Delta Tau ACC-24E2S User manual

Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com
ccUSER MANUAL
^2 Accessory 24E2S
^3 Axis Expansion Board
^4 3Ax-603441-xUxx
^5 October 17, 2018
DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION …

Copyright Information
© 2018 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: suppor[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
2
UPDATED TERMINAL BLOCK DESC., PP. 37-41
04-17-09
CP
A. OHMORI
3
UPDATED JUMPERS & RESISTOR PACK DESCR.
07/22/09
CP
S. SATTARI
4
ADDED UL SEAL TO MANUAL COVER
UPDATED AGENCY APPROVAL/SAFETY SECTION
09/30/09
CP
S.FIERRO
5
CORRECTED RESISTOR PACK INFO, P.9
02/18/10
CP
M. YAHYAEI
6
UPDATED POWER REQUIREMENTS
07/21/15
RN
R.NADDAF
7
ADDED KC CONFORMITY
10/17/18
SM
R.NADDAF

Accessory 24E2S
Table of Contents i
Table of Contents
INTRODUCTION .......................................................................................................................................................3
Features .....................................................................................................................................................................3
Board Configuration..................................................................................................................................................3
SPECIFICATIONS.....................................................................................................................................................4
Environmental Specifications....................................................................................................................................4
Physical Specifications..............................................................................................................................................4
Electrical Specifications............................................................................................................................................4
Agency Approval and Safety ....................................................................................................................................5
E-POINT JUMPER SETTINGS................................................................................................................................6
Acc-24E2S Jumpers*................................................................................................................................................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...........................................................................................................................................8
Acc-24E2 Limit and Flag Wiring..............................................................................................................................9
Connecting Limits/Flags to the Acc-24E2............................................................................................................9
Loss of Encoder Circuit.............................................................................................................................................9
Acc-24E2S Discrete On-board Logic with UMAC Turbo CPU..........................................................................10
Acc-24E2S Discrete On-board Logic with UMAC MACRO CPU......................................................................10
Position Compare Port Driver IC ............................................................................................................................10
CONNECTIONS .......................................................................................................................................................11
Acc-24E2S Terminal Block Layout Diagram .........................................................................................................11
Acc-24E2S DB15 Option Layout Diagram.............................................................................................................11
Mating Connectors ..................................................................................................................................................11
Terminal Block Connectors ................................................................................................................................11
5 Connector Option ............................................................................................................................................12
Indicators.................................................................................................................................................................12
Sample Wiring Diagrams........................................................................................................................................12
TTL Level Inputs and Outputs ............................................................................................................................12
Acc-24E2S Stepper Motor Outputs (TTL level) ..................................................................................................13
Position Limits, Home Flag, and User Flag.......................................................................................................13
UMAC SOFTWARE SETUP...................................................................................................................................14
System Configuration I-Variables...........................................................................................................................14
Servo IC Configuration I-Variables ........................................................................................................................14
Servo IC Numbering ...........................................................................................................................................14
Servo Channel Numbering..................................................................................................................................14
Multi-Channel I-Variables..................................................................................................................................15
Single-Channel I-Variables ................................................................................................................................15
Encoder Conversion Table I-Variables ..............................................................................................................16
Motor Addressing I-Variables ............................................................................................................................16
UMAC Turbo Example Setups ...............................................................................................................................19
ULTRALITE/MACRO STATION SETUP ............................................................................................................20
Hardware Setup for MACRO Station Use ..............................................................................................................20
Node-Specific Gate Array MI-variables.............................................................................................................20
Encoder/Timer n Decode Control (MSn,MI910) ....................................................................................................20
Flag Capture Control (MSn,MI911-MI913)............................................................................................................21

