encoder in HP-compatible pinout. This header provides the
connection to a single quadrature encoder or the signals simulated for one from an amplifier or accessory
board. The signals on this connector are also available on TB2.

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Connectors and Jumpers 13
J2 10-Pin IDC Header
1
Top View
Pin# Symbol Function Description Notes
1 CHA2+ Input Enc 2 Pos. A Chan. Also pulse Input
2 ENCPWR Output Digital Supply Volt. Power for encoder
3 GND Common Reference Voltage
4 CHA2- Input Enc 2 Neg. A Chan. Also pulse Input
5 CHB2- Input Enc 2 Neg. B Chan. Also direction Input
6 GND Common Reference Voltage
7 ENCPWR Output Digital Supply Volt. Power for encoder
8 CHB2+ Input Enc 2 Pos. B Chan. Also direction Input
9 ENCPWR Output Digital Supply Volt. Power for encoder
10 CHC2+ Input Enc 2 Pos. C Chan. Index channel
A 10-pin IDC header for connection to 2nd encoder in HP-compatible pinout. It provides the connection to
a single quadrature encoder or simulated signals from an amplifier or accessory board. Signals on this
connector are also available on TB3.

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Connectors and Jumpers
14
J3 10-Pin IDC Header
1
Top View
Pin# Symbol Function Description Notes
1 CHA1+ Input Enc 1 Pos. A Chan Single ended input
2 CHB1+ Input Enc 1 Pos. B Chan Single ended input
3 CHC1+ Input Enc 1 Pos. C Chan Single ended input
4 CHA2+ Input Enc 2 Pos. A Chan Single ended input
5 CHB2+ Input Enc 2 Pos. B Chan Single ended input
6 CHC2+ Input Enc 2 Pos. C Chan Single ended input
7 GND Common Reference Signal
8 GND Common Reference Signal
9 SCLK12+ Output Encoder Sample Clock
10 CLOCK Output DAC_CLK or
ADC_CLK E22 jumper selects
A 10-pin IDC header for connection of encoder inputs for both channels (single ended). It provides
connection to single-ended quadrature encoder inputs for two axes. It also provides connection to
ADC_CLK or DAC_CLK signals to accessories such as ACC-8D option 8.

Delta Tau Data Systems, Inc. ACC-8F & ACC-8FP
Connectors and Jumpers 15
J4 14-Pin IDC Header
1
Top View
Pin# Symbol Function Description Notes
1 CHT1 Input Supplementary Flag T Fault code, or sub-count
2 NC No Connect
3 CHU1 Input Supplementary Flag U Hall Effect, fault code, or sub-
count
4 CHV1 Input Supplementary Flag V Hall Effect, fault code, or sub-
count
5 CHW1 Input Supplementary Flag W Hall Effect, fault code, or sub-
count
6 USER1 Input General Purpose
User Flag
Hardware capture flag, or sub-
count
7 CHT2 Input Supplementary Flag T Fault Code, Or Sub-Count
8 NC No Connect
9 CHU2 Input Supplementary Flag U Hall Effect, fault code, or sub-
count
10 CHV2 Input Supplementary Flag V Hall Effect, fault code, or sub-
count
11 CHW2 Input Supplementary Flag W Hall Effect, fault code, or sub-
count
12 USER2 Input General Purpose
User Flag
Hardware capture flag, or sub-
count
13 GND Common Reference Voltage
14 +5V Output Supply Voltage
A 14-pin IDC header for connection to supplementary input flags for both channels. This header provides
the connection to supplemental input flags that can be used for sub-count interpolation, hall-effect
commutation, or amplifier fault codes. The USER flags can also be input on TB4 or TB5.

ACC-8F & ACC-8FP Delta Tau Data Systems, Inc.
Connectors and Jumpers
16
P1 DB15-pin Connector 1
5
8
9
1
Top View
Pin # Symbol Function Description Notes
1 ENCPWR Output Digital Supply Power for encoder
2 GND Common Digital Reference
3 CHA1+ Input Enc 1 Pos. A Chan. Also pulse input
4 CHB1+ Input Enc 1 Pos. B Chan. Also direction input
5 CHC1+ Input Enc 1 Pos. C Chan. Index channel
6 CHU1+ Input Supplemental Flag U
7 CHW1+ Input Supplemental Flag W
8 GND Common Digital Reference
9 ENCPWR Output Digital Supply Power for encoder
10 GND Common Digital Reference
11 CHA1- Input Enc 1neg. A Chan. Also pulse Input
12 CHB1- Input Enc 1 Neg. B Chan. Also direction input
13 CHC1- Input Enc 1 Neg. C Chan. Index channel
14 CHV1+ Input Supplemental Flag V
15 CHT1+ Input Supplemental Flag T
A DB 15 connector for discrete-wired connection to the 1st encoder and Supplemental Flags. This connector
alternately provides the interface to a single quadrature encoder or the signals of a simulated encoder. It
additionally provides connection to the set of supplemental flags for that motor.