Delta Tau Acc 24M2A Users Manual

2015-07-14

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^1 USER MANUAL

^2 Accessory 24M2A

^3 MACRO Analog Output Servo Module
^4 3Ax-603744-10x
^5 February 14, 2015

DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION …

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use
21314 Lassen St. Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

Accessory 24M2A

Copyright Information
© 2/14/2015 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.

Accessory 24M2A

Safety Instructions
Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified
personnel are persons who are familiar with the transport, assembly, installation, and operation of
equipment. The qualified personnel must know and observe the following standards and regulations:
IEC364resp.CENELEC HD 384 or DIN VDE 0100
IEC report 664 or DIN VDE 0110
National regulations for safety and accident prevention or VBG 4
Incorrect handling of products can result in injury and damage to persons and machinery. Strictly adhere
to the installation instructions. Electrical safety is provided through a low-resistance earth connection. It
is vital to ensure that all system components are connected to earth ground.
This product contains components that are sensitive to static electricity and can be damaged by incorrect
handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the
product on a conductive surface. Discharge any possible static electricity build-up by touching an
unpainted, metal, grounded surface before touching the equipment.
Keep all covers and cabinet doors shut during operation. Be aware that during operation, the product has
electrically charged components and hot surfaces. Control and power cables can carry a high voltage,
even when the motor is not rotating. Never disconnect or connect the product while the power source is
energized to avoid electric arcing.

A Warning identifies hazards that could result in personal injury or
death. It precedes the discussion of interest.
Warning

A Caution identifies hazards that could result in equipment damage. It
precedes the discussion of interest.
Caution

A Note identifies information critical to the understanding or use of
the equipment. It follows the discussion of interest.
Note

Accessory 24M2A

REVISION HISTORY
REV.
1

2
3

4
5

DESCRIPTION
CHANGED 7-SEGMENT DISPLAY DESCRIPTIONS
REMOVED DUPLICATE SECTIONS FOR 7-SEGMENT
DISPLAY AND CONNECTOR DESCRIPTIONS
FORMATTING HEADER/FOOTER CORRECTIONS
MOVED “FLAG AND LIMIT WIRING” TO
“CONNECTIONS” SECTION
E-POINT JUMPER DESCRIPTIONS REVISED
REVISED MACRO FIBER OPTION CONNECTOR
DESCRIPTIONS
CHANGED MECHANICAL LAYOUT AND
CONNECTION SCHEMATICS
CHANGED 24v INPUT LOGIC SUPPLY CONNECTOR
(j10) WIRING
ADDED TWO SINGLE-ENDED WIRING METHODS
FOR SINUSIOD FEEDBACK
MODIFIED MACRO RING ASCII COMMANDS
MACRO ASCII COMMUNICATION GLOBAL
COMMANDS
REVISED “SETTING UP DIGITAL QUADRATURE
ENCODERS”
REVISED “SET UP PROCEDURES FOR SSI
ENCODERS”
REVISED “SET UP PROCEDURES FOR RESOLVERS”
REVISED “SET UP PROCEDURES FOR SINUSOIDAL
ENCODERS”
REVISED “SET UP PROCEDURES FOR PHASE
SHIFT”
REVISED “SET UP PROCEDURES FOR POWER-ON
ABSOLUTE POSITION OF RESOLVER
ADDED “MANUAL SETUP FOR MOTOR OPERATION”
SECTION
ADDED MI16, MI17 AND MI18 FUNCTIONALITY
DESCRIPTION
COMPLETE MANUAL REVISION

DATE

CHG

APPVD

06/11/06

C.PERRY

A. SOTELO

06/19/06
08/21/08

C.PERRY
C.PERRY

A. SOTELO
K. ZHAO

01/05/10

C.PERRY

S.SATTARI

02/14/15

DCDP

R. NADDAF

Accessory 24M2A

Table of Contents
INTRODUCTION .....................................................................................................................9
SPECIFICATIONS ................................................................................................................. 10
Part Number .............................................................................................................................. 10
ACC-24M2A Options ............................................................................................................... 10
Environmental Specifications .................................................................................................... 11
Electrical Specifications ............................................................................................................ 11
Physical Specifications .............................................................................................................. 11
RECEIVING AND UNPACKING ......................................................................................... 12
Unpacking Guidelines ............................................................................................................... 12
Use of Equipment ..................................................................................................................... 12
MOUNTING ........................................................................................................................... 13
Installation Guidelines............................................................................................................... 13
Connector Locations ................................................................................................................. 14
CONNECTOR PINOUTS ...................................................................................................... 15
J10: 24 VDC Logic Power Input ................................................................................................. 15
J1: Amplifier Channel 1 ............................................................................................................ 16
J2: Amplifier Channel 2 ............................................................................................................ 16
J6: Flags and Limits .................................................................................................................. 17
J11 & J12: Encoder Feedback, Digital A Quad B ...................................................................... 18
J11 & J12: Encoder Feedback, SSI ............................................................................................ 19
J11 & J12: Encoder Feedback, Sinusoidal ................................................................................. 20
J11 & J12: Encoder Feedback, EnDat ........................................................................................ 21
J11 & J12: Encoder Feedback, HiperFace ................................................................................. 22
J11 & J12: Encoder Feedback, Resolver .................................................................................... 23
Universal Serial Bus Port (USB Port) ........................................................................................ 24
MACRO Fiber Connector ......................................................................................................... 25
MACRO RJ-45 Copper Connector ............................................................................................ 25
Sample Wiring Diagrams .......................................................................................................... 26
J6: Flags .......................................................................................................................................... 26
J11 & J12: Encoder Feedback, Digital A Quad B ............................................................................. 28
J11 & J12: Encoder Feedback, SSI ................................................................................................... 28
J11 & J12: Encoder Feedback, Sinusoidal........................................................................................ 29
J11 & J12: Encoder Feedback, EnDat .............................................................................................. 32
J11 & J12: Encoder Feedback, HiperFace ....................................................................................... 32
J11 & J12: Encoder Feedback, Resolver .......................................................................................... 33

TROUBLESHOOTING .......................................................................................................... 34
Introduction

Accessory 24M2A

Status LED Indicators ............................................................................................................... 34
7-Segment LED Indicator.......................................................................................................... 34
CONFIGURING WITH TURBO PMAC .............................................................................. 35
Quick Review: Nodes and Addressing....................................................................................... 35
Setup Overview ......................................................................................................................... 37
Setup Step 1: MACRO Connectivity ......................................................................................... 38
Setup Step 2: Communicating with ACC-24M2A over MACRO ASCII ................................... 39
Setup Step 3: Motor Setup ......................................................................................................... 40
Clocks .............................................................................................................................................. 40
Activating Motors and Disabling Commutation ................................................................................ 40
Motor Feedback ............................................................................................................................... 41
Flags ................................................................................................................................................ 49
Output Commands ............................................................................................................................ 49
I2T Settings ...................................................................................................................................... 50
DAC Calibration .............................................................................................................................. 51
Open Loop Test ................................................................................................................................ 52
Servo Loop Tuning ........................................................................................................................... 53

CONFIGURING WITH POWER PMAC ............................................................................. 58
Quick Review: Nodes and Addressing....................................................................................... 58
Setup Overview ......................................................................................................................... 62
Setup Step 1: MACRO Connectivity ......................................................................................... 63
Setup Step 2: Communicating with ACC-24M2A over MACRO ASCII ................................... 64
Setup Step 3: Motor Setup ......................................................................................................... 65
Clocks .............................................................................................................................................. 65
Activating Motors and Disabling Commutation ................................................................................ 67
Motor Feedback ............................................................................................................................... 68
Flags ................................................................................................................................................ 77
Output Commands ............................................................................................................................ 78
I2T Settings ....................................................................................................................................... 79
DAC Calibration .............................................................................................................................. 79
Open Loop Test ................................................................................................................................ 81
Servo Loop Tuning ........................................................................................................................... 83

LAYOUT ................................................................................................................................. 88
APPENDIX A: JUMPERS ..................................................................................................... 89
APPENDIX B: SCHEMATICS .............................................................................................. 90
APPENDIX C: SINUSOIDAL INTERPOLATION ............................................................ 101

Introduction

Accessory 24M2A

INTRODUCTION
The ACC-24M2A is a two (2) axis servo peripheral designed to work with
Turbo PMAC2 Ultralite, Power PMAC EtherLite, or UMAC MACRO
controllers to remotely interface to two (2) channels of analog style amplifiers.
This device produces a ± 10 Vdc control signal to control analog amplifiers.
The ACC-24M2A can process the following feedback types:
 Quadrature
 1 Vpp Sinusoidal
 Resolver
 SSI

Introduction

Accessory 24M2A

SPECIFICATIONS
Part Number
D

ACC-24M2A

A - Fiber-Optic MACRO Transceiver

0 - Standard Quadrature Encoder Feedback

C - RJ-45 MACRO Connector

3 - Quadrature Encoder Feedback and
Two channels of sinusoidal, Resolver,
Two channels of SSI Encoder Feedback

MACRO Communication Options

0
K

00 - No Additional* Options
xx - FactoryHassigned digits
for Additional* Options
Factory Assigned Options

MACRO Node Options
* If Any Additional Option is required, contact factory for digits K and

L (Factory Assigned digits).

ACC-24M2A Options
ACC-24M2A may be ordered equipped with the following options:
Options Included
2-axis MACRO Analog Servo Peripheral With
Fiber-optic MACRO connectors (Opt-A Included)
2-axis MACRO Analog Servo Peripheral With
RJ-45 isolated electrical MACRO connectors (Opt-C Included)
2-axis MACRO Analog Servo Peripheral With
Fiber-optic MACRO connectors (Opt-A Included)
Two channels of sinusoidal, Resolver (Opt-3 Included)
Two channels of SSI Encoder Feedback
2-axis MACRO Analog Servo Peripheral With
RJ-45 isolated electrical MACRO connectors (Opt-C Included)
Two channels of sinusoidal, Resolver (Opt-3 Included)
Two channels of SSI Encoder Feedback

Specifications

Part Number
4-3744-00-A000-00000
4-3744-00-C000-00000

4-3744-00-A003-00000

4-3744-00-C003-00000

Accessory 24M2A

Environmental Specifications
Description
Operating Temperature
Rated Storage Temperature

Unit
°C
°C

Humidity
Shock
Vibration
Operating Altitude
Air Flow Clearances

Feet (Meters)
in (mm)

Specifications
+0 to 45°C
-25 to +70
10% to 90% non-condensing
Call Factory
Call Factory
To 3300 feet (1000meters)
1" (2.54mm) above and below unit for air flow

Electrical Specifications
Main Input Power
Output Power

Nominal Input Voltage (Vdc)
DAC Output (Vdc)
DAC Output (A)
Flag Output (Vdc)
Flag Input (Vdc)

24 Vdc
+/- 10 Vdc
0.045A
12-24Vdc Standard, 5 Vdc w/ RP38 Installed
12-24Vdc Standard, 5 Vdc w/ RP38 Installed

Installing a 1 KΩ resistor pack at RP38 will make the flags 5 Vdc.
Note

Physical Specifications
Overall Dimensions
Mounting Dimensions

Width
2.00in./50.8mm
1.25in./31.75mm

Height
9.75in./ 247.7mm
9.375in./ 238.13mm

Depth
6.50in./ 165.1mm

Weight: 2.3 lbs / 1.0 kg
See the “Layout” section of this manual for drawings of the physical layout.

Specifications

Accessory 24M2A

RECEIVING AND UNPACKING
Unpacking Guidelines
Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the
ACC-24M2A is received, do the following immediately:
1. Inspect the condition of the shipping container and report any damage immediately to the commercial
carrier that delivered the drive.
2. Remove the device from the shipping container and remove all packing materials. Check all shipping
material for connector kits, documentation, diskettes, CD ROM, or other small pieces of equipment.
Be aware that some connector kits and other equipment pieces may be quite small and can be
discarded accidentally if care is not used when unpacking the equipment. The container and packing
materials can be retained for future shipment.
3. Electronic components in this device are design-hardened to reduce static sensitivity. However, use
proper procedures when handling the equipment.
4. If ACC-24M2A is to be stored for several weeks before use, be sure that it is stored in a location that
conforms to published storage humidity and temperature specifications stated in this manual.