Accessory 24E2S
Table of Contents ii
Output Mode Select (MSn,MI916)..........................................................................................................................22
MACRO Station Encoder Conversion Table (MSn,MI120-MI151).......................................................................23
Using Acc-24E2S with the MACRO Station/Ultralite or Turbo Ultralite Change Output Mode to PFM on the
Third Channel..........................................................................................................................................................23
PMAC2 Ultralite.................................................................................................................................................23
PMAC2 Turbo Ultralite MACRO IC0 ................................................................................................................23
PMAC2 Turbo Ultralite MACRO IC1 ................................................................................................................24
PMAC2 Turbo Ultralite MACRO IC2 ................................................................................................................24
PMAC2 Turbo Ultralite MACRO IC3 ................................................................................................................24
MOTOR PARAMETER SETUP FOR UMAC AND MACRO ............................................................................25
PMAC2 Motor Servo Gain I-Variables for Stepper Motors....................................................................................25
Ix30 Motor x Proportional Gain.........................................................................................................................25
Ix31 Motor x Derivative Gain.............................................................................................................................25
Ix32 Motor x Velocity Feedforward Gain...........................................................................................................25
Ix33 Motor x Integral Gain.................................................................................................................................26
Ix34 Motor x Integration Mode ..........................................................................................................................26
Ix35 Motor x Acceleration Feedforward Gain ...................................................................................................26
MLDT FEEDBACK FOR UMAC-TURBO & UMAC-MACRO .........................................................................27
MLDT Hardware Setup of the Acc-24E2S .............................................................................................................27
MLDT Software Setup of the UMAC Turbo ..........................................................................................................27
Hardware Setup I-Variables for Servo IC m ......................................................................................................27
Conversion Table Processing I-Variables..........................................................................................................27
Motor I-Variables...............................................................................................................................................28
Pulse Output Frequency .....................................................................................................................................29
PMAC2/Turbo PMAC2 Conversion Table and Motor I-Variables ....................................................................30
MLDT Feedback for UMAC-MACRO...................................................................................................................30
MLDT Software Setup of the UMAC MACRO....................................................................................................30
Station Hardware Setup I-Variables for Servo IC..............................................................................................30
Station Conversion Table Processing I-Variables..............................................................................................31
Station Motor Node I-Variables..........................................................................................................................31
Power-On Feedback Address for PMAC2 Ultralite ...........................................................................................32
MACRO Parallel Absolute Position Setup..........................................................................................................33
Example MLDT Setup for UMAC-MACRO........................................................................................................34
ACC-24E2S TERMINAL BLOCK DESCRIPTION..............................................................................................35
Connector TB1 Top –Output1/Encoder 1..........................................................................................................35
Connector TB2 Top –Output2/Encoder 2..........................................................................................................35
Connector TB3 Top –EQU Outputs...................................................................................................................35
Connector TB1 Bottom Encoder 3......................................................................................................................36
Connector TB2 Bottom Encoder 4......................................................................................................................36
Connector TB3 Bottom- Compare Outputs.........................................................................................................36
Connector TB1 Front- Limits 1 ..........................................................................................................................37
DB15 Style Connector J1 Top - Encoder 1 / EQU..................................................................................................37
DB15 Style Connector J2 Top - Encoder 2 / EQU..................................................................................................38
DB15 Style Connector J1 Bottom - Encoder 3 / EQU ............................................................................................38
DB15 Style Connector J2 Bottom - Encoder 4 / EQU ............................................................................................39
UBUS PINOUTS........................................................................................................................................................40
P1 UBUS (96-Pin Header).................................................................................................................................40
SCHEMATICS ..........................................................................................................................................................41

Accessory 24E2S
Table of Contents 3
INTRODUCTION
The Acc-24E2S Axis Expansion Board provides four channels of PMAC2-style stepper interface and/or
encoder/MLDT circuitry for UMAC and Ultralite/MACRO Station controllers. The Acc-24E2S 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 UBUS. Other axis or feedback interface 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)
The step and direction outputs are RS422 compatible and are capable of being connected in either
differential mode or single ended configurations for 5V input drivers. Flag input terminals are provided
to allow connection of 12V-24V sensors or limit switches.
Up to eight Acc-24E2S boards can be connected to one UMAC providing up to 32 additional channels of
stepper interface circuitry. Because each MACRO Station CPU can service only eight channels of servo
data, only two Acc-24E2S boards can be connected to the MACRO Station for stepper motor connection.
The Acc-24E2S is also an ideal board to use for dual feedback systems because it can process four
encoders with one single board on the 3U rack.
The Acc-24E2S board contains no processor; it has one highly integrated 4-channel PMAC2-style Servo
IC with the buffering circuitry and connectors around them. The four-axis Acc-24E2S plugs into the
backplane and uses one slot in the Rack.
Features
The Acc-24E2S board can be used with any UMAC or MACRO Station CPU, interfacing through the
Expansion port.
The Acc-24E2S can only support pulse and direction commands from the controller.
Board Configuration
An Acc-24E2S comes standard with one Servo IC providing four servo interface channels, which are
brought out on terminal blocks. Each channel of servo interface circuitry includes the following:
Four output command signal sets, configurable as pulse and direction outputs only:
Four 3-channel differential/single-ended encoder input
Four sets of five input flags and one compare output flag

