Acc 24e2a
Acc 24e2a
Acc 24e2a
^2 Accessory 24E2A
Single Source Machine Control Power // Flexibility // Ease of Use 21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
1
Copyright Information
2010 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: (818) 717-5656 Fax: (818) 998-7807 Email: support@deltatau.com 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. 1 2 3 4 DESCRIPTION ADDED CE DECLARATION ADDED UL APPROVAL & AGENCY SAFETY INFO CORRECTED BEQU2 ERROR, P. 47 UPDATED CONNECTION DIAGRAM, P. 13 DATE 06/07/06 09/30/09 02/04/10 04/15/10 CHG CP CP CP CP APPVD S. FIERRO S. FIERRO S. MILICI R. NADDAF
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 Agency Approval 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
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
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Table of Contents
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 Acc-24E2 Acc-24E2A Acc-24E2S Acc-28E Acc-51E Acc-53E
Parallel Feedback Inputs (absolute enc. or interferometers) Digital Amplifier Breakout w/ TTL encoder inputs Analog Amplifier Breakout w/ TTL encoder inputs Stepper Amplifier Breakout w/ TTL encoder inputs 16-bit A/D Converter Inputs (up to four per card) 4096 times interpolator for 1Vpp sinusoidal encoders 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
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.
Introduction
Accessory 24E2A
SPECIFICATIONS
Environmental Specifications
Description
Operating Temperature Storage Temperature Humidity
Specification
0C to 45C, -25C to 70C 10% to 95 % non-condensing
Notes
Physical Specifications
Description
Dimensions w/o Option 1A
Specification
Length: 16.256 cm (6.4 in.) Height: 10 cm (3.94 in.)
Notes
Width: 2.03 cm (0.8 in.) Length: 16.256 cm (6.4 in.) Height: 10 cm (3.94 in.) Width: 4.06 cm (1.6 in.)
192 g 370 g
FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/5-ST3,81
Front Plate included Front Plate included Terminal Blocks from Phoenix Contact. UL-94V0 UL-94V0
DB Option Connectors
The width is the width of the front plate. The length and height are the dimensions of the PCB.
Specifications
Accessory 24E2A
Electrical Specifications
Description
ACC-24E2A Power Requirements ACC-24E2A with Option 1A Power Requirements
Specification
5V @ +15V -15V 5V @ +15V -15V 0.55A (10%) @ 0.16A (10%) @ 0.07A (10%) 0.95A (10%) @ 0.30A (10%) @ 0.12A (10%)
Notes
Warning If more than four ACC-24E2As 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.
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 EN 61010-1 UL 61010-1 File E314517 CAN/CSA C22.2 No. 1010.1-92 File E314517 UL 94V-0
Specifications
Accessory 24E2A
Config.
1-2
Description
Default
No Jumper for TTL Level input for CHU1 flag No jumper Jumper 1-2 for DIR1+ output in Stepper Mode E1B 1-2 No Jumper for TTL Level input for CHV1 flag No jumper Jumper 1-2 for DIR1- output in Stepper Mode E1C 1-2 No Jumper for TTL Level input for CHW1 flag No jumper Jumper 1-2 for PUL1+ output in Stepper Mode E1D 1-2 No Jumper for TTL Level input for CHT1 flag No jumper Jumper 1-2 for PUL1- output in Stepper Mode E2A 1-2 No Jumper for TTL Level input for CHU2 flag No jumper Jumper 1-2 for DIR2+ output in Stepper Mode E2B 1-2 No Jumper for TTL Level input for CHV2 flag No jumper Jumper 1-2 for DIR2- output in Stepper Mode E2C 1-2 No Jumper for TTL Level input for CHW2 flag No jumper Jumper 1-2 for PUL2+ output in Stepper Mode E2D 1-2 No Jumper for TTL Level input for CHT2 flag No jumper Jumper 1-2 for PUL2- output in Stepper Mode 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) E13 1-2-3 Jump 1-2 to receive phase and servo clocks Factory set Jump 2-3 to transmit phase and servo clocks E85 1-2 Jump 1-2 for Backplane Supplied +15V Jump 1-2 No Jumper for External Supplied +15V E87 1-2 Jump 1-2 for Backplane Supplied AGND Jump 1-2 No Jumper for External Supplied AGND E88 1-2 Jump 1-2 for Backplane Supplied -15V Jump 1-2 No Jumper for External Supplied -15V 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)
Accessory 24E2A
Config.
1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2 1-2
Description
No Jumper for TTL Level input for CHU3 flag Jumper 1-2 for DIR3+ output in Stepper Mode No Jumper for TTL Level input for CHV3 flag Jumper 1-2 for DIR3- output in Stepper Mode No Jumper for TTL Level input for CHW3 flag Jumper 1-2 for PUL3+ output in Stepper Mode No Jumper for TTL Level input for CHT3 flag Jumper 1-2 for PUL3- output in Stepper Mode No Jumper for TTL Level input for CHU4 flag Jumper 1-2 for DIR4+ output in Stepper Mode No Jumper for TTL Level input for CHV4 flag Jumper 1-2 for DIR4- output in Stepper Mode No Jumper for TTL Level input for CHW4 flag Jumper 1-2 for PUL4+ output in Stepper Mode No Jumper for TTL Level input for CHT4 flag Jumper 1-2 for PUL4- output in Stepper Mode Jump 1-2 for Backplane Supplied +15V No Jumper for External Supplied +15V Jump 1-2 for Backplane Supplied AGND No Jumper for External Supplied AGND Jump 1-2 for Backplane Supplied -15V No Jumper for External Supplied -15V
Default
No jumper No jumper No jumper No jumper No jumper No jumper No jumper No jumper Jump 1-2 Jump 1-2 Jump 1-2
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
ON OFF ON OFF ON OFF ON OFF
S1-3
ON ON OFF OFF ON ON OFF OFF
S1-4
ON ON ON ON OFF OFF OFF OFF
Board No.
1 2 3 4 5 6 7 8
IC No.
2 3 4 5 6 7 8 9
I-Var. Range
I7200 I7300 I7400 I7500 I7600 I7700 I7800 I7900
Base Address
$078200 $078300 $079200 $079300 $07A200 $07A300 $07B200 $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
ON
S1-5
ON
S1-6
ON
Function
3U Turbo PMAC Use
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
OFF
S1-6
OFF
Function
3U MACRO Station use
Accessory 24E2A
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
Encoder 1 Encoder 2 Encoder 3 Encoder 4
Resistor Pack
RP22 RP24 RP22 RP24
Pack Size
6-pin 6-pin 6-pin 6-pin
Hardware Setup
Accessory 24E2A
Channel 2
RP24 RP25 RP46
SIP
2.2K 220 1K
Description
Reverse resistor pack for encoder loss feature (for differential encoders only) Termination resistor to reduce ringing (not installed by default). Install for 5V limits
SIP
220 2.2K
Description
Terminator (not installed, only used for non-UBUS) Pull 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.