Use of Equipment
The following guidelines describe the restrictions for proper use of ACC-24M2A:
 The components built into electrical equipment or machines can be used only as integral components
of such equipment.
 ACC-24M2A must not be operated on power supply networks without a ground or with an
asymmetrical ground.
 ACC-24M2A may be operated only in a closed switchgear cabinet, taking into account the ambient
conditions defined in the environmental specifications.
Delta Tau guarantees the conformance of ACC-24M2A with the standards for industrial areas stated in
this manual only if Delta Tau components (cables, controllers, etc.) are used.

Receiving and Unpacking

Accessory 24M2A

MOUNTING
Installation Guidelines
This product should be installed in an area that is protected from direct sunlight, corrosives, harmful gases
or liquids, dust, metallic particles, and other contaminants. Exposure to these can reduce the operating
life and degrade the performance.
A couple other factors to evaluate carefully when selecting a location for installation:
 Allow for at least 1 inch (2.54mm) top and bottom clearance to permit airflow. At least 0.4 inches
(10mm) clearance is required between each side.
 Temperature, humidity and vibration specifications should also be considered.
ACC-24M2A can be mounted with a 3-hole panel mount, two U-shape notches on the bottom and one
pear-shaped hole on top. Mounting is also identical to this on all peripheral devices.
If multiple MACRO devices are used, they can be mounted side-by-side, leaving at least a 0.4 inch
clearance between them. It is important that the airflow is not obstructed by the placement of conduit
tracks or other devices in the enclosure.
ACC-24M2A should be mounted to an unpainted, electrically-conductive panel in order to allow for
reduced electrical noise interference. The back panel should be machined to accept the mounting bolt
pattern of the accessory. Make sure that all metal chips are cleaned up before the device is mounted so
that there is no risk of getting metal chips inside the device.
ACC-24M2A is mounted to the back panel with three M4 screws and internal-tooth lock washers. The
teeth of the washers must break through the device’s anodizing in order to provide an electricallyconductive path in as many places as possible.

Caution

Units must be installed in an enclosure that meets the environmental
IP rating of the end product (ventilation or cooling may be necessary
to prevent enclosure ambient from exceeding 45° C [113° F]).

WARNING

Mounting

Installation of electrical control equipment is subject to many
regulations including national, state, local, and industry guidelines
and rules. General recommendations can be stated but it is
important that the installation be carried out in accordance with
all regulations pertaining to the installation.

Accessory 24M2A

Connector Locations
Below is a drawing of the product with its connectors labeled:

J11 Encoder
Chan 1

J12 encoder
Chan 2

USB

J6
Flags
1&2

Option-A
MACRO
FIBER
Option-B
MACRO
RJ45

OUT
IN
OUT
IN

J1
AMP1 J2
AMP2

Mounting

J10
24VDC INPUT

+24VDC
RET

Accessory 24M2A

CONNECTOR PINOUTS
J10: 24 VDC Logic Power Input
An external 24VDC power supply is required to power the logic, flags and DAC output sections of ACC24M2A through the J10 connector. The polarity of this connection is extremely important. Carefully
follow the instructions in the wiring diagram. This connection can be made using 16 AWG wire directly
from a protected power supply. In situations where the power supply is shared with other devices, it may
be desirable to insert a filter in this connection.
The power supply providing this 24V must be capable of providing an instantaneous current of at least
1.5A to be able to start the DC-to-DC converter in ACC24M2A. In the case where multiple devices are
driven from the same 24V supply, it is recommended that each device be wired back to the power supply
terminals independently. It is also recommended that the power supply be sized to handle the
instantaneous inrush current required for each device.

J10: 3-Pin Edge Connector
Mating: Plated Pins on ACC-24M2A PCB
Pins: 3 2 1

Pin #
Symbol
Function
Description
1
24VDC RET
Common
Logic power return
2
+24VDC
Input
Logic power input
3
N.C.
N.C.
Not Connected
Connector is located at the bottom side of the unit.
Delta Tau part number: 014-188305-001
Phoenix part number: 1883051

Connector Pinouts

Notes
24V ±10%, 2 A

Accessory 24M2A

J1: Amplifier Channel 1
J1: DB-15 Female
Mating: DB-15 Male
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Symbol
DAC1_A+
DAC1_B+
AE_NC_1
AE_NO_1
AFAULT_1N.C.
A+12V
AGND
DAC1_ADAC1_BAE_COM_1
AFAULT_1+
N.C.
AGND
A-12V

7
15

6
14

5
13

4
12

3
11

2
10

1
9

Description
Phase A +analog output
Phase B +analog output
Amplifier Enabled Normally Closed
Amplifier Enabled Normally Open
Amplifier Fault input
Do not connect
Analog Positive Supply Voltage
Analog Ground
Phase A +analog output
Phase B +analog output
Amplifier Enable Common
Amplifier Fault input
Do not connect
Analog Ground
Analog Negative Supply Voltage

J2: Amplifier Channel 2
J1: DB-15 Female
Mating: DB-15 Male
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Connector Pinouts

Symbol
DAC2_A+
DAC2_B+
AE_NC_2
AE_NO_2
AFAULT_2N.C.
A+12V
AGND
DAC2_ADAC2_BAE_COM_2
AFAULT_2+
N.C.
AGND
A-12V

7
15

6
14

5
13

4
12

3
11

2
10

1
9

Accessory 24M2A

J6: Flags and Limits
8

J6: DB-15 Female
Mating: DB-15 Male
Pin #
1
9
2
10
3
11
4
12
5
13
6
14
7
15
8

Symbol
USER1
PLIM1
NLIM1
HOME1
FLG_RTN1
EQU1
USER2
PLIM2
NLIM2
HOME2
FLG_RTN2
EQU2
GND
GND
GND

Connector Pinouts

7
15

Direction
Input
Input
Input

Input
Input
Output
Input
Input
Input

6
14

5
13

4
12

3
11

2
10

1
9

Description
User Flag for Channel 1
Positive Position Limit for Channel 1
Negative Position Limit for Channel 1
Home flag for Channel 1
Voltage return for Channel 1’s flags
Position Compare Output for Channel 1
User Flag for Channel 2
Positive Position Limit for Channel 2
Negative Position Limit for Channel 2
Home flag for Channel 2
Voltage return for Channel 2’s flags
Position Compare Output for Channel 2
Digital Ground
Digital Ground
Digital Ground

Accessory 24M2A

J11 & J12: Encoder Feedback, Digital A Quad B
ACC-24M2A accepts inputs from two digital encoders and provides encoder position data to PMAC. J11
is for Encoder 1 and J12 is for Encoder 2. The ACC-24M2A’s encoder interface circuitry employs
differential line receivers. The differential format provides a means of using twisted pair wiring that
allows for better noise immunity when wired into machinery.

J11 & J12: D-sub DB-25F
Mating: D-sub DB-25M

Note:





12
25

11
24

10
23

9
22

8
21

7
20

6
19

5
18

4
17

3
16

2
15

1
14

Pin #

Symbol

Description

1
14
2
15
3
16
12 / 24*
13 / 25

ChA+
ChAChB+
ChBChC+
ChCENCPWR/5V
GND

Channel A Positive Signal
Channel A Negative Signal
Channel B Positive Signal
Channel A Negative Signal
Channel C Positive Signal
Channel C Negative Signal
Encoder Power (+5VDC)
Digital Ground

Do not connect the pins that are not listed.
*If the encoder being used required +5VDC power, it can be connected to pins 12/24, and grounded on pins
13/25. However, if the encoder has different power requirements, do not connect pins 13/24 and 13/25 to
the encoder.
To twist the ENCPWR/5V and the GND wires together is recommended for better noise immunity.
Tie together the ACC-24M2A’s GND and the encoder’s power supply GND if an external power supply is
used for the encoder for better noise immunity.

Note

Connector Pinouts

Most applications use pin 12 to supply power to the encoder.
However, for encoders that send out initial information at power on,
the user should use pin 24 instead of pin 12, and then set MI984=1 on
ACC-24M2A in order to manually enable the encoder power after
PMAC is powered on.

Accessory 24M2A

J11 & J12: Encoder Feedback, SSI
ACC-24M2A accepts inputs from two digital encoders and provides encoder position data to PMAC. J11
is for Encoder 1 and J12 is for Encoder 2. The ACC-24M2A’s encoder interface circuitry employs
differential line receivers. The differential format provides a means of using twisted pair wiring that
allows for better noise immunity when wired into machinery.

J11 & J12: D-sub DB-25F
Mating: D-sub DB-25M

Note:





12
25

11
24

10
23

9
22

8
21

7
20

6
19

5
18

4
17

3
16

2
15

1
14

Pin #

Symbol

Description

6
7
19
20
12/24*
13/25

CLK+
DATA+
CLKDATAENCPWR/5V
GND

Serial Clock Signal Positive
Serial Data Signal Positive
Serial Clock Signal Negative
Serial Data Signal Negative
Encoder Power (+5VDC)
Digital Ground

Note

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, Sinusoidal
ACC-24M2A accepts inputs from two digital encoders and provides encoder position data to PMAC. J11
is for Encoder 1 and J12 is for Encoder 2. The ACC-24M2A’s encoder interface circuitry employs
differential line receivers. The differential format provides a means of using twisted pair wiring that
allows for better noise immunity when wired into machinery.
Acc-24M2A with the Sinusoidal Interpolator option accepts inputs from two sinusoidal or quasisinusoidal encoders and provides encoder position data to the motion processor. This interpolator creates
4,096 steps per sine-wave cycle. The user must order the appropriate option. ACC-24M2A can be used
only with a voltage mode sinusoidal encoder type.
Be sure to use shielded, twisted pair cabling for sinusoidal encoder wiring. Double insulated is the best
choice. The sinusoidal signals are very small and must be kept as noise free as possible. Avoid cable
routing near noisy motor or driver wiring. Refer to the appendix for tips on encoder wiring.
It is possible to reduce noise in the encoder lines of a motor-based system by the use of inductors that are
placed between the motor and the amplifier. Improper grounding techniques may also contribute to noisy
encoder signals.

J11 & J12: D-sub DB-25F
Mating: D-sub DB-25M

Note:





12
25

11
24

10
23

9
22

8
21

7
20

6
19

5
18

4
17

3
16

2
15

1
14

Pin #

Symbol

Description

1
14
2
15
3
16
12/24*
13/25

Sin+
SinCos+
CosIndex+
IndexENCPWR/5V
GND

Sinusoidal Signal Positive
Sinusoidal Signal Negative
Cosine Signal Positive
Cosine Signal Negative
Index Pulse Signal Positive
Index Pulse Signal Negative
Encoder Power (+5VDC)
Ground

Note

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, EnDat
The Acc-24M2A will read the absolute data from the EnDat (Encoder Data) interface only if the
appropriate option is ordered. Its differential format provides a means of using twisted-pair wiring that
allows for better noise immunity when wired into machinery.

J11 & J12: D-sub DB-25F
Mating: D-sub DB-25M

Note:





12
25

11
24

10
23

9
22

8
21

7
20

6
19

5
18

4
17

3
16

2
15

1
14

Pin #

Symbol

Description

1
2
14
15
6
7
19
20
12/24
13/25

Sin+/ ChA+
Cos+/ChB+
Sin-/ChACos-/ChBCLK+
DATA+
CLKDATAENCPWR/5V
GND

Sinusoidal Signal Positive/Channel A Positive
Cosine Signal Positive/Channel B Positive
Sinusoidal Signal Negative/Channel A Negative
Cosine Signal Negative/Channel B Negative
Clock Signal Positive
Data Signal Positive
Clock Signal Negative
Data Signal Negative
Encoder Power (+5VDC)
Ground

Note

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, HiperFace
ACC-24M2A will read the absolute data from the Hiperface® interface only if the appropriate option is
ordered.