Accessory 24E2S
Specifications 4
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
Length: 16.256 cm (6.4 in.)
Height: 10 cm (3.94 in.)
Width: 2.03 cm (0.8 in.)
Weight
210 g
Front, top, and bottom plates
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.
Electrical Specifications
Description
Specification
Notes
ACC-24E2S Power
Requirements
5V @ 0.9 A (10%)

Accessory 24E2S
Specifications 5
Agency Approval and Safety
Item
Description
CE Mark
EN61326-1
EMC
EN55011 Class A Group 1
EN61000-4-2
EN61000-4-3
EN61000-4-4
EN61000-4-5
EN61000-4-6
UL
UL 61010-1 File E314517
cUL
CAN/CSA C22.2 No. 1010.1-92 File E314517
Flammability Class
UL 94V-0
KC
EMI: KN 11
EMS: KN 61000-6-2
사용자안내문
이기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정
용환경에서 사용하는 경우 전파간섭의 우려가 있습니다.
한국 EMC적용제품 준수사항
본제품은 전파법(KC 규정)을준수합니다. 제품을 사용하려면 다음 사항에 유
의하십시오. 이기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은
기기로서 가정용 환경에서 사용하는 경우 전파간섭의 우려가 있습니다. 입
력에 EMC 필터, 서지 보호기, 페라이트 코어 또는 1차측의 케이블에 노이즈
필터를 입력으로 사용하십시오.

Accessory 24E2S
E-Point Jumper Settings 6
E-POINT JUMPER SETTINGS
Acc-24E2S Jumpers*
Jumper
Config.
Description
Default
E1
1-2-3
1-2 send PWM/PFM output regardless of AENA1 status
2-3 send PWM/PFM only when AENA1 if true.
No Jumper for Channel 1 TUVW inputs.
Jump 1-2
E2
1-2-3
1-2 send PWM/PFM output regardless of AENA2 status
2-3 send PWM/PFM only when AENA2 if true.
No Jumper for Channel 2 TUVW inputs.
Jump 1-2
E3
1-2-3
1-2 send PWM/PFM output regardless of AENA3 status
2-3 send PWM/PFM only when AENA3 if true.
No Jumper for Channel 3 TUVW inputs.
Jump 1-2
E4
1-2-3
1-2 send PWM/PFM output regardless of AENA4 status
2-3 send PWM/PFM only when AENA4 if true.
No Jumper for Channel 4 TUVW inputs.
Jump 1-2
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
E11
1-2
Jump 1-2 to enable AENA1
No Jumper to disable AENA1
Jump 1-2
E12
1-2
Jump 1-2 to enable AENA2
No Jumper to disable AENA2
Jump 1-2
E13
1-2
Jump 1-2 to enable AENA3
No Jumper to disable AENA3
Jump 1-2
E14
1-2
Jump 1-2 to enable AENA4
No Jumper to disable AENA4
Jump 1-2
E16
1-2-3
Jump 1-2 to receive phase and servo clocks
Jump 2-3 to transmit phase and servo clocks
Factory set
OPT1
1-2
For factory use only (No jumper on JP1-JP9)
Factory set
OPT2
1-2
For factory use only (Jumper JP1-JP9)
Factory set
OPT3
1-2
For factory use only (jumper JP1-JP9)
Factory set
*The channels refer to the Servo IC associated with the individual Acc-24E2S board. For example, in
an eight-axis application, there would be two Acc-24E2S boards. The first Acc-24E2S would have
axes 1-4 and the second Acc-24E2S would contain axes 5-8.
** For legacy MACRO Stations (part number 602804-100 through 602804-104)
Note:
Delta Tau added the amplifier enable outputs with the release of the 603441-101
revision of the Acc-24E2S card and jumpers E11, E12, E13, and E14 were added
for this feature. The first revision of this accessory (603441-100) does not have
amplifier enable outputs or jumpers E11, E12, E13, or E14.