(ON HEATSINK) TP6 A+14V D2 A+15V MBRS140T3 + 56uh C2 22UF 25V + C3 22UF 25V L1 D7 A+14V 2 TP4 AA+5V AA+5V (TO-220) VR1 LM7805T GND OUT IN MBRS140T3 R42 18 OHM 2.25W 1 + C43 22UF 25V + C42 22UF 25V D9 1SMC18AT3 AA+15V
E85
1 E85
AGND
TP3 AAGND
E87
1 E87 + D3 C4 22UF 25V L2 56uh + C5 22UF 25V 2 TP5 A-14V
E88
1 E88 2
A-15V MBRS140T3
"AGND" PLANE
Hardware Setup
Accessory 24E2A
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 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.
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Hardware Setup
Accessory 24E2A
"AGND" PLANE
+5V AFAULT_1R13 2.2K FAULT_1 FAULT_2 FAULT_1 FAULT_2 R12 2.2K 8 7 6 5 U21 C1 E1 C2 E2 ACI1A ACI1B ACI2A ACI2B 1 2 3 4 R21 1K R20 1K 1 3 5 7 RP36 2 4 6 8 AFAULT_1+ AFAULT_2+
4.7KSIP8I
PS2705-2NEC-ND GND
AFAULT_2-
"DGND" PLANE
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+
0V 12V to 24V
AFAULT+12V to 24V 0V
Input Type
Sinking Low True Sourcing High True
AE_CO M AE_NC
AENA
Isolation
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.
# of Pins
8
Output Type
Totem-Pole
Max Frequency
5 MHz
12
Hardware Setup
Accessory 24E2A
CONNECTIONS
Acc-24E2A Board Layout -Terminal Block Option
Front Plane 1 Encoder 1
GND EQU1 EQU2
Flags1
Flags2
1 Amplifier 2
-15
+15 AAGND
1 Amplifier 1
J1
TOP
J2
P1
J2
BOTTOM
J1
Connections
13
Accessory 24E2A
Mating Connectors
Terminal Block Connectors
Name
TB1- Top TB2- Top TB3- Top TB1- Bottom TB2- Bottom TB3- Bottom TB1- Front TB2 Front
Manufacturer
Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact Phoenix Contact
Pins
12 12 3 12 12 3 5 5
Type
FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/3-ST3,81 FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/12-ST3,81 FRONT-MC1,5/3-ST3,81 FRONT-MC1,5/5-ST3,81 FRONT-MC1,5/5-ST3,81
Details
Encoder 1 Inputs Encoder 2 Inputs Compare Outputs Amplifier 1 Outputs Amplifier 2 Outputs External Power Inputs Channel 1 Flags Channel 2 Flags
Manufacturer
AMP AMP AMP AMP
Pins
15 15 15 15
Type
AMP 745072-2 AMP 745072-2 AMP 745072-2 AMP 745072-2
Details
Encoder 1 Inputs and Compare Outputs Encoder 2 Inputs and Compare Outputs Amplifier 1 Outputs and Analog Power Inputs Amplifier 2 Outputs and Analog Power Inputs
Indicators
LED
D5 D6 D10 D11 D17
Color
Amber Amber Green Green Green
Description
Amplifier 1 Enabled Amplifier 2 enabled Encoder 1 Power OK Encoder 2 Power OK Analog Power Good
14
Connections
Accessory 24E2A
T W V U GND 5V C/ C B/ B A/ A
12 11 10 9 8 7 6 5 4 3 2 1
TB1 Top
Acc-24E2A
5 4 3 2 1
TB1 Front
TB1 Bottom
GND -15V+15V
Shield
12
11 10
Amplifier
Float Shield
LOAD
Float Shield
15V AGND
This is a general example of a system with sourcing flags and normally open amplifier enable output from the Acc-24E2A. For opto-isolation an external power supply is used and E85, E87, and E88 have been removed from the Acc-24E2A.
Connections
15
Accessory 24E2A
Shield
1 2 3 4 5 6 7 8 9 10 11 12
A A/ B B/ C C/ 5V GND U V W T
Encoder
Float Shield
9 1
15
Shield
Encoder
Float Shield
V W 5 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 T
15
0V
15
3 2 1
Output Device 1
Output Device 2
9 1
Output Device 1
5 4 3 2 1
5 4 3 2 1
16
Connections
Accessory 24E2A
Amplifier
12 11 10 9 8 7 6 5 4 3 2 1
AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+ Shield
AA-15V AA+15V AAGND AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+
1
15 9
Amplifier
Logic GND -15V +15V Amplifer Enable Float Shield
Shield
Amplifier
12 11 10 9 8 7 6 5 4 3 2 1
AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+ Shield
Float Shield
AA-15V AA+15V AAGND AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+
1
15 9
15
Amplifier
Logic GND -15V +15V Amplifer Enable
Float Shield
Shield
1 2 3 4 5 6 7 8 9 10 11 12
Bus Voltage
Stepper Amplifier
Bus Voltage
Stepper Amplifier
Channel1: Jumper E1A, E1B, E1C, E1D Channel2: Jumper E2A, E2B, E2C, E2D Step Motor
Channel1: Jumper E1A, E1B, E1C, E1D Channel2: Jumper E2A, E2B, E2C, E2D Step Motor
Connections
17
Accessory 24E2A
Amplifier
12 11 10 9 8 7 6 5 4 3 2 1
AA-15V AA+15V AAGND AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+
1
15 9
Amplifier
Logic GND -15V +15V Amplifer Fault
Amplifier
12 11 10 9 8 7 6 5 4 3 2 1
AA-15V AA+15V AAGND AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+
1
15 9
Amplifier
Logic GND -15V +15V Amplifer Fault
18
Connections
Accessory 24E2A
Amplifier
12 11 10 9 8 7 6 5 4 3 2 1
AA-15V AA+15V AAGND AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+
1
15 9
Amplifier
Logic GND -15V +15V Amplifer Enable
Amplifier
12 11 10 9 8 7 6 5 4 3 2 1
AA-15V AA+15V AAGND AAGND AA-15V AA+15V AFAULTAFAULT+ AE_NO AE_COM AE_NC DAC1BDAC1B+ DAC1ADAC1A+
1
15 9
Amplifier
Logic GND -15V +15V Amplifer Enable
Connections
19
Accessory 24E2A
20
Connections
Accessory 24E2A
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 first through eight 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 1 Servo 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 1-2 on the board, using connectors associated with channels 1 and 2. The Option 1 on an Acc-24E2 occupies Channels 3-4 on the board, using connectors associated with channels 3 and 4. Example: The Standard Servo IC on the first Acc-24E2 is Servo IC 2 to Turbo PMAC and is configured by variables I7200 I7299.