J11 & J12: D-sub DB-25F
Mating: D-sub DB-25M

Note:





12
25

11
24

10
23

9
22

8
21

7
20

6
19

5
18

4
17

3
16

2
15

1
14

Pin #

Symbol

Description

1
2
14
15
7
20
12/24
13/25

Sin+/ ChA+
Cos+/ChB+
Sin-/ChACos-/ChBDATA+
DATAENCPWR/5V
GND

Note

As of the date of the latest revision of this manual, HiperFace is not
yet part of the ACC-24M2A firmware.
Note

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, Resolver
The ACC-24M2A can interface to most industry standard resolvers if the appropriate option is ordered.
Typical resolvers requiring 5 to 10 kHz excitation frequencies with voltages ranging from 5 to 10 V peakto-peak are compatible with this drive.
Fundamentally, the ACC-24M2A connects three differential analog signal pairs to each resolver: a single
excitation signal pair, and two analog feedback signal pairs. The wiring diagram below shows an
example of how to connect the ACC-24M2A to the Resolver.
The differential format provides a means of using twisted pair wiring that allows for better noise
immunity when wired into machinery.

J11 & J12: D-sub DB-25F
Mating: D-sub DB-25M

Note:





12
25

11
24

10
23

9
22

8
21

7
20

6
19

5
18

4
17

3
16

2
15

1
14

Pin #

Symbol

Description

4
17
5
18
11
13/25

ResSin+
ResSinResCos+
ResCosResOut
GND

Resolver Sine Positive
Resolver Sine Negative
Resolver Cosine Positive
Resolver Cosine Negative
Resolver Output
GND

Note

Connector Pinouts

Accessory 24M2A

Universal Serial Bus Port (USB Port)
This connector uses a USB A-B cable to establish communication between the PC and the ACC-24M2A.
This type of USB cable could be purchased at any local electronics or computer store. It may be ordered
from Delta Tau as well.
Pin #

Symbol

Function

1
2
3
4
5
6

VCC
DD+
GND
SHELL
SHELL

N.C.
DATADATA+
GND
SHIELD
SHIELD

This connector is used only to change the operational firmware, or to perform basic software diagnostic
operations. The user can use a serial port terminal window such as Microsoft® HyperTerminal to
communicate with the MACRO Device and send ASCII commands to the device. Set the serial port
communication settings as follows:
Baud Rate: 38400 if E3 is not jumpered, or 9600 if E3 is jumpered
Data Bits: 8
Parity: None
Stop Bits: 1
Flow Control: Xon/Xoff
If the PeWin32PRO2 software is installed on the PC, then the USB device should be recognized by the
operating system. If the device is not recognized, then contact Technical Support for assistance.

Connector Pinouts

Accessory 24M2A

MACRO Fiber Connector
Option A provides the following connector for MACRO communications:
OUT

MACRO SC-Style Fiber Connector
Front View

Pin #
1
2

Symbol
IN
OUT

Function
MACRO Ring Receiver
MACRO Ring Transmitter

Notes: The fiber optic version of MACRO uses 62.5/125 multi-mode glass fiber optic cable terminated in an SC-style connector.
The optical wavelength is 1,300 nm.

The input connector must be inserted into the MACRO output connector of the previous device on the
MACRO ring. The output connector must be inserted into the input MACRO connector of the next
device on the MACRO ring.

MACRO RJ-45 Copper Connector
Option C Provides the following connector for MACRO communications:

OUT

Connector: RJ45 CAT5e
Mating: RJ45 Receptacle
Front View

Pin #

Symbol

Function

1
2
3
4
5
6
7
8

DATA+
DATAUnused
Unused
Unused
Unused
Unused
Unused

Data +
Data -

Description
Differential MACRO Signal
Differential MACRO Signal
Unused terminated pin
Unused terminated pin
Unused terminated pin
Unused terminated pin
Unused terminated pin
Unused terminated pin

The cable used for MACRO wired connections is CAT5 verified straight-through 8 conductor.
The input connector must be inserted into the MACRO output connector of the previous device on the
MACRO ring. The output connector must be inserted into the input MACRO connector of the next
device on the MACRO ring.

Connector Pinouts

Accessory 24M2A

Sample Wiring Diagrams
J6: Flags
Sourcing Flags

Sinking Flags

0 VDC

USER1
PLIM1
MLIM1
HOME1
FLAG RET 1
EQU1
USER2
PLIM2
MLIM2
HOME2
FLAG RET2
EQU2

+5 or 12-24 VDC

5 or 12-24 VDC
Power Supply

Connector Pinouts

15
8

0 VDC

+5 or 12-24 VDC

USER1
PLIM1
MLIM1
HOME1
FLAG RET 1
EQU1
USER2
PLIM2
MLIM2
HOME2
FLAG RET2
EQU2

0 or 12-24 VDC
Power Supply

Accessory 24M2A

Output IC Diagram
ACC-24M2A allows the use of sinking or sourcing position limits and flags to the controller. The optoisolator IC used is a PS2705-4NEC-ND quad phototransistor output type (see below).

This IC allows the current to flow from return to flag (sinking) or from flag to return (sourcing).

A sample of the internal positive limit circuit for this IC is shown below.

The 4.7K resistor packs used will allow 12–24V flag inputs. If the user wants to use 0–5V flags, then a
1K resistor pack (RP) can be placed in RP7 for Channel 1’s flags or in RP8 for Channel 2’s flags. If
these resistor packs are not added, all flags ( Limits, Home, User, and Amplifier Fault) will be
referenced from 12–24V.

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, Digital A Quad B
The following wiring diagram shows an example of how to connect a quadrature encoder:
1
14
2
15
3
16
4

CHA+
CHACHB+
CHBCHC+
CHC-

Quadrature
Encoder

17
5
18
6

Shield

19
7
20
8
21
9
22
10
23

11
24
12

GND
25

J11 & J12: Encoder Feedback, SSI
1

CLK+
CLKDAT+
DAT-

SSI
encoder

Shield

10
23

+5V

11
24

GND

12
25
13

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, Sinusoidal
Differential Format
The differential format provides a means of using twisted pair wiring that allows for better noise
immunity when wired into machinery.
1
14
2
15
3
16
4

SIN+
SINCOS+
COSINDEX+
INDEX-

Sinusoidal
Encoder

17
5
18

Shield

6
19
7
20
8
21
9
22
10
23

11
24
12

GND
25

Single Ended Format 1
The single-ended formats provide a simpler means of using a sinusoidal encoder. Typically, fewer wires
are needed and the encoders are always of the lower impedance voltage output type.
Note that all the single-ended encoder formats shown
here might have velocity-ripple effects at very slow
speeds due to the effects of op-amp voltage offsets.
These offsets cause the sinusoidal signal to be centered
at a value that is slightly different from the reference or
servo ground as shown in the signal diagram on the right:

Connector Pinouts

Encoder Output [V]

Time [s]

Accessory 24M2A
Below is the wiring diagram for Single Ended Format 1:
SIN+
COS+
INDEX+

1
14

SIN-

2
15

COS-

3
16
4

Sinusoidal
Encoder

INDEXINDEX-

17
5
18

Shield

6
19
7
20
8
21
9
22

REV
2.5V

10
23

11
24
12

GND
25

Single Ended Format 2
The diagram shown below is a simple single-ended encoder-wiring interface for encoders with output
range at 2-3 Vdc. This encoder has SIN and COS outputs that provide a 1V peak-to-peak output with a
voltage offset of 2.5 Vdc. Note that the SIN+, COS+, and INDEX+ lines are tied to the 2.5V internal
references on the interpolator card.
Encoder Output [V]
The diagram to the right is similar to the signal diagram from
the Single Ended Format 1 but with a different voltage offset.
This encoder has SIN and COS outputs that provide a 1V peakto-peak output with a voltage offset of 0.0 Vdc. Note that the
SIN-, COS-, and INDEX- lines are tied to the GND on the
interpolator card, and the encoder usually requires a bipolar
supply.

Connector Pinouts

Time [s]

Accessory 24M2A
The wiring diagram for Single Ended Format 2 is below:
SIN+
COS+
INDEX+

1
14

SIN-

2
15

COS-

3
16
4

Sinusoidal
Encoder

INDEX-

17
5
18

Shield

6
19

+Vdc

7
20
8
21
9

- Vdc

22
10
23
11

GND

24
12

GND
25

Noise Problems
When problems do occur, the culprit is often electrical noise. When this occurs, attempt to control the
high-frequency current paths. If following the grounding instructions does not work, insert chokes in the
motor phases. These chokes can be as simple as several wraps of the individual motor leads through a
ferrite ring core (such as Micrometals T400-26D). This adds high-frequency impedance to the outgoing
motor cable thereby impeding high-frequency noise from leaving the control cabinet. Care should be
taken to be certain that the core’s temperature is in a reasonable range after installing such devices.

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, EnDat
EnDat Interface
1

Sin+
SinCos+
Cos-

1Vpp A

Interface

CLK+

CLKDATA+
DATA-.

EnDat

10
23

In_Therm_Mot

1Vpp B
Up Power
0V Supply
DATA
DATA
CLOCK
CLOCK

Shield

24
12
25
13

+5V
GND

J11 & J12: Encoder Feedback, HiperFace
Hiperface® Interface
1

1Vpp A

Hiperface Interface

Sin+
SinCos+
Cos-

DATA+
DATA-

1Vpp B
Up Power
0V Supply
DATA
DATA

10
23

In_Therm_Mot

Shield

24
12
25
13

+5V
GND

As of the date of the latest revision of this manual, HiperFace is not
yet part of the ACC-24M2A firmware.
Note

Connector Pinouts

Accessory 24M2A

J11 & J12: Encoder Feedback, Resolver
1
14

Resolver

ACC-24M2A

2
15
3

Sin+

ResSin+
ResSinResCos+
ResCos-.

SinTwisted pair Screened
Cable
Cos+

4
17
5
18
6
19
7
20
8
21
9
22
10

CosResOut

23
11

ResOut

24
12

GND

Shield

GND
GND

25
13

Notes:
Terminate shields on pins 13 and 25

Connector Pinouts

Accessory 24M2A

TROUBLESHOOTING
Status LED Indicators
Status Display
7-segment LED
PWR

Color
Red
Green

Description
16 numeric codes plus two decimal points
Lit when logic power is good

Red

Indicates that the watchdog safety circuit has
activated, indicating a failure condition.

7-Segment LED Indicator
This indicator reports the status of the unit with respect to the MACRO link, indicating the value of
MI974. These are the possible status codes:

D1
14
3

7-Segment LED

6
11
2
7
8
10
13
1

V CC
V CC
DPR
G
F
E
D
C
B
A

5082-7730

Display
0
1

Description
Ring Active with no errors
One (1) Amp Enable output
activated

Two (1) Amp Enable outputs
activated

3-9
A

NA
Amplifier Fault

MACRO Ring Break Fault

Configuration change fault

MACRO Ring Fault

Encoder Fault

Troubleshooting

Notes/Cause
Normal Operation with decimal point blinking
If an amplifier/motor is connected, it is potentially
activated in either open or closed loop form. Exercise
caution.
If an amplifier/motor is connected, it is potentially
activated in either open or closed loop form. Exercise
caution.
NA
Denotes Amplifier fault condition true. Cleared by
enabling amplifier or CLRF.
Break or misconnection in fiber optic or RJ45 ring
termination.
Denotes mismatch between master and slave node
configuration. Check MI996 and I6806, etc. for match.
Clear with CLRF.
Ring Data-Error Fault. Too many ring errors or not
enough synch packets being received. Node 15 may not
be properly enabled.
Encoder Loss bit condition true (MI927=1). Occurs
only when Encoder Loss detection is enabled. Denotes
loss of encoder signal. Check encoder wiring and
functionality.
NA

Accessory 24M2A

CONFIGURING WITH TURBO PMAC
Quick Review: Nodes and Addressing
Each MACRO IC consists of 16 nodes: 2 auxiliary, 8 servo, and 6 I/O nodes.
 Auxiliary nodes are Master/Control registers and internal firmware use.
 Servo nodes carry information such as feedback, commands, and flags for motor control.
 I/O nodes are by default unoccupied and are user configurable for transferring miscellaneous data.
I/O Nodes

Node

Auxiliary
Nodes

Servo Nodes

Each I/O node consists of 4 registers; one 24-bit and three 16-bit registers for a total of 72 bits of data.

