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Delta Tau
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24E2A
Delta Tau 24E2A User Manual
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^1
USER MANUAL
^2
Accessory 24E2A
^3
Axis Expansion Board
^4
4Ax-603398-xUxx
^5
June 7, 2006
1
Single Source M
achine Control
Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
2
Table of Contents
Table of Contents
5
Introduction
9
Overview
9
Features
9
Board Configuration
10
Specifications
11
Environmental Specifications
11
Physical Specifications
11
Electrical Specifications
12
EMC and Safety
12
E-Point Jumper Settings
13
Acc-24E2A Base Board (Channels* 1 and 2)
13
Acc-24E2A Option 1 Board (Channels 3 and 4)
14
Hardware Setup
15
Switch Configuration
15
UMAC Address DIP Switch S1
15
MACRO Station Address DIP Switch S1
15
Acc-24E2 Clock Settings
15
Resistor Pack Configuration
16
Differential or Single-Ended Encoder Selection
16
Termination Resistors Packs
16
Encoder Loss Resistor Packs
16
Limit/Flag Voltage Level Resistor Packs
17
OPTO-Isolation Considerations
17
Acc-24E2 Limit and Flag Wiring
18
Connecting Limits/Flags to the Acc-24E2
18
Amplifier Fault Circuit
19
Amplifier Enable Circuit
19
Loss of Encoder Circuit
19
Acc-24E2A Encoder Loss Detection with UMAC Turbo CPU
20
Acc-24E2A Encoder Loss Detection with UMAC MACRO CPU
20
Position Compare Port Driver IC
20
Connections
21
Acc-24E2A Board Layout -Terminal Block Option
21
Acc-24E2A Board Layout -DB15 Option
21
Mating Connectors
22
Terminal Block Connectors
22
DB15 Connector Option
22
Indicators
22
Overall Wiring Diagram
23
Sample Wiring Diagrams
24
TTL Level Inputs and Outputs
24
Position Limits, Home Flag, and User Flag
24
Acc-24E2A DAC Ouputs
25
Acc-24E2A Stepper Motor Outputs (TTL Level)
25
Amplifier Fault Inputs
26
Amplifier Enable Outputs
27
Umac Software Setup
29
Servo IC Configuration I-Variables
29
Servo IC Numbering
29
Servo Channel Numbering
29
Multi-Channel I-Variables
29
Single-Channel I-Variables
30
Encoder Conversion Table I-Variables
31
Motor Addressing I-Variables
31
UMAC Turbo Example Setups
33
Ultralite/Macro Station Setup
35
Hardware Setup for MACRO Station Use
35
Software Setup for MACRO Station Use
35
Node-Specific Gate Array MI-Variables
35
Encoder/Timer N Decode Control (Msn,Mi910)
36
Flag Capture Control (Msn,Mi911-MI913)
37
Output Mode Select (Msn,Mi916)
38
MACRO Station Encoder Conversion Table (Msn,Mi120-MI151)
38
Mldt Feedback for Umac-Turbo & Umac-Macro
39
MLDT Hardware Setup of the Acc-24E2A
39
MLDT Software Setup of the UMAC Turbo
39
Hardware Setup I-Variables for Servo IC M
39
Conversion Table Processing I-Variables
39
Motor I-Variables
40
Pulse Output Frequency
41
Pmac2/Turbo PMAC2 Conversion Table and Motor I-Variables
42
MLDT Feedback for UMAC-MACRO
43
MLDT Software Setup of the UMAC MACRO
43
Station Hardware Setup I-Variables for Servo IC
43
Station Conversion Table Processing I-Variables
43
Station Motor Node I-Variables
44
Power-On Feedback Address for PMAC2 Ultralite
44
MACRO Parallel Absolute Position Setup
45
Acc-24E2A Terminal Block Description
47
Connector TB1 TOP - Encoder 1
47
Connector TB2 Top - Encoder 2
47
Connector TB3 Top - EQU Outputs
47
Connector TB1 Bottom Amp - out 1
48
Connector TB2 Bottom Amp - out 2
48
Connector TB3 Bottom - Analog Power
48
Connector TB1 Front- Limits 1
49
Connector TB2 Front- Limits 2
49
Acc-24E2 Option 1A Terminal Block Description
51
Connector TB1 Top - Encoder 3
51
Connector TB2 Top - Encoder 4
51
Connector TB3 Top - EQU Outputs
51
Connector TB1 Bottom Amp-Out 3
52
Connector TB2 Bottom Amp-Out 4
52
Connector TB3 Bottom-Analog Power
52
Connector TB1 Front - Limits 3
53
Connector TB2 Front - Limits 4
53
Acc-24E2A Db15 Connector Option
55
DB15 Style Connector J1 Top - Encoder 1 / EQU
55
DB15 Style Connector J2 Top - Encoder 2 / EQU
55
DB15 Style Connector J1 Bottom Amp - out 1/Analog Power
56
DB15 Style Connector J2 Bottom Amp - out 2/Analog Power
56
Connector TB1 Front-Limits 1
57
Connector TB2 Front-Limits 2
57
Ubus Pinouts
59
P1 UBUS (96-Pin Header)
59
4
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Delta Tau 24E2A Specifications
General
Category
Computer Hardware
Model
24E2A
Manufacturer
Delta Tau
Type
Motion Controller
Programming Language
PMAC Script
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