Multi-Channel I-Variables
Several multi-channel I-variables must be set up 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 0 on the Acc-24E2A generating the clocks (E13 set 2-3) and set to 3 for the Acc-24C2As to receive the clocks (E13 set 1-2).
21
Accessory 24E2A
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: I7200 on a UMAC Turbo PMAC2, or I6800 on a Turbo PMAC2 Ultralite. If a different PWM frequency is desired then the following constraint should be observed in setting this variable:
2 * PWMFreq( kHz ) PhaseFreq = { Integer }
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:
I 7 m00 * ( I 7 m01 + 1 ) = I 7200 * ( I 7201 + 1 ) I 7 m00 * ( I 7 m01 + 1 ) = I 6800 * ( I 6801 + 1 )
I 6800 * ( I 6801 + 1 )
If I7m00 is the same as I7200 or I6800, I7m01 will be the same as I7201 or I6801. 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 I7202 on a UMAC Turbo, or the same as I6802 on a Turbo PMAC2 Ultralite. 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. The most important variables are: 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, for 3-phase PWM, or to 3 for DACs and PFM.
22 UMAC Software Setup
Accessory 24E2A
Chan. 1
$078202 $078302 $079202 $079302 $07A202 $07A302 $07B202 $07B302
Chan. 2
$07820A $07830A $07920A $07930A $07A20A $07A30A $07B20A $07B30A
Chan. 3
$078212 $078312 $079212 $079312 $07A212 $07A312 $07B212 $07B312
Chan. 4
$07821A $07831A $07921A $07931A $07A21A $07A31A $07B21A $07B31A
Notes
First Acc-24E2x Channel n DAC/PWMnA Second Acc-24E2x Channel n DAC/PWMnA Third Acc-24E2x Channel n DAC/PWMnA Fourth Acc-24E2x Channel n DAC/PWMnA Fifth Acc-24E2x Channel n DAC/PWMnA Sixth Acc-24E2x Channel n DAC/PWMnA Seventh Acc-24E2x Channel n DAC/PWMnA Eighth Acc-24E2x Channel n DAC/PWMnA
If the C output register for a given Acc-24E2 and channel is used (primarily for pulse and direction output), simply add 2 to the address shown in the above table. For example, on the first Acc-24E2, output register 1C is at address $078204. Ixx03: Motor xx Position-Loop Feedback Address Ixx04: Motor xx Velocity-Loop Feedback Address
23
Accessory 24E2A
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 #
2 3 4 5 6 7 8 9
Chan. 1
$078200 $078300 $079200 $079300 $07A200 $07A300 $07B200 $07B300
Chan. 2
$078208 $078308 $079208 $079308 $07A208 $07A308 $07B208 $07B308
Chan. 3
$078210 $078310 $079210 $079310 $07A210 $07A310 $07B210 $07B310
Chan. 4
$078218 $078318 $079218 $079318 $07A218 $07A318 $07B218 $07B318
Notes
First Acc-24E2x Channel n Timer Second Acc-24E2x Channel n Timer Third Acc-24E2x Channel n Timer Fourth Acc-24E2x Channel n Timer Fifth Acc-24E2x Channel n Timer Sixth Acc-24E2x Channel n Timer Seventh Acc-24E2x Channel n Timer Eighth 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 interfaced to the flags, Ixx25 must contain the address of the flag register in Acc-24E2. The following table shows the address of the flag register for each channel of each Acc-24E2. Servo IC #
2 3 4 5 6 7 8 9
Chan. 1
$078200 $078300 $079200 $079300 $07A200 $07A300 $07B200 $07B300
Chan. 2
$078208 $078308 $079208 $079308 $07A208 $07A308 $07B208 $07B308
Chan. 3
$078210 $078310 $079210 $079310 $07A210 $07A310 $07B210 $07B310
Chan. 4
$078218 $078318 $079218 $079318 $07A218 $07A318 $07B218 $07B318
Notes
First Acc-24E2x Channel n Flag Set Second Acc-24E2x Channel n Flag Set Third Acc-24E2x Channel n Flag Set Fourth Acc-24E2x Channel n Flag Set Fifth Acc-24E2x Channel n Flag Set Sixth Acc-24E2x Channel n Flag Set Seventh Acc-24E2x Channel n Flag Set Eighth Acc-24E2x Channel n Flag Set
24
Accessory 24E2A
Ixx81: Motor xx Power-On Phase Position Address Ixx81 tells Turbo PMAC2 where to read absolute power-on position for motor phase commutation, if any. Typically, it will contain the address of an Acc-24E2 register for only two types of absolute phasing sensors: hall-effect commutation sensors (or their optical equivalents) connected to the U, V, and W input flags on an Acc-24E2 channel, or the encoder counter filled by simulated quadrature from a Yaskawa absolute encoder connected to the Acc-24E2 through an Acc-57E board. The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa absolute encoders: Turbo PMAC Ixx81 Acc-24E2 Encoder Register Settings (Ix91=$480000 - $580000) Servo IC #
2 3 4 5 6 7 8 9
Chan. 1
$078201 $078301 $079201 $079301 $07A201 $07A301 $07B201 $07B301
Chan. 2
$078209 $078309 $079209 $079309 $07A209 $07A309 $07B209 $07B309
Chan. 3
$078211 $078311 $079211 $079311 $07A211 $07A311 $07B211 $07B311
Chan. 4
$078219 $078319 $079219 $079319 $07A219 $07A319 $07B219 $07B319
Notes
First Acc-24E2x Channel n Encoder Reg. Second Acc-24E2x Channel n Encoder Reg. Third Acc-24E2x Channel n Encoder Reg. Fourth Acc-24E2x Channel n Encoder Reg. Fifth Acc-24E2x Channel n Encoder Reg. Sixth Acc-24E2x Channel n Encoder Reg. Seventh Acc-24E2x Channel n Encoder Reg. Eighth Acc-24E2x Channel n Encoder Reg.