24-bit
1st 16-bit
2nd 16-bit
3rd 16-bit

A given MACRO Station can be populated with either a MACRO8 or MACRO16 CPU:



MACRO8 supports only 1 MACRO IC (IC#0).
MACRO16 supports 2 MACRO ICs (IC#0 and IC#1).

The I/O node addresses ($C0XX) for each of the Station MACRO ICs are:

Node
24-bit
16-bit
16-bit
16-bit

2
X:$C0A0
X:$C0A1
X:$C0A2
X:$C0A3

3
X:$C0A4
X:$C0A5
X:$C0A6
X:$C0A7

Station MACRO IC #0 Node Registers
6
7
10
X:$C0A8
X:$C0AC
X:$C0B0
X:$C0A9
X:$C0AD
X:$C0B1
X:$C0AA
X:$C0AE
X:$C0B2
X:$C0AB
X:$C0AF
X:$C0B3

11
X:$C0B4
X:$C0B5
X:$C0B6
X:$C0B7

Node
24-bit
16-bit
16-bit
16-bit

2
X:$C0E0
X:$C0E1
X:$C0E2
X:$C0E3

3
X:$C0E4
X:$C0E5
X:$C0E6
X:$C0E7

Station MACRO IC #1 Node Registers
6
7
10
X:$C0E8
X:$C0EC
X:$C0F0
X:$C0E9
X:$C0ED
X:$C0F1
X:$C0EA
X:$C0EE
X:$C0F2
X:$C0EB
X:$C0EF
X:$C0F3

11
X:$C0F4
X:$C0F5
X:$C0F6
X:$C0F7

Configuring with Turbo PMAC

Accessory 24M2A

Non-Turbo PMAC2 Ultralite (legacy) I/O node addresses are the same
as Station MACRO IC#0 node registers.
Note
A given Turbo PMAC2 Ultralite (or UMAC with ACC-5E) can be
populated with up to 4 MACRO ICs (IC#0, IC#1, IC#2, and IC#3)
which can be queried with global variable I4902:

If I4902=
$0
$1
$3
$7
$F

Populated
MACRO IC #s
None
0
0, 1
0, 1, 2
0, 1, 2, 3

And the I/O node addresses ($7XXXX) for each of the Ultralite MACRO ICs are:

2
2
X:$78420
X:$78421
X:$78422
X:$78423

Ring Controller MACRO IC #0 Node Registers
3
6
7
10
3
6
7
10
X:$78424 X:$78428
X:$7842C
X:$78430
X:$78425 X:$78429
X:$7842D X:$78431
X:$78426 X:$7842A
X:$7842E
X:$78432
X:$78427 X:$7842B
X:$7842F
X:$78433

11
11
X:$78434
X:$78435
X:$78436
X:$78437

Station I/O Node#
Ultralite I/O Node#
24-bit
16-bit
16-bit
16-bit

2
18
X:$79420
X:$79421
X:$79422
X:$79423

Ring Controller MACRO IC #1 Node Registers
3
6
7
10
19
22
23
26
X:$79424 X:$79428
X:$7942C
X:$79430
X:$79425 X:$79429
X:$7942D X:$79431
X:$79426 X:$7942A
X:$7942E
X:$79432
X:$79427 X:$7942B
X:$7942F
X:$79433

11
27
X:$79434
X:$79435
X:$79436
X:$79437

Station I/O Node#
Ultralite I/O Node#
24-bit
16-bit
16-bit
16-bit

2
34
X:$7A420
X:$7A421
X:$7A422
X:$7A423

Ring Controller MACRO IC #2 Node Registers
3
6
7
10
35
38
39
42
X:$7A424 X:$7A428
X:$7A42C X:$7A430
X:$7A425 X:$7A429
X:$7A42D X:$7A431
X:$7A426 X:$7A42A X:$7A42E X:$7A432
X:$7A427 X:$7A42B X:$7A42F
X:$7A433

11
43
X:$7A434
X:$7A435
X:$7A436
X:$7A437

Station I/O Node#
Ultralite I/O Node#
24-bit
16-bit
16-bit
16-bit

2
50
X:$7B420
X:$7B421
X:$7B422
X:$7B423

Ring Controller MACRO IC #3 Node Registers
3
6
7
10
51
54
55
58
X:$7B424 X:$7B428
X:$7B42C X:$7B430
X:$7B425 X:$7B429
X:$7B42D X:$7B431
X:$7B426 X:$7B42A X:$7B42E
X:$7B432
X:$7B427 X:$7B42B X:$7B42F
X:$7B433

11
59
X:$7B434
X:$7B435
X:$7B436
X:$7B437

Station I/O Node#
Ultralite I/O Node#
24-bit
16-bit
16-bit
16-bit

Configuring with Turbo PMAC

Accessory 24M2A

Setup Overview
This setup assumes that the Ring Master has already been properly configured to run its own local
motors.
In order to set up ACC-24M2A with Turbo PMAC, one must:
1. On the Ring Master, enable one (if ACC-24M2A will only use one motor) to two (using two
motors) servo nodes (any two unused servo nodes) per ACC-24M2A
Variables involved:
I6840/I6890/I6940/I6990 — MACRO IC Ring Configuration/Status
I6841/I6891/I6941/I6991 — MACRO IC Node Activate Control
Also, make sure I78 and I80–I82 have been properly configured on the Master.
2. Establish communication between the Master and the ACC-24M2A using MACRO ASCII Mode
and enable one or two servo nodes on ACC-24M2A.
Variables involved:
MS{anynode},MI11 MACRO Station Station Number
MS{anynode},MI995 MACRO Ring Configuration/Status
MS{anynode},MI996 MACRO Node Activate Control
3.
4.
5.
6.
7.

Set up Feedback.
Set up Flag and Output Command Registers.
Configure I2T Protection.
Perform an Open Loop Test.
Tune the Servo Loop.

Configuring with Turbo PMAC

Accessory 24M2A

Setup Step 1: MACRO Connectivity
ACC-24M2A requires that the same number of servo nodes be activated through I6841 as there are
motors being used on ACC-24M2A; e.g. two servo nodes should be enabled on the Ring Controller if
using two motors, one servo node if using only one motor. I80–I82 and I70–I71 must also be configured.
There is a specific set of formulas to use for configuring these, as shown in the following example.
Example: Setting up nodes 0 and 1 to control one ACC-24M2A
#define RingCheckPeriod
#define FatalPackErr

20
10

I80=INT(RingCheckPeriod *8388607/I10+1)
I81=INT(I80/(I8+1)* FatalPackErr /100)
I82=INT(I80/(I8+1)*(100-FatalPackErr)/100)

; Suggested Ring Check Period [msec]
; Suggested Fatal Packet Error Percentage [%]
; Macro Ring Check Period [Servo Cycles]
; Macro Maximum Ring Error Count
; Macro Minimum Sync Packet Count

I6841=$FC003
// Enable nodes 0 and 1, MACRO IC 0 is master
I6840=$4030
// MACRO IC 0 transmits clocks
// for I70 and I71, use the formula I70=MI996 & $3333, I71=MI996 & $3333 //
MSR0,MI996,P33
// Obtain MI996’s value and store it in P33
I70=P33&$3333
// Enable flag transfer for nodes 0 and 1
I71= P33&$3333
// Enable flag transfer for nodes 0 and 1

Before proceeding, type SAVE, and then $$$.

Configuring with Turbo PMAC

Accessory 24M2A

Setup Step 2: Communicating with ACC-24M2A over MACRO ASCII
ACC-24M2A has no rotary switches to determine its MACRO Station Number. Therefore, ACC-24M2A
uses the Ring Order method to obtain its Station Number. Before the ACC-24M2A has been initialized, it
will by default be at MACRO Station #255.
If ACC-24M2A is not at factory default, the user can reinitialize it as follows:




If using MACRO IC #0, to reinitialize ACC-24M2A, type MS$$$***15, then MSSAV15, then
MS$$$15.
If using MACRO IC #1, type MS$$$***31, then MSSAV31, then MS$$$31.
If using MACRO IC #2, use MS$$$***47, then MSSAV47, then MS$$$47, and so on for other
MACRO IC #s.

Then, establishing communication is as follows:
1. Within PeWin32Pro2, in the Terminal Window, type MACSTA255.
2. Type I11=n in order to assign this ACC-24M2A to Station #n.

ACC-24M2A must be assigned to any unused Station Number (e.g.
I11=1 to assign ACC-24M2A to Station #1).
Note
If a Macro I/O error is received, make sure I6840, I6841 and I79 are set correctly. Also make sure
that the unit has not been assigned a Station number already.
If the Station has already been assigned a Station number, there are two options:
A. Find out the station number n and enter MACSTA, where n is the station number, to
initiate MACRO ASCII communication with the Station.
B. Reset the station number of all the Stations by entering MACSTA0 and then enter
STN=0.
3. Hit CTRL+T (^T) to exit MACRO ASCII Mode.
4. Type MACSTAn where n is the Station Number assigned in step 2 (e.g. MACSTA1 to open
ASCII communication with Station #1).
5. Assign the node and master number with MI996.
For example, to assign the Station to Nodes 0 and 1 on Master IC #0 on the ACC-24M2A, type:
MI996=$FC003

6. Set MI995=$80.
Example:
MI995=$80

Configuring with Turbo PMAC

Accessory 24M2A
7. Hit CTRL+T (^T) to exit MACRO ASCII Mode.

Setup Step 3: Motor Setup
Clocks
For simplicity, set the max phase and clock dividers the same as the ring controller, but note that the servo
rate on the Slave Station is independent and can be set to a different frequency.
MS{anynode},I992= Value of I7000 (or I6800)
MS{anynode},I997= Value of I7001 (or I6801)
MS{anynode},I998= Value of I7002 (or I6802)

// Max Phase Clock
// Phase Clock Divider
// Servo Clock Divider

The Phase clock on the MACRO Station must be the same as the Ring
Controller’s, but the Servo Clock can be different.
Note
Example: When Nodes 0 and 1 are being used for ACC-24M2A, setting default clocks
MS0,MI992=6527
MS0,MI997=0
MS0,MI998=3

Then, issue MSSAV15 followed by MS$$$15 to save the changes on the Station.

Activating Motors and Disabling Commutation
The user must activate the motor he or she wants to use, and then disable commutation for those motors,
because the ACC-24M2A runs only non-PMAC-commutated motors. On the Ring Controller, the
variable I4900 reports which Servo ICs are present in a Brick, Brick LV, or other Turbo PMAC
controller. Knowing that each Servo IC services 4 axes, querying I4900 will reveal how many local
channels are occupied and thus the number of the 1st available motor on a Macro Ring. The corresponding
Ixx00 (for activating the motor) and Ixx01 (for commutation settings) settings are given in the rightmost
columns:

If I4900
Returns
$0
$1
$3

Servo ICs
Present
None
IC0 only (4-axis)
IC0, and IC1(8-axis)

Configuring with Turbo PMAC

Local
Motors
None
1 thru 4
1 thru 8

First
Motor#
On The
Ring
1
5
9

Activating
2-Axis Slave

Deactivating
Commutation

I100,2,100=1

I101,2,100=0

I500,2,100=1

I501,2,100=0

I900,2,100=1

I901,2,100=0

Accessory 24M2A

Motor Feedback
First, the user must make Encoder Conversion Table (ECT) entries on the Ring Controller to read the
feedback coming back from the ACC-24M2A on servo nodes. This applies to all feedback types that
ACC-24M2A uses.
Use the ECT entry type Parallel Y-Word, No Filtering, 24 bits wide, No Shifting, No Offset. Make sure to
select the address based on the correct nodes enabled for this ACC-24M2A. One can set up the ECT entry
using PeWin32Pro2 by clicking (from within the software) on ConfigureEncoder Conversion Table,
showing this window:

The only field the user needs to change on this screen is the Source Address and the Entry Number. Make
the Source Address the correct address depending on the node to which this ECT entry corresponds.
Make the Entry Number whatever is desired as long as it does not conflict with an ECT entry currently
used for another motor.
Example: Motors 1–2 on Nodes 0 and 1, respectively
I8000=$2F8420 // Unfiltered parallel pos of location Y:$78420, Node 0
I8001=$18000
I8002=$2F8424 // Unfiltered parallel pos of location Y:$78424, Node 1
I8003=$18000

Then, point this motor’s Ixx03 and Ixx04 to the numerical hex value Processed Data Address listed the
ECT window shown above.
Example: Motors 1–2 Ixx03 and Ixx04 setting:
I103=$3502 I104=$3502
I203=$3503 I204=$3503

The only exception to this would be if the user wants to use dual feedback on ACC-24M2A and is
therefore using both encoder channels for one motor, in which case the user must make one ECT entry for
each encoder and point Ixx03 to the position encoder and Ixx04 to the velocity encoder.

