Delta Tau ACC-14M Manual do Utilizador

1^ USER MANUAL ^2 Accessory 14M ^3 MACRO OPTO 48 bit Input/output ^4 3Ax-603741-xUxx ^5 December 9, 2009 Single S

Accessory 14M 2 Introduction Options • OPT-A (30A-603740-OPT): Fiber Optic MACRO connectors • OPT-C (30C-603740-OPT): RJ45 MACRO connectors •

Accessory 14M ACC-14M MACRO Station I/O Transfer 3 HARDWARE REFERENCE SUMMARY Mechanical Layout

Accessory 14M 4 ACC-14M MACRO Station I/O Transfer Board Layout Connectors and Indicators Inputs and Outputs LED Indicators Each of the 24 inpu

Accessory 14M ACC-14M MACRO Station I/O Transfer 5 RLY2: When lit, this indicates that the second amplifier enable relay is activated. Inputs and

Accessory 14M 6 ACC-14M MACRO Station I/O Transfer CONNECTORS DESCRIPTION USB Universal Serial Bus Port Pin # Symbol Function 1 VCC N.C. 2 D

Accessory 14M ACC-14M MACRO Station I/O Transfer 7 7 Unused Unused terminated pin8 Unused Unused terminated pin The cable used for MACRO wired c

Accessory 14M 8 ACC-14M MACRO Station I/O Transfer Main IO Connectors J4 and J5 J4 (50 Pin Header) Pin Symbol Function Description 1 MI/O23 In

Accessory 14M ACC-14M MACRO Station I/O Transfer 9 J5 (50 Pin Header) Pin Symbol Function Description 1 MI/O47 In/Out I/O at base address, bit

Accessory 14M 10 ACC-14M MACRO Station I/O Transfer OPT-1: DB-15 Connector Pin # Symbol Function 1 GND COMMON GROUND 2 ADC1+ ANALOG INPUT 1+ 3

Accessory 14M ACC-14M MACRO Station I/O Transfer 11 SOFTWARE SETUP Typically, the MACRO Slave Device and MACRO Master IC (Ultralite) can support up t

Copyright Information © 2009 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data System

Accessory 14M 12 ACC-14M MACRO Station I/O Transfer Feedback from MI/O Station Inputs 0 – 23 ADC 1 (08-23 bits) (Channel 1) ADC 2 (08-23 bits) (Ch

Accessory 14M ACC-14M MACRO Station I/O Transfer 13 FLAG(s) Status Register B08 - Reserved for future ring protocol status B09 - Reserved for future

Accessory 14M 14 ACC-14M MACRO Station I/O Transfer ASCII Ring Order Initial Binding of the ACC-14M Station To initially bind the ACC-14M to a MACR

Accessory 14M ACC-14M MACRO Station I/O Transfer 15 This will NOT reset all the parameters in the MACRO Stations) or $$$** Note: This will reset al

Accessory 14M 16 ACC-14M MACRO Station I/O Transfer USING ACC-14M FOR INPUTS AND OUTPUTS For general purpose inputs and outputs, the ACC-14M can be

Accessory 14M ACC-14M MACRO Station I/O Transfer 17 M3000=M4001 ;Set Actual output word to output Image word Close If the user is using another

Accessory 14M 18 ACC-14M MACRO Station I/O Transfer USING OPTION 1 – ADC’S, DAC’S, RELAY’S If the ACC-14M Option 1 is ordered, the ACC-14M also all

Accessory 14M ACC-14M MACRO Station I/O Transfer 19 54 X:$07B429,8,16,S X:$07B42A,8,16,S 55 X:$07B42D,8,16,S X:$07B42E,8,16,S 58 X:$07B431,8,16,S X:$

Accessory 14M 20 ACC-14M MACRO Station I/O Transfer 34 X:$07A421,8,16,S X:$07A422,8,16,S 35 X:$07A425,8,16,S X:$07A426,8,16,S 38 X:$07A429,8,16,S X

Accessory 14M ACC-14M MACRO Station I/O Transfer 21 38 X:$07A42B,19 X:$07A42B,20 39 X:$07A42F,19 X:$07A42F,20 42 X:$07A433,19 X:$07A433,20 43 X:$0

REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 NEW MANUAL 07/21/09 C.PERRY S. SATTARI 2 UPDATED 16-BIT ADC OPTION 12/08/09 C.PERRY

Accessory 14M 22 ACC-14M MACRO Station I/O Transfer I103=$3503 ;position feedback for motor 1 from $3502 I104=$3503 ;velocity feedback for moto

Accessory 14M ACC-14M MACRO Station I/O Transfer 23 FEEDBACK DATA LATCHING AND HANDSHAKING When using a parallel-word absolute encoder, it is import

Accessory 14M 24 ACC-14M MACRO Station I/O Transfer Method 1 This method requires the encoder inputs to be latched on the falling edge of the servo

Accessory 14M ACC-14M MACRO Station I/O Transfer 25 Method 3 This method requires a self-latching encoder that outputs a signal that indicates it is

Accessory 14M 26 ACC-14M MACRO Station I/O Transfer Method 5 This method requires no latching on the encoder outputs and latching on the ACC-14M in

Accessory 14M ACC-14M MACRO Station I/O Transfer 27 MACRO ASCII Communication Reference: 1. “VID” Vendor ID (Delta Tau = 1, Range=1- 65535) 2. “CID

Accessory 14M 28 ACC-14M MACRO Station I/O Transfer Firmware Updates Downloading new firmware to the MACRO IO Device is a simple process once the M

Accessory 14M ACC-14M MACRO Station Serial Commands 29 ACC-14M MACRO STATION MI-VARIABLE REFERENCE The ACC-14M is set up through its own set of initi

Accessory 14M 30 ACC-14M MACRO Station Serial Commands MS{anynode},MI3 (Reserved for Future Use) Range: $00 Units: none Default: 0 MS{anynode},

Accessory 14M ACC-14M MACRO Station Serial Commands 31 MS{anynode},MI6 Maximum Permitted Ring Errors in One Second Range: $0000000 - $FFFFFFF Uni

Accessory 14M 32 ACC-14M MACRO Station Serial Commands MS{anynode},MI10 MACRO Sync Packet Shutdown Count Range: 0 – 65,535 Units: none Defaul

Accessory 14M ACC-14M MACRO Station Serial Commands 33 MS{anynode},MI14 Input/Output Configuration Range: 0-3 Units: none Default: 0 This MI va

Accessory 14M 34 ACC-14M MACRO Station Serial Commands Station ACC14 MACRO 72-Bit Node (24 INPUT/OUTPUT / 24 Input) FORMAT (MI14=3) 1st X IO or Y:

Accessory 14M ACC-14M MACRO Station Serial Commands 35 MS{anynode},MI198 Direct Read/Write Format and Address Range: $000000 - $FFFFFF Units:

Accessory 14M 36 ACC-14M MACRO Station Serial Commands MI198 Format Digits MI198 Digits Address Space Starting Bit Bit WidthFormat MI198 Digits Add

Accessory 14M ACC-14M MACRO Station Serial Commands 37 MI198 Format Digits (continued) MI198 Digits Address Space Starting Bit Bit WidthFormat MI198

Accessory 14M 38 ACC-14M MACRO Station Serial Commands MS{anynode},MI199 Direct Read/Write Variable Range: -8,388,608 – 16,777,215 Units: (de

Accessory 14M ACC-14M MACRO Station Serial Commands 39 MACRO IC MI-Variables Each MACRO IC has a set of these variables and they are used to set up e

Accessory 14M 40 ACC-14M MACRO Station Serial Commands MS{anynode},MI978-MI989 (Reserved for Future Use) MACRO IC MI-Variables MI-Variables are n

Accessory 14M ACC-14M MACRO Station Serial Commands 41 MI993 controls the frequency of three hardware clock frequencies -- SCLK, PFM_CLK, DAC_CLK and

Accessory 14M Table of Contents i TABLE OF CONTENTS INTRODUCTION ...