Accessory 24E2S
Hardware Setup 7
HARDWARE SETUP
Switch Configuration
UMAC Address DIP Switch S1
S1-1
S1-3
S1-4
Board No.
IC No.
I-Variable 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, S1-3, S1-4 are used to address the Acc-24E2S as shown in this table.
S1-2
S1-5
S1-6
Function
ON
ON
ON
3U Turbo PMAC Use
S1-2, S1-5, and S1-6 are used to determine whether the Acc-24E2S is communicating to a Turbo
3U PMAC or a MACRO Station CPU.
MACRO Station Address DIP Switch S1
S1-1, S1-2, S1-3, S1-4 are used to address the Acc-24E2 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-24E2S. 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 automatically
for the Acc-24E2 cards in the UBUS. To enable this feature, set jumper E16 from 2 to 3 for all of the
Acc-24E2Ss plugged into the UMAC. 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 the
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
(E16 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 (E16 set 1-2) the phase and servo clocks.
For MACRO systems, the clock select jumper should be set to receive servo and phase clocks. For the
Acc-24E2S, E16 should be set 1-2.

Accessory 24E2S
Hardware Setup 8
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 kpull-up resistor to +5V. This
cannot be changed.
The ‘-’ inputs of each differential pair each have a hard-wired 2.2 kresistor to +5V; also each has
another 2.2 kresistor 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 kresistors act as a single 1.1 kpull-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
RP19
6-pin
Encoder 2
RP21
6-pin
Encoder 3
RP27
6-pin
Encoder 4
RP29
6-pin
Termination Resistors
The Acc-24E2S 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.
Channel Specific Resistor Packs
Channel 1
Channel 2
Channel 3
Channel 4
SIP
Description
RP19
RP21
RP27
RP29
2.2K
Reverse for encoder loss feature
RP20
RP22
RP28
RP30
220
Termination resistor to reduce ringing
(Installed by default).
RP38
RP42
RP47
RP51
1K
Install for 5V limits
Resistor Pack
SIP
Description
RP5
220
Terminator (not installed, only used for non-UBUS) (Rev 103 and older)
RP6
220
Pull Down for Old MACRO CPU; Pull Up for UMAC Turbo and
MACRO (Rev 103 and older only)

Accessory 24E2S
Hardware Setup 9
Acc-24E2 Limit and Flag Wiring
The Acc-8F allows the use of sinking or sourcing position limits and flags to the PMAC2. 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 1kresistor pack (RP) can be placed in either RP38, RP42,
RP47, or RP51 (refer to the Resistor Pack Configuration section of this manual).
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.
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
Sinking,
Separate
Supply
Sourcing,
Separate
Supply

Accessory 24E2S
Hardware Setup 10
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.
In order to enable this function, the socketed resistor packs for the encoder must be reversed from their
factory default setting so that the complementary encoder lines A/, B/, and C/ are pulled up to 5V instead
of pulled to 2.5V. The resistor packs to be reversed are RP19, RP21, RP27, and RP29.
Acc-24E2S Discrete On-board Logic 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
RP19
Y:$07xF08,5
Y:$07xF0C,5
QL_1-
0
2
RP21
Y:$07xF09,5
Y:$07xF0D,5
QL_2-
0
3
RP27
Y:$07xF0A,5
Y:$07xF0E,5
QL_3-
0
4
RP29
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 $20 to these addresses.
Acc-24E2S Discrete On-board Logic with UMAC MACRO CPU
Channel
Resistor
Pack
Status Bit Address (First-
Servo IC)*
Status Bit Address
(Second Servo IC)*
Status Bit
Name
Bit Error
State
1
RP19
Y:$B8C8,5
Y:$B8EC,5
QL_1-
0
2
RP21
Y:$B8C9,5
Y:$B8ED,5
QL_2-
0
3
RP27
Y:$B8CA,5
Y:$B8EE,5
QL_3-
0
4
RP29
Y:$B8CB,5
Y:$B8EF,5
QL_4-
0
*First Servo IC has base address $C040; second Servo IC has base address $C060.
Position Compare Port Driver IC
As with the other PMAC controllers, the UMAC has the high speed 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 ports on Acc-24E2S have driver IC at components U29 and U30. This IC
gives a fast CMOS driver.
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
(CMOS)
5 MHz