Configuring with Turbo PMAC

Accessory 24M2A

Digital A Quad B
The user must configure the Encoder Conversion Table on the ACC-24M2A itself as follows:
Example: ACC-24M2A with two motors, one on Node 0, one on Node 1
// ACC-24M2A ECT Setup for Quadrature Encoders
MS0,MI120=$0C090
; 1/T Extension of Incremental Encoder Ch1
MS0,MI121=$0C098
; 1/T Extension of Incremental Encoder Ch2
// ACC-24M2A ECT Output Setup
MS0,MI101=$10 ; Output from 1st line of ECT (MI120)
MS0,MI102=$11 ; Output from 2nd line of ECT (MI121)

If the user wants to change the direction of the encoder feedback, he or she can either:
 Swap the motor’s leads
 Change MS, MI910:
If MI910=3, set it to 7 (clockwise rotation is positive)
If MI910=7, set it to 3 (counterclockwise rotation is positive)

Sinusoidal
The user must configure the Encoder Conversion Table on the ACC-24M2A itself as follows:
Example: ACC-24M2A with two motors, one on Node 0, one on Node 1
// ACC-24M2A ECT Setup for Sinusoidal Encoders
// Channel 1
MS0,MI120=$F0C090
// Data Source Address location
MS0,MI121=$FF00
// A/D Converter Address Setup
MS0,MI122=0 // Sine/Cosine Bias
// Channel 2
MS0,MI123=$F0C098
MS0,MI124=$FF20

// Data Source Address location
// A/D Converter Address Setup

MS0,MI125=0 // Sine/Cosine Bias
// ACC-24M2A ECT Output Setup
MS0,MI101=$12 // Output from 3rd line of ECT (MI122)
MS0,MI102=$15 // Output from 6th line of ECT (MI125)

Note that the third line of the entry for each channel (in this example, MI122 for Channel 1 and MI124 for
Channel 2) contains the bias in the A/D converter values. This line should contain the value that the A/D
converters report when they should ideally report zero. The MACRO Station subtracts this value from
both A/D readings before calculating the arctangent. Many users will leave this value at 0, but it is
particularly useful to remove the offsets of single-ended analog encoder signals. If it appears that the
encoder has an offset, the user can compensate for it in these variables. This line is scaled so that the
maximum A/D converter reading provides the full value of the 24-bit register (+/-223). Generally, it is set
by reading the A/D converter values directly as 24-bit values (in this example, from Y:$C090 for Channel
1 and from Y:$C098 for Channel 2), computing the average value over a cycle or cycles, and entering this
value here.
For more detail on how the Sinusoidal Interpolation works in PMAC, see Appendix D.

Note

At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window

Configuring with Turbo PMAC

Accessory 24M2A

SSI
ACC-24M2A can be configured to process SSI encoder feedback as a binary parallel word in 12, 16, 20,
or 24-bit format. As with all feedback, this data is transferred across the MACRO ring to be used as
position and/or velocity feedback. Each SSI device requires three lines of the ECT.
In the second line of each SSI ECT entry, the number of bits to process is specified. So, there are four
examples given below.
In the third line, specify the maximum change per servo cycle of the encoder counts that is expected. This
is typically equal to 1.25 times the maximum expected velocity of the motor. The units of this entry
are whatever the units of the input register are, typically 1/32 of a count. For example, to limit the change
in one servo cycle to 64 counts with an input register in units of 1/32 count, this third line would be 64*32
= 2048.
In the examples below, the user must specify the maximum count change per servo cycle on the lines
which end with “-User Input” in the comments.
Example: ACC-24M2A with two motors, each with a 12-bit SSI encoder, one on Node 0, one on
Node 1
#define MaxVelCh1
#define MaxVelCh2

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MS0,MI120=$30FF54
// Data Source Address location
MS0,MI121=$000FFF
// 12-bit SSI conversion
MS0,MI122=MaxVelCh1*32
//Channel 2
MS0,MI123=$30FF74
// Data Source Address location
MS0,MI124=$000FFF
// 12-bit SSI conversion
MS0,MI125=MaxVelCh2*32
// ACC-24M2A ECT output setup
MS0,MI101=$12 // Output from 3rd line of ECT (MI122)
MS0,MI102=$15 // Output from 6th line of ECT (MI125)

Example: ACC-24M2A with two motors, each with a 16-bit SSI encoder, one on Node 0, one on
Node 1
#define MaxVelCh1
#define MaxVelCh2

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MS0,MI120=$30FF54
// Data Source Address location
MS0,MI121=$00FFFF
// 16-bit SSI conversion
MS0,MI122=MaxVelCh1*32
//Channel 2
MS0,MI123=$30FF74
// Data Source Address location
MS0,MI124=$00FFFF
// 16-bit SSI conversion
MS0,MI125=MaxVelCh2*32
// ACC-24M2A ECT output setup
MS0,MI101=$12 // Output from 3rd line of ECT (MI122)
MS0,MI102=$15 // Output from 6th line of ECT (MI125)

Configuring with Turbo PMAC

Accessory 24M2A
Example: ACC-24M2A with two motors, each with a 20-bit SSI encoder, one on Node 0, one on
Node 1
#define MaxVelCh1
#define MaxVelCh2

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MS0,MI120= $30FF54
//
MS0,MI121=$0FFFFF
//
MS0,MI122=MaxVelCh1*32
//Channel 2
MS0,MI123= $30FF74
//
MS0,MI124=$0FFFFF
//
MS0,MI125=MaxVelCh2*32

Data Source Address location
20-bit SSI conversion

// ACC-24M2A ECT output setup
MS0,MI101=$12 // Output from 3rd line of ECT (MI122)
MS0,MI102=$15 // Output from 6th line of ECT (MI125)

Example: ACC-24M2A with two motors, each with a 24-bit SSI encoder, one on Node 0, one on
Node 1
#define MaxVelCh1
#define MaxVelCh2

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MS0,MI120= $30FF54
//
MS0,MI121=$FFFFFF
//
MS0,MI122=MaxVelCh1*32
//Channel 2
MS0,MI123= $30FF74
//
MS0,MI124=$FFFFFF
//
MS0,MI125=MaxVelCh2*32

Data Source Address location
24-bit SSI conversion

// ACC-24M2A ECT output setup
MS0,MI101=$12 // Output from 3rd line of ECT (MI122)
MS0,MI102=$15 // Output from 6th line of ECT (MI125)

If the direction decode variable, MS, MI910, is changed the
user must save the setting, MSSAVE{node} and reset the card
MS$$${node} before the fractional direction sense matches.
Note

Note

At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window

Configuring with Turbo PMAC

Accessory 24M2A

Resolver
ECT Setup
ACC-24M2A has up to two channels of resolver inputs. The inputs may be used as feedback or master
reference signals for the PMAC servo loops. The basic configuration of the drive contains one 10-bit fixed
resolution tracking resolver-to-digital (R-to-D) converters, with an optional second resolver when a dual
axis driver is ordered. ACC-24M2A creates the AC excitation signal (ResOut) for up to two resolvers,
accepts the modulated sine and cosine signals back from these resolvers, demodulates the signals and
derives the position of the resolver from the resulting information, in an absolute sense if necessary.
The specifics for this configuration are as follows (Ch1 and Ch2):
Example: ACC-24M2A with two motors, each with a resolver, one on Node 0, one on Node 1,
wherein the clockwise direction of the motor’s shaft’s rotation is positive
// ACC-24M2A ECT Setup
// Channel 1
MS0,MI120=$E0FF00
// Data Source Address location ,CW
MS0,MI121=$00FF5C
// A/D Converter Address Setup
MS0,MI122=0 // Sine/Cosine Bias –User Input
// Channel 2 CW
MS0,MI123=$E0FF20
// Data Source Address location, CW
MS0,MI124=$00FF5C
// A/D Converter Address Setup
MS0,MI125=0 // Sine/Cosine Bias –User Input
// ACC-24M2A ECT Output Setup
MS0,MI101=$12 // Output from 3rd line of ECT (MI122)
MS0,MI102=$15 // Output from 6th line of ECT (MI125)

Example: ACC-24M2A with two motors, each with a resolver, one on Node 0, one on Node 1,
wherein the counterclockwise direction of the motor’s shaft’s rotation is positive
// ACC-24M2A ECT Setup
// Channel 1
MS0,MI120=$E8FF00
// Data Source Address location ,CCW
MS0,MI121=$00FF5C
// A/D Converter Address Setup
MS0,MI122=0 // Sine/Cosine Bias –User Input
// Channel 2 CW
MS0,MI123=$E8FF20
// Data Source Address location, CCW
MS0,MI124=$00FF5C
// A/D Converter Address Setup
MS0,MI125=0 // Sine/Cosine Bias –User Input
// ACC-24M2A ECT Output Setup
MS0,MI101=$12 // Output from 3rd line of ECT (MI122)
MS0,MI102=$15 // Output from 6th line of ECT (MI125)

Configuring with Turbo PMAC

Accessory 24M2A

If the direction decode variable, MS, MI910, is changed the
user must save the setting, MSSAVE{node} and reset the card
MS$$${node} before the fractional direction sense matches.
Note

Configuring Excitation Frequency
After setting up the ECT, the user then must set three MI-Variables for the Resolvers to function
correctly.
The ResOut signal (i.e. the Resolver’s excitation frequency) emitted from the ACC-24M2A is derived
from the Phase Clock frequency of the MACRO set by MI992 and MI997. The user has the ability to
select the excitation frequency to be equal with the Phase Clock frequency (default) by setting
MS,MI982 equal to 0. Or, the user can use lower frequencies by increasing the value of MI982.
MI982 affects the excitation frequency as follows:
MI982 Setting
MI982=1
MI982=2
MI982=3

Configuring with Turbo PMAC

Excitation Frequency
(Phase Clock Frequency)/2
(Phase Clock Frequency)/4
(Phase Clock Frequency)/6

Accessory 24M2A

Configuring the Excitation Signal’s Gain
Additionally, the user needs to set the Excitation output gain for the system’s resolvers by setting
MS,MI981.
MI981 affects the excitation signal’s gain as follows:
MI981 Setting
MI981=0
MI981=1
MI981=2
MI981=3

Excitation Signal Gain
2.5 Vpp
5.0 Vpp
7.5 Vpp
10.0 Vpp

Configuring the Excitation Signal’s Phase Offset
Finally the resolver excitation phase time offset, MS, MI980, needs to be set. The optimum
setting of MI980 depends on the L/R time constant of the resolver circuit. Therefore, MI980 should be set
interactively to maximize the magnitudes of the feedback ADC values.
For each channel, there are two ADC registers which hold the sin and cosine values. For Channel 1, the
base/first ADC register address is Y:$FF00 and the second ADC register address is Y:$FF01; For
Channel 2, the base/first ADC register address is Y:$FF20 and the second ADC register address is
Y:$FF21. There is no MI-Variable to directly address these registers, so MI198 (Direct Read/Write Format
and Address) and MI199 (Direct Read/Write Variable) will be used here. For each channel, both ADCs
should be observed during setup. Notice that MI199 can only be pointed to one register at one time so it
must be configured twice throughout the following procedure.
Procedure for Configuring MI980 on Channel 1
The procedure for configuring MI980 for Channel 1 is as follows:
1. In PeWin32Pro2, open a Watch Window (ViewWatch Window).
2. Press “Insert” and type MS,MI199, where is the node number of this ACC24M2A’s motor (e.g. if this motor is on Node 0, type MS0,MI199).
3. In the Terminal Window (ViewTerminal), type MS,MI198=$6DFF00, where
is this motor’s node (as in step 2). This points MI199 to the Channel 1’s ADC1.
4. Rotate the motor on this channel. Observe MS,MI199 in the Watch Window. If it
saturates to ±32767, the resolver gain (MI981) is too high. Decrease MI981 until the MI199 just
barely saturates to ±32767. If it does not saturate, type MS,MI198=$6DFF01 in the
Terminal Window (which sets MI199 to point to Channel 1’s ADC2) and then repeat step 4.
5. Set MI199 to point to the ADC which saturated; that is, if ADC1 saturated, type
MS,MI198=$6DFF00 in the Terminal Window, or if ADC2 saturated, type
MS,MI198=$6DFF01 in the Terminal Window.
6. Position the motor’s shaft such that the ADC value is close to the maximum value observed
throughout one revolution of the motor’s shaft. At this point, the other ADC should be close to 0.
7. Increase MI980 by increments of 25. The ADC value should start to increase slowly. If it
decreases, instead start with MI980=255 and then decrease MI980 by increments of 25. The ADC
value should increase up to a maximum point and then start to decrease again. Set MI980 to the
value that produced the largest absolute ADC value achieved throughout the process of adjusting
MI980.
8. If the maximum absolute value of this ADC is less than 16,000, increase the gain of the resolver
by increasing MI981.