Ixx83: Motor xx Phase Position Address Ixx83 tells Turbo PMAC where to get its commutation position feedback every phase update cycle. Usually, this contains the address of an encoder phase position register. The following table shows the possible values of Ixx83 for Acc-24E2 encoder phase position registers: Turbo PMAC Ixx83 Acc-24E2 Encoder Register Settings Servo IC #
2 3 4 5 6 7 8 9
Chan. 1
$078201 $078301 $079201 $079301 $07A201 $07A301 $07B201 $07B301
Chan. 2
$078209 $078309 $079209 $079309 $07A209 $07A309 $07B209 $07B309
Chan. 3
$078211 $078311 $079211 $079311 $07A211 $07A311 $07B211 $07B311
Chan. 4
$078219 $078319 $079219 $079319 $07A219 $07A319 $07B219 $07B319
Notes
First Acc-24E2x Channel n Encoder Reg. Second Acc-24E2x Channel n Encoder Reg. Third Acc-24E2x Channel n Encoder Reg. Fourth Acc-24E2x Channel n Encoder Reg. Fifth Acc-24E2x Channel n Encoder Reg. Sixth Acc-24E2x Channel n Encoder Reg. Seventh Acc-24E2x Channel n Encoder Reg. Eighth Acc-24E2x Channel n Encoder Reg.
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Accessory 24E2A
Example B: 2-axis PFM outputs and 2-axis PFM from base address $078200 (servo IC2). Assume DAC outputs on channels 1 and 2 and PFM outputs on channels 3 and 4. Jumpers E1A through E2D must be jumpered on Acc-24E2A option 1 only. For this type of system, make sure I7mn6 is set for DAC and PFM output mode.
I7216=3 I7226=3 I7236=3 I7246=3 I102=$078202 I202=$07820A I302=$078214 I402=$07821C ;CH1A and CH1B ouputs will be DAC and CH1C output will be PFM ;CH2A and CH2B ouputs will be DAC and CH2C output will be PFM ;CH3A and CH3B ouputs will be DAC and CH3C output will be PFM ;CH4A and CH4B ouputs will be DAC and CH4C output will be PFM ;Command output to CH1A address (default) for DAC ;Command output to CH2A address (default) for DAC ;Command output to CH3C address (default address + 2) for Stepper ;Command output to CH4C address (default address +2) for Stepper
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Accessory 24E2A
11
[$C050]
12
[$C058]
13
[$C060]
14
[$C068]
15
[$C070]
16
[$C078]
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Accessory 24E2A
x4 quadrature decode CW Pulse and direction CCW x1 quadrature decode CCW x2 quadrature decode CCW x4 quadrature decode CCW Internal pulse and direction Not used Not used Not used MLDT pulse timer control (internal pulse resets timer; external pulse latches timer) 13: Not used 14: Not used 15: Not used In any of the quadrature decode modes, PMAC is expecting two input waveforms on CHAn and CHBn, each with approximately 50% duty cycle, and approximately one-quarter of a cycle out of phase with each other. Times-one (x1) decode provides one count per cycle; x2 provides two counts per cycle; and x4 provides four counts per cycle. Select x4 decode to get maximum resolution. The clockwise (CW) and counter clockwise (CCW) options simply control which direction counts up. If it is the wrong direction sense, simply change to the other option (e.g., from 7 to 3 or vice versa). Warning: If the direction sense of an encoder with a properly working servo is changed without also changing the direction sense of the output, destabilizing positive feedback to the servo and a dangerous runaway condition will result. In the pulse-and-direction decode modes, PMAC is expecting the pulse train on CHAn and the direction (sign) signal on CHBn. If the signal is unidirectional, the CHBn line can be allowed to pull up to a high state, or it can be hardwired to a high or low state. If MI910 is set to 8, the decoder inputs the pulse and direction signal generated by Channel n's pulse frequency modulator (PFM) output circuitry. This permits the Compact MACRO Station to create a phantom closed loop when driving an open-loop stepper system. No jumpers or cables are needed to do this; the connection is entirely within the ASIC. The counter polarity matches the PFM output polarity automatically. If MI910 is set to 12, the timer circuitry is set up to read magnetostrictive linear displacement transducers (MLDTs) such as TemposonicsTM. In this mode, the timer is cleared when the PFM circuitry sends out the excitation pulse to the sensor on PULSEn, and it is latched into the memory-mapped register when the excitation pulse is received on CHAn.
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Accessory 24E2A
When MI911 is set to 0, the channels position compare register is tied to the channels own encoder counter, and the position compare signal appears only on the EQUn output. When MI911 is set to 1, the channels position compare register is tied to the first encoder counter on the ASIC (Encoder 1 for channels 1-4, Encoder 5 for channels 5-8, or Encoder 9 for channels 9-10) and the position compare signal appears both on EQUn and combined into the EQU output for the first channel on the IC (EQU1 or EQU5); executed as a logical OR. MI911 for the first channel on an ASIC performs no effective function, so is always 1. It cannot be set to 0. MI912 determines which signal or combination of signals, and which polarity, triggers a position capture of the counter for the encoder mapped to the specified node. If a flag input (home, limit, or user) is used, MI913 for the node determines which flag. Proper setup of this variable is essential for a successful home search, which depends on the position-capture function. The following settings may be used: 0: Capture under software control (armed) 1: Capture on Index (CHCn) high 2: Capture on Flag high 3: Capture on (Index high AND Flag high) 4: Capture under software control (latched) 5: Capture on Index (CHCn) low 6: Capture on Flag high 7: Capture on (Index low AND Flag high) 8: Capture under software control (armed) 9: Capture on Index (CHCn) high 10: Capture on Flag low 11: Capture on (Index high AND Flag low) 12: Capture under software control (latched) 13: Capture on Index (CHCn) low 14: Capture on Flag low 15: Capture on (Index low AND Flag low) The trigger is armed when the position capture register is read. After this, as soon as the Compact MACRO Station sees that the specified input lines are in the specified states, the trigger will occur it is level-trigger, not edge-triggered. MI913 parameter determines which of the Flag inputs will be used for position capture (if one is used, see MI912): 0: HMFLn (Home Flag n) 1: PLIMn (Positive End Limit Flag n) 2: MLIMn (Negative End Limit Flag n) 3: USERn (User Flag n) Typically, this parameter is set to 0 or 3, because in actual use the LIMn flags create other effects that usually interfere with what is trying to be accomplished by the position capture. To capture on the LIMn
Ultralite/MACRO Station Setup 29
Accessory 24E2A
flags, disable their normal functions with Ix25, or use a channel n where none of the flags is used for the normal axis functions.
