Accessory 51E
iv Table of Contents
Table of Contents
INTRODUCTION .......................................................................................................................................................1
Features..........................................................................................................................................................................1
Limitations when Used With Original UMAC MACRO CPU (602804)......................................................................1
Board Configuration......................................................................................................................................................2
Base Configuration ...................................................................................................................................................2
Options......................................................................................................................................................................2
Indicators ..................................................................................................................................................................2
SPECIFICATIONS.....................................................................................................................................................3
Environmental Specifications........................................................................................................................................3
Physical Specifications..................................................................................................................................................3
Electrical Specifications ................................................................................................................................................3
Agency Approval and Safety.........................................................................................................................................4
LAYOUT OF ACC-51E, UBUS INTERPOLATOR................................................................................................5
Dipswitch and E1 Jumper Configuration.......................................................................................................................6
Acc-51E Mappings when Used with UMAC Turbo CPU..........................................................................................7
Acc-51E Mappings when Used with UMAC MACRO Station CPU..........................................................................7
Jumper Configurations ..................................................................................................................................................8
Table of Jumpers for rev 104 and below...................................................................................................................8
E1 - MACRO Station/Turbo Select............................................................................................................................8
E2, E3, E4, E5, E6, E7 - Encoder Input Select Channel 1 and 2 ..............................................................................8
E8, E9, E10 - Index Capture Select for Channel 1....................................................................................................9
E11, E12, E13, E14, E15, E16 - Encoder Input Select (Option 1- Additional Two Channels) .................................9
E17, E18, E19 - Index Capture Select for Channel 3 (Option 1- Additional Two Channels) ...................................9
Table of Jumpers for rev 105 ..................................................................................................................................10
E1 - MACRO Station/Turbo Select..........................................................................................................................10
E2, E3, E4, E5, E6, E7 –SIN/COS Encoder Input Select Channel 1 and 2 ............................................................10
E21, E22, E23, E24 –Hyperface/ENDAT Input Select Channel 1 and 2................................................................10
E11, E12, E13, E14, E15, E16 –SIN/COS Encoder Input Select (Option 1- Additional Two Channels)...............11
E25, E26, E27, E28 –Hyperface/ENDAT Input Select (Option 1- Additional Two Channels)...............................11
ENCODER CONNECTIONS...................................................................................................................................12
Sinusoidal Encoder Wiring..........................................................................................................................................12
Differential Format .................................................................................................................................................12
Single-Ended Format ..............................................................................................................................................12
Type of Cable for Encoder Wiring ..........................................................................................................................14
PRINCIPLE OF OPERATION................................................................................................................................16
TURBO UMAC AND THE UMAC INTERPOLATOR........................................................................................18
I-Variables for Turbo UMAC Processor .....................................................................................................................18
Encoder Decode Control I-Variables (I7mn0)........................................................................................................18
Motor xx Counts per N Commutation Cycles (Ixx71) .............................................................................................18
Motor xx Number of Commutation Cycles (N) (Ixx70) ...........................................................................................18
Commutation Position I-Variables (Ixx83) .............................................................................................................18
Encoder Conversion Table ..........................................................................................................................................19
Using the PMAC Executive.....................................................................................................................................21
Example: Turbo PMAC with Acc-51E for two Encoders.......................................................................................22
Motor xx Homing and Hardware Capture in Triggered Moves..............................................................................22
Motor xx Homing and Software Capture in Triggered Moves ................................................................................22
Encoder Servo Feedback I- Variables.....................................................................................................................23
UMAC MACRO STATION PROCESSOR AND THE UMAC INTERPOLATOR...........................................24
Method 1: Assign Acc-51E into Four Axes................................................................................................................24
I-Variables for UMAC MACRO Station Processor.................................................................................................24