Configuring with Turbo PMAC

Accessory 24M2A
Procedure for Configuring MI980 on Channel 2
The procedure for configuring MI980 for Channel 2 is as follows:
1. In PeWin32Pro2, open a Watch Window (ViewWatch Window).
2. Press “Insert” and type MS,MI199, where is the node number of this ACC24M2A’s motor (e.g. if this motor is on Node 0, type MS0,MI199).
3. In the Terminal Window (ViewTerminal), type MS,MI198=$6DFF20, where
is this motor’s node (as in step 2). This points MI199 to the Channel 1’s ADC1.
4. Rotate the motor on this channel. Observe MS,MI199 in the Watch Window. If it
saturates to ±32767, the resolver gain (MI981) is too high. Decrease MI981 until the MI199 just
barely saturates to ±32767. If it does not saturate, type MS,MI198=$6DFF21 in the
Terminal Window (which sets MI199 to point to Channel 1’s ADC2) and then repeat step 4.
5. Set MI199 to point to the ADC which saturated; that is, if ADC1 saturated, type
MS,MI198=$6DFF20 in the Terminal Window, or if ADC2 saturated, type
MS,MI198=$6DFF21 in the Terminal Window.
6. Position the motor’s shaft such that the ADC value is close to the maximum value observed
throughout one revolution of the motor’s shaft. At this point, the other ADC should be close to 0.
7. Increase MI980 by increments of 25. The ADC value should start to increase slowly. If it
decreases, instead start with MI980=255 and then decrease MI980 by increments of 25. The ADC
value should increase up to a maximum point and then start to decrease again. Set MI980 to the
value that produced the largest absolute ADC value achieved throughout the process of adjusting
MI980.
8. If the maximum absolute value of this ADC is less than 16,000, increase the gain of the resolver
by increasing MI981.

Note

At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window

Configuring with Turbo PMAC

Accessory 24M2A

Flags
On the Ring Controller, the flags (Ixx25) must point to the servo node’s flag addresses used for the
motors on ACC-24M2A.
Example: Motors 1–2 on Nodes 0 and 1, respectively
I125=$3440
I225=$3441

Note

These examples configure only motors 1–2. If you are configuring
other motors, refer to the Turbo PMAC Software Reference Manual
under the entry for Ixx25, under the “Turbo PMAC2 Ultralite” table
for a list of the addresses for Ixx25.

Then, on the Ring Controller, the flag control (Ixx24) variable must be set up for each motor on ACC24M2A as follows:
Ixx24 Setting
$40001
$60001

Description
Overtravel limits enabled
Overtravel limits disabled

Example: Flag Control for Motors 1–2
I124,2,100=$40001 // Motor 1–2 have overtravel limits enabled

Output Commands
On the Ring Controller, the output command address must be set to the ACC-24M2A’s motors’ servo
node addresses directly.
Example: Motors 1–2 on Nodes 0 and 1, respectively
I102=$078420 // Motor 1’s output command address is Node 0
I202=$078424 // Motor 2’s output command address is Node 1

Note

These examples configure only motors 1–2. If you are configuring
other motors, refer to the Turbo PMAC Software Reference Manual
under the entry for Ixx02, under the under “Turbo PMAC2 Ultralite”
table for a list of the addresses for Ixx02.

Configuring with Turbo PMAC

Accessory 24M2A

I2T Settings
The I2T overcurrent protection should be configured for each motor on ACC-24M2A. Below is an
example with some formulas for setting up I2T; the user simply needs to fill in the values specified by “User Input” in the comments on that line:
Example: Configuring I2T Protection for Motors 1–2
I15=0
; Trigonometric calculation in degrees
#define MaxPhaseFreq
P7000
; Max Phase Clock [KHz]
#define PWMClk
P7001
; PWM Clock [KHz]
#define PhaseClk
P7002
; Phase Clock [KHz]
#define ServoClk
P7003
; Servo Clock [KHz]
MaxPhaseFreq=117964.8/(2*I6800+3)
PWMClk=117964.8/(4*I6800+6)
PhaseClk=MaxPhaseFreq/(I6801+1)
ServoClk=PhaseClk/(I6802+1)
#define
#define
#define
#define

Axis1MinContCurrent
3
;
Axis1MinPeakCurrent
9
;
Axis1AmpPeakInstCurrent 16.3 ;
Axis1I2TOnTime
2
;

Continuous Current Limit for Axis 1 [Amps] –User Input
Instantaneous Current Limit for Axis 1 [Amps] –User Input
Peak Instant. Current of Amplifier [Amps] –User Input
Time allowed at peak Current [sec]

// Assuming that motor 1 is the first motor on MACRO
I157=INT(32767*(Axis1MinContCurrent/Axis1AmpPeakInstCurrent)
I169=INT(32767*(Axis1MinPeakCurrent/Axis1AmpPeakInstCurrent)
I158=INT((I169*I169-I157*I157)*ServoClk*1000*Axis1I2TOnTime/(32767*32767))
I257=I157 I269=I169 I258=I158 // Assumes motor 2 is the same as motor 1

The continuous current limit (Axis1MinContCurrent) and the instantaneous current limit
(Axis1MinPeakCurrent) values on the lines with “-User Input” in the comment above should be the
smaller of the two limits between your motor and your amplifier’s specifications.

Configuring with Turbo PMAC

Accessory 24M2A

DAC Calibration

WARNING

Before performing the DAC Calibration, make sure there is no
load attached to the motor, and make sure that the motor can
safely and freely move. This step of the setup can generate much
motion in the motor.

At this stage in the setup, the user should calibrate the DACs on ACC-24M2A to make sure that when he
or she commands 0 volts on the DACs, they actually put out 0 volts. To do this, open PMAC Tuning Pro2
by clicking on ToolsPMAC Tuning Pro2 from within PeWin32Pro2. Then, click Position LoopDAC
Calibration. Make sure there is no load presently connected to the motor. Then, click “Begin Calibration.”
PMAC will automatically calibrate your DAC. Once it is done, accept the change it makes to Ixx29. You
may want to write down this value to add to your setup file. Do this test for both motors (you can select
another motor with the Motor Select button):

Motor Select

Configuring with Turbo PMAC

Accessory 24M2A

Open Loop Test

WARNING

Before performing the Open Loop Test, make sure there is no
load attached to the motor, and make sure that the motor can
safely and freely move. This step of the setup can generate much
motion in the motor.

The user should now execute an Open-Loop test in order to determine whether the feedback from ACC24M2A is working properly. To do this, open PMAC Tuning Pro2 from PeWin32Pro2 by clicking on
ToolsPMAC Tuning Pro2. Then, click Position LoopOpen Loop Test.

You should see the actual velocity increasing positively while the commanded velocity is positive, the
actual velocity decreasing while the commanded velocity is negative.
If you see an erratic response, or an inverted saw tooth, then most likely the encoder decode setting is
incorrect. This is on the MACRO side, MS{node},MI910 has to be changed from 7 to 3, or vice versa.

Configuring with Turbo PMAC

Accessory 24M2A

Servo Loop Tuning
PMAC’s Servo Algorithm must be configured to properly control any given system with motors and
amplifiers. Configuration is done by adjusting I-Variables (Ixx30 through Ixx35) pertaining to the PID
gains. Ixx68 (Friction Feedforward) is also needed. The servo loop gains correspond to I-Variables as
follows:








Ixx30
Ixx31
Ixx32
Ixx33
Ixx34
Ixx35
Ixx68

Proportional Gain (Kp)
Derivative Gain (Kd)
Velocity Feedforward (Kvff)
Integral Gain (Ki)
Integration Mode
Acceleration Feedforward (Kaff)
Friction Feedforward (Kfff)

The user should connect the load to the motor before tuning the servo
loop.
Note
The process of determining proper values of PID gains is called “Tuning.” The procedure for tuning is as
follows:
1. Set Ixx34 (Motor xx PID Integration Mode) – can be changed on the fly as needed
=1, position error integration is performed only when Motor xx is not commanding a move
=0, position error integration is performed always
2. Using the Step Response, tune the following parameters in this order:
Proportional Gain, Kp (Ixx30)
Derivative Gain, Kd (Ixx31)
Integral Gain, Ki (Ixx33)
3. Using the Parabolic Move, tune the following parameters in this order:
Velocity Feedforward, Kvff (Ixx32)
Acceleration Feedforward, Kaff (Ixx35)
Friction Feedforward, Kfff (Ixx68)


Note



Configuring with Turbo PMAC

When tuning the feedforward gains, set Ixx34=1 so that the
dynamic behavior of the system may be observed without
integrator action. After tuning these, set Ixx34 back to your
desired setting.
Setting Kvff = Kd (Ixx32 = Ixx31) is a good place to start
when tuning Kvff.

Accessory 24M2A
Steps 2 and 3 should be performed in the Interactive Tuning window in PMAC Tuning Pro2:

Interactive Tuning
for Position

Step 2 (tuning Kp, Kd, and Ki)
Select “Position Step” under “Trajectory Selection.” Choose a “Step Size” (under “Step Move”) that is
within ½ to ¼ of a revolution of the motor if it is a rotary motor, or within ½ to ¼ of one electrical cycle if
it is a linear motor. The step move’s commanded position profile should look somewhat like this:

Commanded
Position [cts]

Time [sec]
Now, compare your motor’s actual position to the commanded position profile. Depending how the actual
position looks, adjust the servo loop gains until you achieve the desired response.