Accessory 14M 42 ACC-14M MACRO Station Serial Commands DAC_CLK Divider N: 3 ADC_CLK Divider N: 4 MI993 = 5 + (8 * 4) + (64 * 3) + (512 * 4) = 5 + 3

Accessory 14M ACC-14M MACRO Station Serial Commands 43 Bit # Value Type Function 0 1($1) Status Data Overrun Error (cleared when read) 1 2($2)

Accessory 14M 44 ACC-14M MACRO Station Serial Commands The bits of MI996 are arranged as follows: Bit # Value Type Function 0 1($1) Config No

Accessory 14M ACC-14M MACRO Station Serial Commands 45 MS{anynode},MI997 Phase Clock Frequency Control Range: 0 - 15 Units: Phase Clock Frequency

Accessory 14M 46 ACC-14M MACRO Station Serial Commands MS{anynode},MI999 Handwheel DAC Strobe Word (Not Used) Range: $000000 - $FFFFFF Units: S

Accessory 14M ACC-14M MACRO Station Serial Commands 47 Standard MACRO Program Commands 1. OPEN MACPLCC – Begins the MACPlcc program. 2. CLOSE – Clo

Accessory 14M 48 ACC-14M MACRO Station Serial Commands MAC PLCC Related ASCII Commands Commands Operation SAVE Saves PLCCs from $4000 to *($4000)

Accessory 14M ACC-14M MACRO Station Serial Commands 49 DISABLE PLCC or CNTRL D Disables PLCC The MACRO PLCCs are disabled. Example: DIS PLCC ^D ENAB

Accessory 14M 50 ACC-14M MACRO Station Serial Commands RX:$20 ; Read X register $20 64 ; CMS responds in decimal RHX:$20 ; Read X register $20 i

Accessory 14M ACC-14M MACRO Station Serial Commands 51

Accessory 14M ii Table of Contents Method 3 ...

Accessory 14M 52 ACC-14M MACRO Station Memory and I/O Map PMAC TYPE 1 ACC-14M MACRO STATION COMMANDS The following commands from the Turbo PMAC con

Accessory 14M ACC-14M MACRO Station Memory and I/O Map 53 MS Variable Read Syntax: MACROSLAVE{node #},{slave MI, MM or MP-variable} MS{node #},{sla

Accessory 14M 54 ACC-14M MACRO Station Memory and I/O Map {slave MI, MM or MP -variable} is the name of the MI, MM or MP -variable on the slave

Accessory 14M ACC-14M MACRO Station Memory and I/O Map 55 Turbo PMAC PLC Commands for Type 1 ACC-14M MACRO Stations MS Variable Read Copy Syntax: MA

Accessory 14M 56 ACC-14M MACRO Station Memory and I/O Map The variable on the PMAC or PMAC2 can be any of the I, P, Q, or M-Variables on the card.

Accessory 14M ACC-14M MACRO Station Memory and I/O Map 57 ACC-14M MACRO STATION MEMORY AND I/O MAP Internal Calculation Registers X/Y:$0000-$06FF

Accessory 14M 58 ACC-14M MACRO Station Memory and I/O Map 8-23 Not used Y:$C082 Output 08-15 Data Register Note: The pins associated with this

Accessory 14M ACC-14M MACRO Station Memory and I/O Map 59 Y:$C084 Data Type Control Register (Do not change.) Bits: 0 I/O00 Data Type Control (0

Accessory 14M 60 ACC-14M MACRO Station Memory and I/O Map 3 DAT3 Data Type Control (0=Fault10; 1 =DAT3) 4 DAT4 Data Type Control (0=EQU9;

Accessory 14M ACC-14M MACRO Station Memory and I/O Map 61 X:$C088-$C08B Not used Y:$C08C Pure binary conversion from gray code input on I/O00 to I/O

Accessory 14M Table of Contents iii ACC-14M MACRO STATION MACPLCCS...

Accessory 14M 62 ACC-14M MACRO Station Memory and I/O Map X:$C08F DSPGATE2 clock control register Bits (Bits 0-11 comprise I993) 0-2: SCLK

Accessory 14M ACC-14M MACRO Station Memory and I/O Map 63 Chan # 9 10 Hex [$C092] [$C09A] Y:$C09x Channel n Output A Command Value Bits: 8-23:

Accessory 14M 64 ACC-14M MACRO Station Memory and I/O Map 01: Standard timer control, external signal source, invert direction 10: Standard t

Accessory 14M Introduction 1 INTRODUCTION The ACC-14M can be used with a TURBO PMAC2 Ultralite or UMAC MACRO for either general purpose digital I/O,