DAC Mode
No Yes No
The PMAC2 Style outputs allow the PMAC to control up to three individual output channels based on the mode. These outputs are described as output A, output B, and output C. MSn, MI916 Output Description
0 1
Typical Use
A, B, and C are PWM Direct PWM Mode Only A and B are DAC 10V Outputs for torque, velocity and sinusoidal input C is PWM amplifiers 2 A and B are PWM Stepper Systems C is PFM 3 A and B are DAC 10V Outputs with MLDT Feedback C is PFM The default output at the MACRO Station is PWM (MSn,I916=0).
1 2 3 4 5 6 7 8
1) 2) 3) 4) 5) 6) 7) 8)
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Accessory 24E2A
Accessory 24E2A
Line 1 (Method and Address): This 24-bit value (6 hex digits) should begin with a 3 (filtered parallel data) followed by the address of the timer register. The possible values for this line are shown in the following table: Encoder Conversion Table Parallel Filtered Data Format First Line for Acc-24E2A Boards with Servo IC m Channel n Acc-24 #
1A 1B 2A 2B 3A 3B 4A 4B
Servo IC #
2 3 4 5 6 7 8 9
Channel 1
$378200 $378300 $379200 $379300 $37A200 $37A300 $37B200 $37B300
Channel 2
$378208 $378308 $379208 $379308 $37A208 $37A308 $37B208 $37B308
Channel 3
$378210 $378310 $379210 $379310 $37A210 $37A310 $37B210 $37B310
Channel 4
$378218 $378318 $379218 $379318 $37A218 $37A318 $37B218 $37B318
Line 2 (Width and Start): This 24-bit value should be set to $013000 to specify the use of 19 bits ($013) starting at bit 0. Line 3 (Max Change): This 24-bit value should be set to a value slightly greater than the maximum true velocity ever expected, expressed in timer LSBs per servo cycle. With a typical MLDT, the 117.96 MHz timer LSB represents 0.024 mm (0.00094 inches); the default servo cycle is 0.442 msec. The result of this conversion is in the X-register of the third line. Any functions using this value should address this register. For example, if this were the first entry in the table, which starts at $003501, the result would be in X:$003503.
Motor I-Variables
Ixx03 (Position Loop Feedback Address): To use the result of the conversion table for position-loop feedback for Motor xx, Ixx03 should contain the address of the result register in the conversion table $003503 in the above example. Ixx04 (Velocity Loop Feedback Address): To use the result of the conversion table for velocity-loop feedback for Motor xx, Ixx04 should contain the address of the result register in the conversion table $003503 in the above example. Ixx05 (Master Position Address): To use the result of the conversion table for the master position for Motor xx, Ixx05 should contain the address of the result register in the conversion table - $003503 in the above example. Ixx10 and Ixx95 (Power-On Position Address and Format): To use the MLDT for absolute power-on position for Motor xx, Ixx95 should be set to $180000 (up to 24 bits of parallel Y-data) and Ixx10 should be set to the address of the timer register used:
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Accessory 24E2A
Servo IC #
2 3 4 5 6 7 8 9
Channel 1
$078200 $078300 $079200 $079300 $07A200 $07A300 $07B200 $07B300
Channel 2
$078208 $078308 $079208 $079308 $07A208 $07A308 $07B208 $07B308
Channel 3
$078210 $078310 $079210 $079310 $07A210 $07A310 $07B210 $07B310
Channel 4
$078218 $078318 $079218 $079318 $07A218 $07A318 $07B218 $07B318
Ixx80 (Power-On Mode): Set Ixx80 to 4 to delay the absolute power-on position read until the pulseoutput frequency can be set. Ixx81 and Ixx91 (Power-On Phase Position Address and Format): Occasionally the MLDT is used to establish an absolute phase reference position for Turbo-PMAC-commutated motors. In this case, Ixx81 and Ixx91 are set to the same values as Ixx10 and Ixx95, respectively (see above).
where {address} is specified according to the following table: Mxx07 for Acc-24E2A MLDT Pulse-Output Registers Acc-24 #
1 2 3 4 5 6 7 8
Servo IC #
2 3 4 5 6 7 8 9
Channel 1
$078204 $078304 $079204 $079304 $07A204 $07A304 $07B204 $07B304
Channel 2
$07820C $07830C $07920C $07930C $07A20C $07A30C $07B20C $07B30C
Channel 3
$078214 $078314 $079214 $079314 $07A214 $07A314 $07B214 $07B314
Channel 4
$07821C $07831C $07921C $07931C $07A21C $07A31C $07B21C $07B31C
The frequency of the pulse output should produce a period just slightly longer than the longest expected response time for the echo pulse. For MLDTs, the response time is approximately 0.35 sec/mm (9 sec/inch). On an MLDT 1500 mm (~60 in) long, the longest response time is approximately 540 sec; a recommended period between pulse outputs for this device is 600 sec, for a frequency of 1667 Hz. To produce the desired pulse output frequency, the following formula can be used (assuming a 16-bit Mvariable definition):
OutputFreq( kHz ) = Mxx07 65 ,536 PFMCLK _ Freq( kHz )
or:
Mxx07 = 65 ,536 * OutputFreq( kHz ) PFMCLK _ Freq( kHz )
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Accessory 24E2A
To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, we calculate:
Mxx07 = 65 ,536 * 1.667 9 ,380 11
To write this value to the register, a power-on PLC routine is suggested; this can also be done with online commands from the host computer. Sample PLC code to do this for Channel 1, using the above example value, is:
OPEN PLC 1 CLEAR M107=11 CMD$* DISABLE PLC 1 CLOSE ; PLC 1 is first program to execute ; Set pulse frequency ; Absolute Position Read ; So will not execute again
34
Accessory 24E2A
35
Accessory 24E2A
Encoder Conversion Table Parallel Filtered Data Format First Line for Acc-24E2A Boards Acc-24 #
1 2
Channel 1
$30C040 $30C060
Channel 2
$30C048 $30C068
Channel 3
$30C050 $30C070
Channel 4
$30C058 $30C078
Line 2 (Bits Used Mask): This 24-bit value should be set to $07FFFF to specify the use of the low 19 bits of the 24-bit source word. Line 3 (Max Change): This 24-bit value should be set to a value slightly greater than the maximum true velocity ever expected, expressed in timer LSBs per servo cycle. With a typical MLDT, the 117.96 MHz timer LSB represents 0.024 mm (0.00094 inches); the default servo cycle is 0.442 msec. The result of this conversion is in the X-register of the third line. Any functions using this value should address this register. For example, if this were the first entry in the table, which starts at $000010, the result would be in X:$0012.