Configuring with Turbo PMAC

Accessory 24M2A
Observing the table below, match your actual position response to one of the response shapes below, and
then adjust the appropriate gain as listed next to each plot:
Overshoot and
Oscillation
Cause:
Too much Proportional
gain or
too little Damping
Fix:
Decrease Kp (Ixx30)
Increase Kd (Ixx31)

Position Offset
Cause:
Friction or Constant
Force
Fix:
Increase Ki (Ixx33)
Increase Kp (Ixx30)

Sluggish Response
Cause:
Too much Damping or
too little Proportional
gain
Fix:
Increase Kp (Ixx30) or
Decrease Kd (Ixx31)

Physical System
Limitation
Cause:
Limit of the
Motor/Amplifier/Load
and gain combination
Fix:
Evaluate Performance
and
maybe add Kp (Ixx30)

Configuring with Turbo PMAC

Accessory 24M2A
If you see a truncation of the servo command at the beginning of each move, you have reached the
maximum output command as determined by Ixx69. In this case, adding more Kp will not improve the
Step Response’s performance.
Step 3 (Tuning Kvff, Kaff, and Kfff)
Select “Parabolic Velocity” under the “Trajectory Selection” in the Interactive Tuning Window. Select a
move size and speed that will simulate the fastest, harshest moving conditions you expect your machine
to experience. Tune the motor at these settings, and then the motor should be able to handle all easier
moves.
After commanding the Parabolic Velocity move, the commanded Velocity Profile and Acceleration
Profile should look like this:

Velocity
Commanded
Profile

Acceleration
Commanded
Profile

Observing the table below, match your following error response to one of the response shapes below, and
then adjust the appropriate gain as listed next to each plot:

High Vel./F.E.
Correlation
Cause: Damping
Fix: Increase Kvff
(Ixx32)

High Acc./F.E.
Correlation
Cause: Inertial Lag
Fix:
Increase Kaff (Ixx35)

Configuring with Turbo PMAC

High Vel./F.E.
Correlation
Cause: Friction
Fix:
Add Friction
Feedforward (Ixx68)
and/or turn on Integral
Gain
(Ixx33, Ixx34)
High Acc./F.E.
Correlation
Cause:
Physical System
Limitation
Fix:
Use softer acceleration
or add more Ixx68

Accessory 24M2A

Negative Vel./F.E.
Correlation
Cause:
Too much Velocity
Feedforward
Fix:
Decrease Kvff
(Ixx32)

Negative Acc./F.E.
Correlation
Cause:
Too much acceleration
Feedforward
Fix:
Decrease Kaff (Ixx35)

Configuring with Turbo PMAC

High Vel./F.E.
Correlation
Cause: Damping &
Friction
Fix:
Increase Kvff first
(Ixx32)
Possibly adjust
Ixx68
High Vel./F.E. &
Acc./F.E.
Correlation
Cause:
Inertial Lag &
Friction
Fix:
Increase Kaff (Ixx35)
Possibly adjust Ixx68

Accessory 24M2A

CONFIGURING WITH POWER PMAC
Quick Review: Nodes and Addressing
Two different types of MACRO interfaces are available for Power PMAC: Gate2-style and Gate3-style.
Gate3-style MACRO interfaces have two “banks” of MACRO registers, “Bank A” and “Bank B.” As of
the date this manual was written, ACC-5E3 is the only Gate3-style MACRO interface for Power PMAC.
Gate2-style MACRO interfaces have up to two ICs, each possessing its own registers for MACRO
settings. As of the date this manual was written, ACC-5E is the only Gate2-style MACRO interface for
Power PMAC.
Each MACRO IC (for Gate2-style MACRO interfaces) or each MACRO bank (Bank A and Bank B, for
Gate3-style MACRO interfaces) consists of 16 nodes: 2 auxiliary, 8 servo, and 6 I/O nodes:




Auxiliary nodes are Master/Control registers and are for internal firmware use.
Servo nodes carry information such as feedback, commands, and flags for motor
control.
I/O nodes are by default unoccupied and are user configurable for transferring
miscellaneous data.

Each motor that the ring controller controls requires one servo node, and therefore one ACC-5E3 or
ACC-5E can control a maximum of 16 motors. The number of I/O nodes used depends on what I/O
devices ACC-5E3 or ACC-5E is controlling over the MACRO ring. A visual representation of the nodes’
individual functionality is given below:

I/O Nodes

Node

Auxiliary
Nodes

Servo Nodes

With Gate3-style MACRO, each node consists of 8 registers: four 32-bit “Input” registers, which can be
accessed by the structure Gate3[i].MacroInA[j][k] for bank A and Gate3[i].MacroInB[j][k] for bank B,
and four 32-bit “Output” registers, which can be accessed by the Power PMAC structures
Gate3[i].MacroOutA[j][k] for bank A and Gate3[i].MacroOutB[j][k] for bank B. Gate2-style MACRO
interfaces has 4 registers for each node, wherein the input and output data share the registers; they are all
grouped into this structure: Gate2[i].Macro[j][k].

Configuring with Power PMAC

Accessory 24M2A

Data Organization within Servo Nodes
When controlling non-Gate3 MACRO Stations, each MACRO interface will have its servo node
information split up differently within each node j depending on the commutation method being used.
The three modes involved are:
Analog Output Mode
Motor[x].PhaseCtrl = 0
Motor[x].pAdc = 0
UV Commutation Mode (a.k.a. Sinusoidal Commutation Mode)
Motor[x].PhaseCtrl > 0
Motor[x].pAdc = 0
Direct PWM Mode
Motor[x].PhaseCtrl > 0
Motor[x].pAdc > 0
(=Gate3[i].MacroInA[j][1] for MACRO motors on Gate3-style MACRO,
=Gate2[i].Macro[j][1] for Gate2-style)
In Gate3-style MACRO, the contents of each servo node are arranged in each MACRO bank as follows:

Gate3-Style MACRO Bank A Register Structure
Node Structure

Bit 31

Gate3[i].MacroInA[j][0]

Gate3[i].MacroInA[j][1]

Gate3[i].MacroInA[j][2]

Bit 0
24 bits of feedback information

Not Used in Analog Output Mode/
Not Used in UV Commutation Mode/
16 bits of current sensor ADCA in Direct PWM Mode
Not Used in Analog Output Mode/
Not Used in UV Commutation Mode/
16 bits of current sensor ADCB in Direct PWM Mode

Gate3[i].MacroInA[j][3]

16 bits of channel status/flag information

24 bits of servo output command in Analog Output Mode/
24 bits of DACA output in UV Commutation Mode/
24 bits of PWMA command in Direct PWM Mode

Gate3[i].MacroOutA[j][0]

8 bits of 0

16 bits of 0

8 bits of 0

Gate3[i].MacroOutA[j][1]

Not Used in Analog Output Mode/
16 bits of DACB command in UV Commutation Mode/
16 bits of PWMB command in Direct PWM Mode

16 bits of 0

Gate3[i].MacroOutA[j][2]

Not Used in Analog Output Mode/
Not Used in UV Commutation Mode/
16 bits of PWMC command in Direct PWM Mode

16 bits of 0

Gate3[i].MacroOutA[j][3]

16 bits of channel control commands/flag commands

16 bits of 0

Configuring with Power PMAC

Accessory 24M2A

Gate3-Style MACRO Bank B Register Structure
Node Structure

Bit 31

Gate3[i].MacroInB[j][0]

Gate3[i].MacroInB[j][1]

Gate3[i].MacroInB[j][2]

Bit 0
24 bits of feedback information

Gate3[i].MacroInB[j][3]

16 bits of channel status/flag information

24 bits of servo output command in Analog Output Mode/
24 bits of DACA output in UV Commutation Mode/
24 bits of PWMA command in Direct PWM Mode

Gate3[i].MacroOutB[j][0]

8 bits of 0

16 bits of 0

8 bits of 0

Gate3[i].MacroOutB[j][1]

Not Used in Analog Output Mode/
16 bits of DACB command in UV Commutation Mode/
16 bits of PWMB command in Direct PWM Mode

16 bits of 0

Gate3[i].MacroOutB[j][2]

Not Used in Analog Output Mode/
Not Used in UV Commutation Mode/
16 bits of PWMC command in Direct PWM Mode

16 bits of 0

Gate3[i].MacroOutB[j][3]

16 bits of channel control commands/flag commands

16 bits of 0

Configuring with Power PMAC

Accessory 24M2A
In Gate2-style MACRO, the contents of each servo node are arranged in each MACRO IC as follows:

Gate2-Style MACRO Input Register Structure
Node Structure

Bit 23

Gate2[i].Macro[j][0]

Gate2[i].Macro[j][1]

Gate2[i].Macro[j][2]

Bit 0
24 bits of feedback information

Gate2[i].Macro[j][3]

16 bits of channel status/flag information

8 bits of 0

Gate2-Style MACRO Output Register Structure
Node Structure

Bit 23

Bit 0
24 bits of servo output command in Analog Output Mode/
24 bits of DACA output in UV Commutation Mode/
24 bits of PWMA command in Direct PWM Mode

Gate2[i].Macro[j][0]

Gate2[i].Macro[j][1]

Not Used in Analog Output Mode/
16 bits of DACB command in UV Commutation Mode/
16 bits of PWMB command in Direct PWM Mode

8 bits of 0

Gate2[i].Macro[j][2]

Not Used in Analog Output Mode/
Not Used in UV Commutation Mode/
16 bits of PWMC command in Direct PWM Mode

8 bits of 0

Gate2[i].Macro[j][3]

16 bits of channel control commands/flag commands

8 bits of 0

Since no Gate3-style MACRO Station products have yet been developed, this is the only node
arrangement available until future developments.

Note

I/O Nodes can be arranged in any way desired, and as such, this
manual does not have any section describing any specific data
arrangement structure within I/O nodes.

Configuring with Power PMAC

Accessory 24M2A

Setup Overview
This setup assumes that:



The Ring Master has already been properly configured to run its own local motors.
The user is familiar with enabling servo nodes on both the MACRO Ring Controller and Slave
Station.

In order to set up ACC-24M2A with Power PMAC, the user must:
1. On the Ring Master, enable one (if ACC-24M2A will only use one motor) to two (using two
motors) servo nodes (any two unused servo nodes) per ACC-24M2A.
Structures involved for Gate3-Style MACRO Interfaces:
Gate3[i].MacroEnableA — MACRO IC Bank A Node Activate Control
Gate3[i].MacroEnableB — MACRO IC Bank A Node Activate Control
Gate3[i].MacroModeA — MACRO IC Bank A Status and Control
Gate3[i].MacroModeB — MACRO IC Bank B Status and Control
Structures involved for Gate2-Style MACRO Interfaces:
Gate2[i].MacroEnable — MACRO IC Node Activate Control
Gate2[i].MacroMode — MACRO IC Ring Configuration/Status
Also, make sure Macro.TestPeriod, Macro.TestMaxErrors, and Macro.TestReqdSynchs
have been properly configured on the Master.
2. Establish communication between the Master and the ACC-24M2A using MACRO ASCII Mode
and enable one or two servo nodes on ACC-24M2A corresponding to the nodes activated on the
Master.
Variables involved:
MacroSlave{anynode},MI11 MACRO Station Station Number
MacroSlave{anynode},MI995 MACRO Ring Configuration/Status
MacroSlave{anynode},MI996 MACRO Node Activate Control
3.
4.
5.
6.
7.

Set up Feedback.
Set up Flag and Output Command Registers.
Configure I2T Protection.
Perform an Open Loop Test.
Tune the Servo Loop.

Configuring with Power PMAC

Accessory 24M2A

Setup Step 1: MACRO Connectivity
ACC-24M2A requires that the same number of servo nodes be activated on the Power PMAC as there are
motors being used on ACC-24M2A; e.g. two servo nodes should be enabled on the Ring Controller if
using two motors, one servo node if using only one motor. Power PMAC MACRO has three variables for
error checking that must also be configured:
Macro.TestPeriod
This is the period in milliseconds at which PMAC checks for errors on the MACRO ring. The
recommended value for this variable is 20.
Macro.TestMaxErrors
This is the maximum error count PMAC can receive in one test period (whose duration is specified by
Macro.TestPeriod) before triggering a fault. The formula for computing this variable is as follows:
.
Macro.TestReqdSynchs
This is the number of sync packets in one period (whose duration is specified by Macro.TestPeriod) that
PMAC must receive before triggering an error. The formula for computing this variable is as follows:
-

Example MACRO Communication Setup
Configuring a Gate3-Style MACRO interface to enable 16 servo nodes and 12 I/O nodes on a Power
PMAC, which is acting as a Ring Controller.
Sys.WpKey=$AAAAAAAA;
// MACRO Communication Setup
Gate3[0].MacroEnableA=$0FFFFF00;
Gate3[0].MacroModeA=$403000;
Gate3[0].MacroEnableB=$1FFFFF00;
Gate3[0].MacroModeB=$9000;

//
//
//
//

Activate 8 Servo Nodes and 6 I/O Nodes of MACRO A
Set MACRO A as master
Activate 8 Servo Nodes and 6 I/O Nodes of MACRO B
Set MACRO B as master to synchronize clock

Macro.TestPeriod=20;
// MACRO Ring Check Period [msec]
Macro.TestMaxErrors=Macro.TestPeriod/10;
// MACRO Maximum Ring Error Count
Macro.TestReqdSynchs=Macro.TestPeriod - Macro.TestMaxErrors; // MACRO Minimum Sync Packet Count

Configuring with Power PMAC

Accessory 24M2A

If using MACRO IC #0, to reinitialize ACC-24M2A, type MacroSlave$$$***15, then
MacroSlaveSAVE15, then MacroSlave$$$15.
If using MACRO IC #1, type MacroSlave$$$***31, then MacroSlaveSAVE31, then
MacroSlave$$$31.
If using MACRO IC #2, use MacroSlave$$$***47, then MacroSlaveSAV47, then
MacroSlave$$$47, and so on for other MACRO IC #s.