Accessory 24E2S
Connections 11
CONNECTIONS
Acc-24E2S Terminal Block Layout Diagram
Designates Pin 1
Acc-24E2S DB15 Option Layout Diagram
Mating Connectors
Terminal Block Connectors
Name
Manufacturer
Pins
Type
Details
TB1- Top
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 1 Inputs
TB2- Top
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 2 Inputs
TB3- Top
Phoenix Contact
3
FRONT-MC1,5/3-ST3,81
Compare Outputs
TB1- Bottom
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 3 Inputs
TB2- Bottom
Phoenix Contact
12
FRONT-MC1,5/12-ST3,81
Encoder 4 Inputs
TB3- Bottom
Phoenix Contact
3
FRONT-MC1,5/3-ST3,81
Compare Outputs
TB1- Front
Phoenix Contact
20
FRONT-MC1,5/20-ST3,81
Flags
J2
11 121096 8754
BOTTOM
1J1 1
1 32 C B 12A11108 97653 421
1112 10 9 68 7 5 4
1J1
123 A B 12C1011 89 7 6 5 4 3 2 1
TOP J2
1
P1

Accessory 24E2S
Connections 12
5 Connector Option
Name
Manufacturer
Pins
Type
Details
J1- Top
AMP
15
AMP 745072-2
Encoder 1 Inputs and Compare Outputs
J2- Top
AMP
15
AMP 745072-2
Encoder 2 Inputs and Compare Outputs
J1- Bottom
AMP
15
AMP 745072-2
Encoder 3 Inputs and Compare Outputs
J2- Bottom
AMP
15
AMP 745072-2
Encoder 4 Inputs and Compare Outputs
Indicators
LED
Color
Description
D11
Green
Encoder 1 and 2 Power OK
D12
Green
Encoder 3 and 4 Power OK
Sample Wiring Diagrams
This section has typical wiring diagrams for the TTL level inputs, flags and limits, PFM outputs.
TTL Level Inputs and Outputs
1
2
3
4
5
6
7
8
9
10
11
12
A
A/
B
B/
C
C/
5V
GND
U
V
W
T
BEQU2
BEQU1
GND
A
A/
B
B/
C
C/
5V
GND
U
1
9
15
8
V
W
T
U
V
W5 4 6 2 3 1
1
2
3
4
5
6
7
8
9
10
11
12
A
A/
B
B/
C
C/
5V
GND
U
V
W
TShield
Shield
BEQU2
BEQU1
GND
A
A/
B
B/
C
C/
5V
GND
U
1
9
15
8
V
W
T
3
2
1
GND
BEQU1
BEQU2 Output Device 1
Output Device 2
0 V
5 V
BEQU2
BEQU1
GND
A
A/
B
B/
C
C/
5V
GND
U
1
9
15
8
V
W
T
Output Device 2
Output Device 1
Position Compare Outputs
TTL Hall Effect Sensors
Quadrature Encoders
Encoder
Float Shield
Shield
Encoder
Float Shield
Hall
Sensor
Float Shield
Shield
Hall
Sensor
Float Shield

Accessory 24E2S
Connections 13
Acc-24E2S Stepper Motor Outputs (TTL level)
ACC-24E2S PFM -Stepper Output
Stepper
Amplifier
Bus Voltage
Step
Motor
1
2
3
4
5
6
7
8
9
10
11
12
A
A/
B
B/
AENA+
AENA-
5V
GND
Dir+
Dir-
Pulse+
Pulse-
BEQU2
BEQU1
GND
A
A/
B
B/
AENA+
AENA-
5V
GND
Dir+
1
9
15
8
Dir-
Pulse+
Pulse-
Stepper
Amplifier
Bus Voltage
Step
Motor
Channel1: Jumper E1 & E11
Channel2: Jumper E2 & E12
Channel3: Jumper E3 & E13
Channel4: Jumper E4 & E14
*E11, E12, E13, and E14 are for
Amp enable
Channel1: Jumper E1 & E11
Channel2: Jumper E2 & E12
Channel3: Jumper E3 & E13
Channel4: Jumper E4 & E14
*E11, E12, E13, and E14 are for
Amp enable
Position Limits, Home Flag, and User Flag
5
4
3
2
1
FLG_RTN_1
HOME1
MLIM1
PLIM1
USER1
Home
Neg
Pos
User
24V Supply
0V 24V
ACC-24E2S Sourcing Flags
10
9
8
7
6
15
14
13
12
11
20
19
18
17
16
5
4
3
2
1
FLG_RTN_1
HOME1
MLIM1
PLIM1
USER1
Home
Neg
Pos
User
24V Supply
0V 24V
ACC-24E2S Sinking Flags
10
9
8
7
6
15
14
13
12
11
20
19
18
17
16