Channel 1
$30C042 $30C062
Channel 2
$30C04A $30C06A
Channel 3
$30C052 $30C072
Channel 4
$30C05A $30C07A
MS{anynode}, MI16x (xth Motor Node MLDT Frequency Control): This variable establishes the frequency of the excitation pulse sent to the MLDT. Its value is written automatically to the full 24-bit C sub-channel command register for the channel assigned to this node, so the PFM circuit will create a pulse train at this frequency. To compute the output frequency as a function of MI16x, the following formula can be used:
OutputFreq( kHz ) = MI 16 x 16 ,777 ,216 PFMCLK _ Freq( kHz )
To compute the required value of MI16x as a function of the desired output frequency, the following formula can be used:
MI16x = 16 ,777 ,216 * OutputFreq( kHz ) PFMCLK _ Freq( kHz )
Accessory 24E2A
Ultralite is used, Ixx95 must also be set appropriately. The Compact MACRO Station has a corresponding variable I11x for each node that must be set. Absolute Position for Ultralite Compact MACRO Station Feedback Type (firmware version 1.16H and above) Ix10 (Unsigned) Ix10 (Signed)
$F3000n $F2000n $F4000n $F4000n $F4000n $F4000n $F4000n
Acc-8D Opt 7 Resolver/Digital Converter $73000n Acc-8D Opt 9 Yaskawa Absolute Encoder Converter $72000n Acc-8D Opt 10 Sanyo Absolute Encoder Converter $74000n Acc-28B or Acc-28E Analog/Digital Converter $74000n MACRO Station Option 1C/Acc-6E A/D Converter $74000n MACRO Station Parallel Input $74000n MACRO Station MLDT Input $74000n n is the MACRO node number used for Motor x: 0, 1, 4, 5, 8, 9, C(12), or D(13).
Absolute Position for Turbo Ultralite (Ixx95=$720000 - $740000, $F20000 - $F40000) Addresses are MACRO Node Numbers MACRO Node Number
0 1 4 5 8 9 12 13
Ixx95 (Unsigned)
$730000 $720000 $740000 $740000 $740000
$740000
Ixx95 (Signed)
$F30000 $F20000 $F40000 $F40000 $F40000
$F40000
When PMAC or PMAC2 has Ix10 set to get absolute position over MACRO, it executes a station auxiliary read command MS{node},I920 to request the absolute position from the Compact MACRO Station. The station then references its own I11x value to determine the type, format, and address of the data to be read.
37
Accessory 24E2A
Remember, the output from the encoder conversion table will reside in the X register. For example, with the following entry:
MS0,MI120=$30C040 MS0,MI121=$FFFFFF MS0,MI122=32 ($10 of ECT) ($11 of ECT) ($12 of ECT)
The output from the ECT will reside in X:$12 and this will be the register to obtain the absolute data from. MI11x consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the MACRO Station from which the absolute position information is read. The high eight bits (first two hexadecimal digits) tell the Compact MACRO Station how to interpret the data at that address (the method.
MACRO MI11x Parallel Word Example: Signed 24-bit Absolute MLDT $0010
HEX($) BIT VALUE 23 1 D 22 1 21 20 0 1 19 1 8 18 0 17 0 16 0 15 0 0 14 0 13 0 12 0 11 0 0 10 0 9 0 8 0 7 0 6 0 1 5 0 4 1 3 0 2 0 0 1 0 0 0
X/Y Address Bit: If bit 22 of Ix10 is 0, the PMAC looks for the parallel sensor in its Y address space. This is the standard choice, since all I/O ports map into the Y address space. If this bit is 1, PMAC looks for the parallel sensor in its X address space. Signed/Unsigned Bit: If the most significant bit (MSB -- bit 23) of MI11x is 0, the value read from the absolute sensor is treated as an unsigned quantity. If the MSB is 1, which adds $80 to the high eight bits of MI11x, the value read from the sensor is treated as a signed, twos-complement quantity.
MS0,MI111=$D80010 ;read signed 24-bit absolute power on position ;from X:$0010
Turbo Ultralite
Description
I110=$000100 Power on position read from MACRO Node 0 as an I195=$740000 unsigned value ;(15*255) ;default ;might need to increase from factory default
;24-bit ;output at $12 ;grab data from 1st entry of ECT X register
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Accessory 24E2A
Symbol
CHA1+ CHA1CHB1+ CHB1CHC1+ CHC1ENCPWR GND CHU1+/DIR_1+ CHV1+/DIR_1CHW1+/PUL_1+ CHT1+/PUL_1-
Function
Input Input Input Input Input Input Output Common I/O I/O I/O I/O
Description
Encoder 1 Positive A Channel Encoder 1 Negative A Channel Encoder 1 Positive B Channel Encoder 1 Negative B Channel Encoder 1 Positive C Channel Encoder 1 Negative C Channel Digital Supply Digital Reference Supplemental Flag U or Direction 1+ Supplemental Flag V or Direction 1Supplemental Flag W or Pulse Output 1+ Supplemental Flag T or Pulse Output 1-
Notes
Index channel Index channel Power for encoder Also Direction Output Also Direction Output Also Pulse Output Also Pulse Output
Symbol
CHA2+ CHA2CHB2+ CHB2CHC2+ CHC2ENCPWR GND CHU1+/DIR_2+ CHV1+/DIR_2CHW1+/PUL_2+ CHT1+/PUL_2-
Function
Input Input Input Input Input Input Output Common I/O I/O I/O I/O
Description
Encoder 2 Positive A Channel Encoder 2 Negative A Channel Encoder 2 Positive B Channel Encoder 2 Negative B Channel Encoder 2 Positive C Channel Encoder 2 Negative C Channel Digital Supply Digital Reference Supplemental Flag U or Direction 2+ Supplemental Flag V or Direction 2Supplemental Flag W or Pulse Output 2+ Supplemental Flag T or Pulse Output 2-
Notes
Index channel Index channel Power for encoder Also Direction Output Also Direction Output Also Pulse Output Also Pulse Output
Symbol
GND BEQU1 BEQU2
Function
Common Output Output
Description
Reference Voltage Compare Output 1 Compare Output 2
Notes
39
Accessory 24E2A
Symbol
DAC1A+ DAC1ADAC1B+ DAC1BAE_NC_1 AE_COM_1 AE_NO_1 AFAULT_1+ AFAULT_1AA+15V AA-15V AAGND
Function
Output Output Output Output Output Input Output Input Input Input* Input* Input*
Description
Phase A Analog Out Phase A Analog Out Phase B Analog Out Phase B Analog Out Amplifier Enable Amplifier Enable Amplifier Enable
Notes
+/-10V, ref to AGND -/+10V; ref to AGND +/-10V, ref to AGND -/+10V; ref to AGND Normally closed Normally open
Analog Positive Supply Voltage Analog Negative Supply Voltage Analog Reference Voltage
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
*External power supply inputs for opto-isolation from the digital ground plane.