Accessory 24E2S
UMAC Software Setup 14
UMAC SOFTWARE SETUP
System Configuration I-Variables
Starting in Turbo PMAC firmware version V1.934, the Turbo PMAC determines automatically which
Servo and MACRO ICs are present on power-up/reset and enables the I-variables for these ICs.
In previous versions, I65 had to be set manually to tell the Turbo PMAC which ICs were present so that
the proper I-variables could be enabled. In V1.934 and newer versions, Turbo PMAC reports which ICs
are present in read-only variable I4900. If using a Turbo PMAC with firmware 1.933 and below, refer to
the Turbo PMAC Software Reference Manual for a detailed description of these system configuration I-
variables.
Servo IC Configuration I-Variables
Turbo PMAC I-variables in the range I7000 –I7999 control the configuration of the Servo ICs. The
hundreds digit represents the number of the Servo IC (0 to 9) in the system. Servo ICs 0 and 1 are (or can
be) on board the Turbo PMAC board itself. Servo ICs 2 through 9 are (or can be) on external devices
such as the Acc-24E2.
Servo IC Numbering
The number m of the Servo IC on the Acc-24E2 board is dependent on the addressing of the board with
DIP switches S1-1, S1-3, and S1-4, which place the board as the firstthrough eighth external devices:
First Acc-24E2 with option 1:Servo IC 2 (channels 1-4)
Second Acc-24E2 with option 1 Servo IC 3 (channels 5-8)
Third Acc-24E2 with option 1: Servo IC 4 (channels 9-12)
Fourth Acc-24E2 with option 1 Servo IC 5 (channels 13-16)
Fifth Acc-24E2 with option 1: Servo IC 6 (channels 17-20)
Sixth Acc-24E2 with option 1Servo IC 7 (channels 21-24)
Seventh Acc-24E2 with option 1: Servo IC 8 (channels 25-28)
Eighth Acc-24E2 with option 1 Servo IC 9 (channels 29-32)
The Standard Servo IC on an Acc-24E2 occupies Channels 1 through 4 on the board.
Example: The Standard Servo IC on the first Acc-24E2 is Servo IC 2 to Turbo PMAC and is configured
by variables I7200 –I7299.
Servo Channel Numbering
Each Servo IC has four channels of servo interface circuitry. The tens digit n of the I-variable configuring
the IC represents the channel number on the IC (n = 1 to 4). For example, Channel 1 of the Standard Servo
IC on the first Acc-24E2 is configured by variables I7210 –I7219. These channel-specific I-variables are
represented generically as I7mn0 –I7mn9, where m represents the Servo IC number (0 –9) and n
represents the IC channel number (1 –4).
The Channels 1 –4 on the Standard Servo IC of an Acc-24E2 correspond to Channels 1 –4, respectively,
on the Acc-24E2 board itself. The Channels 1 –4 on the Option 1 Servo IC on an Acc-24E2 correspond
to Channels 5 –8, respectively, on the Acc-24E2 board.
I-variables in the I7000s for which the tens digit is 0 (Channel 0) affect all four channels of the PMAC2-
style Servo IC on the Acc-24E2. These multi-channel I-variables are represented generically as I7m00 –
I7m09.

Accessory 24E2S
UMAC Software Setup 15
Multi-Channel I-Variables
There are several multi-channel I-variables that must be set up properly for proper operation of the Acc-
24E2 in a Turbo PMAC system. The most important are:
I7m07: Servo IC m Phase/Servo Clock Direction
This variable should be set to 3 for any Servo IC on an Acc-24E2 so it inputs its phase and servo clocks
from signals generated on the Turbo PMAC itself.
I7m00: Servo IC m MaxPhase/PWM Frequency Control
Typically, this will be set to the same value as the variable that controls the system clocks: I7000 on a
non-Ultralite Turbo PMAC2, or I6800 on a Turbo PMAC2 Ultralite. If a different PWM frequency is
desired, or the Acc-24E2 is used with a Turbo PMAC in which the system clock frequencies are set by
jumpers, then the following constraint should be observed in setting this variable:
}Integer{
PhaseFreq
)kHz(PWMFreq*2 
I7m01: Servo IC m Phase Clock Frequency Control
Even though the IC is receiving an external phase clock (see I7m07, above), usually it is best to create the
same internal phase clock frequency in the Servo IC. This yields the following constraint:
)17001I(*7000I)101m7I(*00m7I 
{Non-Ultralite Turbo PMAC2}
)16801I(*6800I)101m7I(*00m7I 
{Turbo PMAC2 Ultralite}
Solving for I7m01, the result is:
1
00m7I )17001I(*7000I
01m7I 