Symbol
DAC2A+ DAC2ADAC2B+ DAC2BAE_NC_2 AE_COM_2 AE_NO_2 AFAULT_2+ AFAULT_2AA+15V AA-15V AAGND
Function
Output Output Output Output Output Output Output Input Input Input* Input* Input*
Description
Phase A Analog Out Phase A Analog Out Phase B Analog Out Phase B Analog Out Amplifier Enable Amplifier Enable Amplifier Enable
Notes
+/-10V, ref to AGND -/+10V; ref to AGND +/-10V, ref to AGND -/+10V; ref to AGND Normally closed Normally open
Analog Positive Supply Voltage Analog Negative Supply Voltage Analog Reference Voltage
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
* External power supply inputs for opto-isolation from the digital ground plane.
Symbol
AAGND AA+15V AA-15V
Function
Input* Input* Input*
Description
Analog Reference Voltage Analog Positive Supply Voltage Analog Negative Supply Voltage
Notes
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
* External power supply inputs for opto-isolation from the digital ground plane.
40
Accessory 24E2A
Symbol
USER1 PLIM1 MLIM1 HOME1 FLG_1_RET
Function
Input Input Input Input Input
Description
General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return For All Flags
Notes
Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V
Symbol
USER2 PLIM2 MLIM2 HOME2 FLG_2_RET
Function
Input Input Input Input Input
Description
General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return For All Flags
Notes
Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V
41
Accessory 24E2A
42
Accessory 24E2A
Symbol
CHA3+ CHA3CHB3+ CHB3CHC3+ CHC3ENCPWR GND CHU3+/DIR_3+ CHV3+/DIR_3CHW3+/PUL_3+ CHT3+/PUL_3-
Function
Input Input Input Input Input Input Output Common I/O I/O I/O I/O
Description
Encoder 3 Positive A Channel Encoder 3 Negative A Channel Encoder 3 Positive B Channel Encoder 3 Negative B Channel Encoder 3 Positive C Channel Encoder 3 Negative C Channel Digital Supply Digital Reference Supplemental Flag U or Direction 3+ Supplemental Flag V or Direction 3Supplemental Flag W or Pulse Output 3+ Supplemental Flag T or Pulse Output 3-
Notes
Also pulse input Also pulse input Also direction input Also direction input Index channel Index channel Power for encoder Also direction output Also direction output Also pulse output Also pulse output
Symbol
CHA4+ CHA4CHB4+ CHB4CHC4+ CHC4ENCPWR GND CHU1+/DIR_4+ CHV1+/DIR_4CHW1+/PUL_4+ CHT1+/PUL_4-
Function
Input Input Input Input Input Input Output Common I/O I/O I/O I/O
Description
Encoder 4 Positive A Channel Encoder 4 Negative A Channel Encoder 4 Positive B Channel Encoder 4 Negative B Channel Encoder 4 Positive C Channel Encoder 4 Negative C Channel Digital Supply Digital Reference Supplemental Flag U or Direction 4+ Supplemental Flag V or Direction 4Supplemental Flag W or Pulse Output 4+ Supplemental Flag T or Pulse Output 4-
Notes
Index channel Index channel Power for encoder Also direction output Also direction output Also pulse output Also pulse output
Symbol
GND BEQU3 BEQU4
Function
Common Output Output
Description
Reference Voltage Compare Output 3 Compare Output 4
Notes
43
Accessory 24E2A
Symbol
DAC3A+ DAC3ADAC3B+ DAC3BAE_NC_3 AE_COM_3 AE_NO_3 AFAULT_3+ AFAULT_3AA+15V AA-15V AGND
Function
Output Output Output Output Output Output Output Input Input Input* Input* Input*
Description
Phase A Analog out Phase A Analog out Phase B Analog out Phase B Analog out Amplifier Enable Amplifier Enable Amplifier Enable
Notes
+/-10V, ref to AGND -/+10V; ref to AGND +/-10V, ref to AGND -/+10V; ref to AGND Normally closed Normally open
Analog Positive Supply Voltage Analog Negative Supply Voltage Analog Reference Voltage
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
* External power supply inputs for opto-isolation from the digital ground plane.
Symbol
DAC4A+ DAC4ADAC4B+ DAC4BAE_NC_4 AE_COM_4 AE_NO_4 AFAULT_4+ AFAULT_4AA+15V AA-15V AAGND
Function
Output Output Output Output Output Output Output Input Input Input* Input* Input*
Description
Phase A Analog out Phase A Analog out Phase B Analog out Phase B Analog out Amplifier Enable Amplifier Enable Amplifier Enable
Notes
+/-10V, ref to AGND -/+10V; ref to AGND +/-10V, ref to AGND -/+10V; ref to AGND Normally closed Normally open
Analog Positive Supply Voltage Analog Negative Supply Voltage Analog Reference Voltage
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
* External power supply inputs for opto-isolation from the digital ground plane.
Symbol
AAGND AA+15V AA-15V
Function
Input Input Input
Description
Analog Reference Voltage Analog Positive Supply Voltage Analog Negative Supply Voltage
Notes
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
* External power supply inputs for opto-isolation from the digital ground plane.