{Non-Ultralite PMAC2}
1
00m7I )16801I(*6800I
01m7I 


{Turbo PMAC2 Ultralite}
If I7m00 is the same as I7000 or I6800, I7m01 will be the same as I7001 or I6801. If the Acc-24E2 is
interfaced to a Turbo PMAC board, it should be set by calculation to obtain the same phase clock
frequency as that set by the jumpers on the Turbo PMAC.
I7m02: Servo IC m Servo Clock Frequency Control
Even though the IC is receiving an external servo clock (see I7m07, above), usually it is best to create the
same internal servo clock frequency in the Servo IC. This means that I7m02 for the IC should be set the
same as I7002 on a non-Ultralite Turbo PMAC2, or the same as I6802 on a Turbo PMAC2 Ultralite.
When connected to a Turbo PMAC, I7m02 should create the same division from the phase clock as
jumpers E3 –E6 do on the Turbo PMAC.
I7m03: Servo IC m Hardware Clock Frequency Control
The hardware clock frequencies for the Servo IC should be set according to the devices attached to it.
There is no reason that these frequencies have to be the same between ICs. There is seldom a reason to
change this value from the default.
Single-Channel I-Variables
The single-channel setup I-variables for Channel n of Servo IC m work the same on an Acc-24E2 as they do
on a Turbo PMAC2 itself. Each Servo IC has four channels n, numbered 1 to 4. For the first (standard)
Servo IC on the Acc-24E2, the channel numbers 1 –4 on the Servo IC are the same as the channel numbers
1 –4 on the board. For the second (optional) Servo IC on the Acc-24E2, the channel numbers 1 –4 on the
Servo IC correspond to board channel numbers 5 –8. The most important variables are:

Accessory 24E2S
UMAC Software Setup 16
I7mn0: Servo IC m Channel n Encoder Decode Control
Typically, I7mn0 is set to 3 or 7 for x4 quadrature decode, depending on which way is up. If the channel is
used for open-loop stepper drive, I7mn0 is set to 8 to accept internal pulse-and-direction, or to 0 to accept
external pulse-and-direction (e.g. from an Acc-8S). It is set to 12 if the channel is used for MLDT
feedback.
I7mn2: Servo IC m Channel n Capture Control
I7mn2 determines whether the encoder index channel, an input flag, or both, are used for the capture of
the encoder position.
I7mn3: Servo IC m Channel n Capture Flag Select
I7mn3 determines which input flag is used for encoder capture, if one is used.
I7mn6: Servo IC m Channel n Output Mode Select
I7mn6 determines whether the A and B outputs are DAC or PWM, and whether the C output is PFM
(pulse-and-direction) or PWM. Typically, it is set to 0, either for 3-phase PWM, or to 3 for DACs and
PFM.
Encoder Conversion Table I-Variables
To use feedback or master position data from an Acc-24E2, entries must be added to the encoder
conversion table (ECT) using I-variables I8000 –I8191 to address and process this data. The default
conversion table in the Turbo PMAC does not contain these entries; it only contains entries for the eight
channels on board the Turbo PMAC.
Usually, the position data obtained through an Acc-24E2 board is an incremental encoder feedback, and
occasionally an A/D converter feedback from an Acc-28B board connected through the Acc-24E2.
The ECT entries for Acc-24E2 incremental encoder channels are shown in the following table:
Servo IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
$m78200
$m78208
$m78210
$m78218
First Acc-24E2x Channel n Encoder Set
3
$m78300
$m78308
$m78310
$m78318
Second Acc-24E2x Channel n Encoder Set
4
$m79200
$m79208
$m79210
$m79218
Third Acc-24E2x Channel n Encoder Set
5
$m79300
$m79308
$m79310
$m79318
Fourth Acc-24E2x Channel n Encoder Set
6
$m7A200
$m7A208
$m7A210
$m7A218
Fifth Acc-24E2x Channel n Encoder Set
7
$m7A300
$m7A308
$m7A310
$m7A318
Sixth Acc-24E2x Channel n Encoder Set
8
$m7B200
$m7B208
$m7B210
$m7B218
Seventh Acc-24E2x Channel n Encoder Set
9
$m7B300
$m7B308
$m7B310
$m7B318
Eight Acc-24E2x Channel n Encoder Set
The first hexadecimal digit in the entry, represented by m in the table, is a 0 for the most common 1/T timer-based
extension of digital incremental encoders; it is an 8 for the parallel-data extension of analog incremental encoders;
it is a C for no extension of an incremental encoder.
Motor Addressing I-Variables
For a Turbo PMAC motor to use the servo interface circuitry of the Acc-24E2, several of the addressing
I-variables for the motor must contain the addresses of registers in the Acc-24E2, or the addresses of
encoder conversion table registers containing data processed from the Acc-24E2. These I-variables can
include:
Ixx02: Motor xx Command Output Address
Ixx02 tells Turbo PMAC where to write its command outputs for Motor xx. If Acc-24E2 is to create the
command signals, Ixx02 must contain the address of the register.