44
Accessory 24E2A
Symbol
USER3 PLIM3 MLIM3 HOME3 FLG_3_RET
Function
Input Input Input Input Input
Description
General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return for All Flags
Notes
Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V
Symbol
USER4 PLIM4 MLIM4 HOME4 FLG_4_RET
Function
Input Input Input Input Input
Description
General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return for All Flags
Notes
Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V
45
Accessory 24E2A
46
Accessory 24E2A
Symbol
CHT1+/PUL_1CHV1+/DIR_1GND CHC1CHB1CHA1GND BEQU2 CHW1+/PUL_1+ CHU1+/DIR_1+ ENCPWR CHC1+ CHB1+ CHA1+ BEQU1
Function
I/O I/O Common Input Input Input Common Output I/O I/O Output Input Input Input Output
Description
Supplemental Flag T or Pulse Output 1Supplemental Flag V or Direction 1Digital Reference Enc 1 Neg. C Chan. Enc 1 Neg. B Chan. Enc 1 Neg. A Chan. Reference Voltage Compare Output 2 Supplemental Flag W or Pulse Output 1+ Supplemental Flag U or Direction 1+ Digital Supply Enc 1 Pos. C Chan. Enc 1 Pos. B Chan. Enc 1 Pos. A Chan. Compare Output 1
Notes
Also pulse output Also direction output Index channel
Also pulse output Also direction output Power for encoder Index channel
Symbol
CHT2+/PUL_2CHV2+/DIR_2GND CHC2CHB2CHA2GND BEQU2 CHW2+/PUL_2+ CHU2+/DIR_2+ ENCPWR CHC2+ CHB2+ CHA2+ BEQU1
Function
I/O I/O Common Input Input Input Common Output I/O I/O Output Input Input Input Output
Description
Supplemental Flag T or Pulse Output 2Supplemental Flag V or Direction 2Digital Reference Enc 2 Neg. C Chan. Enc 2 Neg. B Chan. Enc 2 Neg. A Chan. Reference Voltage Compare Output 2 Supplemental Flag W or Pulse Output 2+ Supplemental Flag U or Direction 2+ Digital Supply Enc 2 Pos. C Chan. Enc 2 Pos. B Chan. Enc 2 Pos. A Chan. Compare Output 1
Notes
Also pulse output Also direction output Index channel
Also pulse output Also direction output Power for encoder Index channel
47
Accessory 24E2A
Symbol
DAC1A+ DAC1B+ AE_NC_1 AE_NO_1 AFAULT_1AA-15V AAGND AA-15V DAC1ADAC1BAE_COM_1 AFAULT_1+ AA+15V AAGND AA+15V
Function
Output Output Output Output Input Input* Input* Input* Output Output Input Input Input* Input* Input*
Description
Phase A Analog Out Phase B Analog Out Amplifier Enable Amplifier Enable Analog Negative Supply Voltage Analog Reference Voltage Analog Negative Supply Voltage Phase A Analog Out Phase B Analog Out Amplifier Enable Analog Positive Supply Voltage Analog Reference Voltage Analog Positive Supply Voltage
Notes
+/-10V, ref to AGND +/-10V, ref to AGND Normally closed Normally open Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power -/+10V; ref to AGND -/+10V; ref to AGND
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
*External power supply inputs for opto-isolation from the digital ground plane.
Symbol
DAC2A+ DAC2B+ AE_NC_2 AE_NO_2 AFAULT_2AA-15V AAGND AA-15V DAC2ADAC2BAE_COM_2 AFAULT_2+ AA+15V AAGND AA+15V
Function
Output Output Output Output Input Input* Input* Input* Output Output Input Input Input* Input* Input*
Description
Phase A Analog Out Phase B Analog Out Amplifier Enable Amplifier Enable Analog Negative Supply Voltage Analog Reference Voltage Analog Negative Supply Voltage Phase A Analog Out Phase B Analog Out Amplifier Enable Analog Positive Supply Voltage Analog Reference Voltage Analog Positive Supply Voltage
Notes
+/-10V, ref to AGND +/-10V, ref to AGND Normally closed Normally open Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power -/+10V; ref to AGND -/+10V; ref to AGND
Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power Remove jumpers E85, E87, E88 if using external power
*External power supply inputs for opto-isolation from the digital ground plane.
48
Accessory 24E2A
Symbol
USER1 PLIM1 MLIM1 HOME1 FLG_1_RET
Function
Input Input Input Input Input
Description
General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return For All Flags
Notes
Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V
Symbol
USER2 PLIM2 MLIM2 HOME2 FLG_2_RET
Function
Input Input Input Input Input
Description
General Capture Flag Positive Limit Flag Negative Limit Flag Home Flag Return For All Flags
Notes
Sinking or sourcing Sinking or sourcing Sinking or sourcing Sinking or sourcing +V (12 to 24V) or 0V
49
Accessory 24E2A
50
Accessory 24E2A
UBUS PINOUTS
P1 UBUS (96Pin Header)
Front View
Pin #
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
Row A
+5Vdc GND BD01 BD03 BD05 BD07 BD09 BD11 BD13 BD15 BD17 BD19 BD21 BD23 BS1 BA01 BA03 BX/Y CS3BA05 CS12CS16BA13 BRDBS3 WAITPHASE+ PHASEANALOG -15Vdc GND +5Vdc
Row B
+5Vdc GND DAT0 SEL0 DAT1 SEL1 DAT2 SEL2 DAT3 SEL3 DAT4 SEL4 DAT5 SEL5 DAT6 SEL6 DAT7 SEL7 BA06 BA07 BA08 BA09 BA10 BA11 MEMCS0MEMCS1IREQ1IREQ2GND IREQ3PWRGND GND +5Vdc
Row C
+5Vdc GND BD00 BD02 BD04 BD06 BD08 BD10 BD12 BD14 BD16 BD18 BD20 BD22 BS0 BA00 BA02 BA04 CS2CS4CS10CS14BA12 BWRBS2 RESET SERVO+ SERVOANALOG GND +15Vdc GND +5Vdc
For more details about the JEXP, see the UBUS Specification Document.
UBUS Pinouts
51
Accessory 24E2A
DECLARATION OF CONFORMITY
Application of Council Directive: 89/336/EEC, 72/23/EEC
Manufacturers Name: Manufacturers Address: Delta Tau Data Systems, Inc. 21314 Lassen Street Chatsworth, CA 91311 USA
We, Delta Tau Data Systems, Inc. hereby declare that the product Product Name: Accessory 24E2A Model Number: 603398 And all of its options conforms to the following standards: EN61326: 1997 EN55011: 1998 EN61010-1 EN61000-3-2 :1995 A14:1998 EN61000-3-3: 1995 EN61000-4-2:1995 A1: 1998 EN61000-4-3: 1995 A1: 1998 EN61000-4-4: 1995 EN61000-4-5: 1995 EN61000-4-6: 1996 EN61000-4-11: 1994 Date Issued: Place Issued:
Mark of Compliance
52
Declaration of Conformity
Accessory 24E2A
Declaration of Conformity
53
Accessory 24E2A
SCHEMATICS
54
Schematics
Accessory 24E2A
Schematics
55