Accessory 24E2S
UMAC Software Setup 17
The following table shows the address of the C output register for each channel of each Acc-24E2S.
These addresses can be used for single analog outputs, double analog outputs, or direct PWM outputs.
Servo
IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
$078204
$07820C
$078214
$07821C
1st Acc-24E2x Channel n PFM/PWMnA
3
$078304
$07830C
$078314
$07831C
2nd Acc-24E2x Channel n PFM/PWMnA
4
$079204
$07920C
$079214
$07921C
3rd Acc-24E2x Channel n PFM/PWMnA
5
$079304
$07930C
$079314
$07931C
4th Acc-24E2x Channel n PFM/PWMnA
6
$07A204
$07A20C
$07A214
$07A21C
5th Acc-24E2x Channel n PFM/PWMnA
7
$07A304
$07A30C
$07A314
$07A31C
6th Acc-24E2x Channel n PFM/PWMnA
8
$07B204
$07B20C
$07B214
$07B21C
7th Acc-24E2x Channel n PFM/PWMnA
9
$07B304
$07B30C
$07B314
$07B31C
8th Acc-24E2x Channel n PFM/PWMnA
Ixx03: Motor xx Position-Loop Feedback Address
Ixx04: Motor xx Velocity-Loop Feedback Address
Ixx05: Motor xx Master Position Address
Usually, the Ixx03, Ixx04, and Ixx05 variables contain the address of a processed position value in the
encoder conversion table, even when the raw data comes from the Acc-24E2. The first line of the
encoder conversion table is at address $003501; the last line is at address $0035C0.
Ixx10: Motor xx Power-On Position Address
Ixx10 tells the Turbo PMAC where to read absolute power-on position, if any. Typically, the only times
Ixx10 will contain the address of an Acc-24E2 register is if the position is obtained from an A/D
converter on an Acc-28B connected through the Acc-24E2, or if it is obtained from an MLDT (e.g.
TemposonicsTM) sensor excited directly from an Acc-24E2.
The following table shows the possible values of Ixx10 for MLDT timer registers:
Ixx10 for Acc-24E2 MLDT Timer Registers (Ixx95=$170000)
Servo IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
$078200
$078208
$078210
$078218
1st Acc-24E2x Channel n Timer
3
$078300
$078308
$078310
$078318
2nd Acc-24E2x Channel n Timer
4
$079200
$079208
$079210
$079218
3rd Acc-24E2x Channel n Timer
5
$079300
$079308
$079310
$079318
4th Acc-24E2x Channel n Timer
6
$07A200
$07A208
$07A210
$07A218
5th Acc-24E2x Channel n Timer
7
$07A300
$07A308
$07A310
$07A318
6th Acc-24E2x Channel n Timer
8
$07B200
$07B208
$07B210
$07B218
7th Acc-24E2x Channel n Timer
9
$07B300
$07B308
$07B310
$07B318
8th Acc-24E2x Channel n Timer
Ixx24: Motor xx Flag Mode
Ixx24 defines how to read and use the flags for Motor xx that are in the register specified by Ixx25. Ixx24
is a set of independent control bits. There are two bits that must be set correctly to use a flag set on an
Acc-24E2.
Bit 0 of Ixx24 must be set to 1 to tell the Turbo PMAC that this flag set is in a Type 1 PMAC2-style
Servo IC. Bit 18 of Ixx24 must be set to 0 to tell the Turbo PMAC that this flag set is not transmitted
over a MACRO ring. Other bits of Ixx24 may be set as desired for a particular application.
Ixx25: Motor xx Flag Address
Ixx25 tells Turbo PMAC where to access its flag data for Motor xx. If Acc-24E2 is interface to the flags,
Ixx25 must contain the address of the flag register in Acc-24E2.