Then, establishing communication is as follows:
1. Within the Power PMAC IDE, in the Terminal Window, type MacroStation255.
2. Type I11=n in order to assign this ACC-24M2A to Station #n.

ACC-24M2A must be assigned to any unused Station Number (e.g.
I11=1 to assign ACC-24M2A to Station #1).
Note
If a Macro I/O error is received, make sure the Ring Controller’s MACRO communication settings
are set correctly. Also make sure that the ACC-24M2A has not been assigned a Station number
already. If the Station has already been assigned a Station number, there are two options:
A. Find out the station number n and enter MacroStation (without the angular
brackets), where n is the station number, to initiate MACRO ASCII communication with
the Station.
C. Reset the station number of all the Stations by entering MacroStation0 and then enter
I11=0.
3. Type (without the angular brackets), where n is the Station Number assigned
in step 2 (e.g. MacroStation1 to open ASCII communication with Station #1).
5. Assign the node and master number on the ACC-24M2A with MI996.
For example, to assign the Station to Nodes 0 and 1 on Master IC #0 on the ACC-24M2A, type:
MI996=$FC003

6. Set MI995=$80.
Example:
MI995=$80

7. Type , MI910:
If MI910=3, set it to 7 (clockwise rotation is positive)
If MI910=7, set it to 3 (counterclockwise rotation is positive)

Sinusoidal
The user must configure the Encoder Conversion Table on the ACC-24M2A itself as follows:
Example: ACC-24M2A with two motors, one on Node 0, one on Node 1
// ACC-24M2A ECT Setup for Sinusoidal Encoders
// Channel 1
MacroSlave0,MI120=$F0C090
// Data Source Address location
MacroSlave0,MI121=$FF00
// A/D Converter Address Setup
MacroSlave0,MI122=0 // Sine/Cosine Bias –User Input
// Channel 2
MacroSlave0,MI123=$F0C098
MacroSlave0,MI124=$FF20

// Data Source Address location
// A/D Converter Address Setup

MacroSlave0,MI125=0 // Sine/Cosine Bias –User Input
// ACC-24M2A ECT Output Setup
MacroSlave0,MI101=$12 // Output from 3rd line of ECT (MI122)
MacroSlave0,MI102=$15 // Output from 6th line of ECT (MI125)

Note that the third line of the entry for each channel (in this example, MI122 for Channel 1 and MI124 for
Channel 2) contains the bias in the A/D converter values. The user should enter into this line (indicated by
“–User Input” in the comment of that line) the value that the A/D converters report when they should
ideally report zero. The MACRO Station subtracts this value from both A/D readings before calculating
the arctangent. Many users will leave this value at 0, but to remove the offsets of single-ended analog
encoder signals is particularly useful. If it appears that the encoder has an offset, the user can compensate
for it in these variables. This line is scaled so that the maximum A/D converter reading provides the full
value of the 24-bit register (+/-223). Generally, it is set by reading the A/D converter values directly off of
the Station as 24-bit values (in this example, from Y:$C090 for Channel 1 and from Y:$C098 for Channel
2), computing the average value over a cycle or cycles, and entering this value here.
For more detail on how Sinusoidal Interpolation works in PMAC, see Appendix D.

Note

At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window

Configuring with Power PMAC

Accessory 24M2A

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MacroSlave0,MI120=$30FF54
// Data Source Address location
MacroSlave0,MI121=$000FFF
// 12-bit SSI conversion
MacroSlave0,MI122=MaxVelCh1*32
//Channel 2
MacroSlave0,MI123=$30FF74
// Data Source Address location
MacroSlave0,MI124=$000FFF
// 12-bit SSI conversion
MacroSlave0,MI125=MaxVelCh2*32
// ACC-24M2A ECT output setup
MacroSlave0,MI101=$12 // Output from 3rd line of ECT (MI122)
MacroSlave0,MI102=$15 // Output from 6th line of ECT (MI125)

Example: ACC-24M2A with two motors, each with a 16-bit SSI encoder, one on Node 0, one on
Node 1
#define MaxVelCh1
#define MaxVelCh2

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MacroSlave0,MI120=$30FF54
// Data Source Address location
MacroSlave0,MI121=$00FFFF
// 16-bit SSI conversion
MacroSlave0,MI122=MaxVelCh1*32
//Channel 2
MacroSlave0,MI123=$30FF74
// Data Source Address location
MacroSlave0,MI124=$00FFFF
// 16-bit SSI conversion
MacroSlave0,MI125=MaxVelCh2*32
// ACC-24M2A ECT output setup
MacroSlave0,MI101=$12 // Output from 3rd line of ECT (MI122)
MacroSlave0,MI102=$15 // Output from 6th line of ECT (MI125)

Configuring with Power PMAC

Accessory 24M2A
Example: ACC-24M2A with two motors, each with a 20-bit SSI encoder, one on Node 0, one on
Node 1
#define MaxVelCh1
#define MaxVelCh2

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MacroSlave0,MI120=$30FF54
//
MacroSlave0,MI121=$0FFFFF
//
MacroSlave0,MI122=MaxVelCh1*32
//Channel 2
MacroSlave0,MI123=$30FF74
//
MacroSlave0,MI124=$0FFFFF
//
MacroSlave0,MI125=MaxVelCh2*32

Data Source Address location
20-bit SSI conversion

// ACC-24M2A ECT output setup
MacroSlave0,MI101=$12 // Output from 3rd line of ECT (MI122)
MacroSlave0,MI102=$15 // Output from 6th line of ECT (MI125)

Example: ACC-24M2A with two motors, each with a 24-bit SSI encoder, one on Node 0, one on
Node 1
#define MaxVelCh1
#define MaxVelCh2

0 // Maximum count change per servo cycle, Channel 1 –User Input
0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup
//Channel 1
MacroSlave0,MI120=$30FF54
//
MacroSlave0,MI121=$FFFFFF
//
MacroSlave0,MI122=MaxVelCh1*32
//Channel 2
MacroSlave0,MI123=$30FF74
//
MacroSlave0,MI124=$FFFFFF
//
MacroSlave0,MI125=MaxVelCh2*32

Data Source Address location
24-bit SSI conversion

// ACC-24M2A ECT output setup
MacroSlave0,MI101=$12 // Output from 3rd line of ECT (MI122)
MacroSlave0,MI102=$15 // Output from 6th line of ECT (MI125)

If the direction decode variable, MacroSlave, MI910, is
changed the user must save the setting, MSSAVE{node} and reset the
card MS$$${node} before the fractional direction sense matches.
Note

Note

At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window

Configuring with Power PMAC

Accessory 24M2A

Resolver
ECT Setup
ACC-24M2A has up to two channels of resolver inputs. The inputs may be used as feedback or master
reference signals for the PMAC servo loops. The basic configuration of the drive contains one 10-bit fixed
resolution tracking resolver-to-digital (R-to-D) converters, with an optional second resolver when a dual
axis driver is ordered. ACC-24M2A creates the AC excitation signal (ResOut) for up to two resolvers,
accepts the modulated sine and cosine signals back from these resolvers, demodulates the signals and
derives the position of the resolver from the resulting information, in an absolute sense if necessary.
The specifics for this configuration are as follows (Ch1 and Ch2):
Example: ACC-24M2A with two motors, each with a resolver, one on Node 0, one on Node 1,
wherein the clockwise direction of the motor’s shaft’s rotation is positive
// ACC-24M2A ECT Setup
// Channel 1
MacroSlave0,MI120=$E0FF00
// Data Source Address location ,CW
MacroSlave0,MI121=$00FF5C
// A/D Converter Address Setup
MacroSlave0,MI122=0 // Sine/Cosine Bias –User Input
// Channel 2 CW
MacroSlave0,MI123=$E0FF20
// Data Source Address location, CW
MacroSlave0,MI124=$00FF5C
// A/D Converter Address Setup
MacroSlave0,MI125=0 // Sine/Cosine Bias –User Input
// ACC-24M2A ECT Output Setup
MacroSlave0,MI101=$12 // Output from 3rd line of ECT (MI122)
MacroSlave0,MI102=$15 // Output from 6th line of ECT (MI125)

Example: ACC-24M2A with two motors, each with a resolver, one on Node 0, one on Node 1,
wherein the counterclockwise direction of the motor’s shaft’s rotation is positive
// ACC-24M2A ECT Setup
// Channel 1
MacroSlave0,MI120=$E8FF00
// Data Source Address location ,CCW
MacroSlave0,MI121=$00FF5C
// A/D Converter Address Setup
MacroSlave0,MI122=0 // Sine/Cosine Bias –User Input
// Channel 2 CW
MacroSlave0,MI123=$E8FF20
// Data Source Address location, CCW
MacroSlave0,MI124=$00FF5C
// A/D Converter Address Setup
MacroSlave0,MI125=0 // Sine/Cosine Bias –User Input
// ACC-24M2A ECT Output Setup
MacroSlave0,MI101=$12 // Output from 3rd line of ECT (MI122)
MacroSlave0,MI102=$15 // Output from 6th line of ECT (MI125)

Note that the third line of the entry for each channel (in this example, MI122 for Channel 1 and MI124 for
Channel 2) contains the bias in the A/D converter values. This line (indicated by “-User Input” in the
comments on that line) should contain the value that the A/D converters report when they should ideally
report zero. The MACRO Station subtracts this value from both A/D readings before calculating the
arctangent. Many users will leave this value at 0, but it is particularly useful to remove the offsets of
single-ended analog encoder signals. If it appears that the encoder has an offset, the user can compensate
for it in these variables. This line is scaled so that the maximum A/D converter reading provides the full
value of the 24-bit register (+/-223). Generally, it is set by reading the A/D converter values directly as 24bit values (in this example, from Y:$C090 for Channel 1 and from Y:$C098 for Channel 2), computing
the average value over a cycle or cycles, and entering this value here.

Configuring with Power PMAC

Accessory 24M2A

Note

If the direction decode variable, MacroSlave, MI910, is
changed the user must save the setting, MSSAVE{node} and reset the
card MS$$${node} before the fractional direction sense matches.

Configuring Excitation Frequency
After setting up the ECT, the user then must set three MI-Variables for the Resolvers to function
correctly.
The ResOut signal (i.e. the Resolver’s excitation frequency) emitted from the ACC-24M2A is derived
from the Phase Clock frequency of the MACRO set by MI992 and MI997. The user has the ability to
select the excitation frequency to be equal with the Phase Clock frequency (default) by setting
MacroSlave,MI982 equal to 0. Or, the user can use lower frequencies by increasing the value of
MI982.
MI982 affects the excitation frequency as follows:
MI982 Setting
MI982=1
MI982=2
MI982=3

Excitation Frequency
(Phase Clock Frequency)/2
(Phase Clock Frequency)/4
(Phase Clock Frequency)/6

Configuring the Excitation Signal’s Gain
Additionally, the user needs to set the Excitation output gain for the system’s resolvers by setting
MacroSlave,MI981.
MI981 affects the excitation signal’s gain as follows:
MI981 Setting
MI981=0
MI981=1
MI981=2
MI981=3

Configuring with Power PMAC

Excitation Signal Gain
2.5 Vpp
5.0 Vpp
7.5 Vpp
10.0 Vpp

Accessory 24M2A

Configuring the Excitation Signal’s Phase Offset
Finally the resolver excitation phase time offset, MacroSlave, MI980, needs to be set. The
optimum setting of MI980 depends on the L/R time constant of the resolver circuit. Therefore, MI980
should be set interactively to maximize the magnitudes of the feedback ADC values.
For each channel, there are two ADC registers which hold the sin and cosine values. For Channel 1, the
base/first ADC register address is Y:$FF00 and the second ADC register address is Y:$FF01; For
Channel 2, the base/first ADC register address is Y:$FF20 and the second ADC register address is
Y:$FF21. There is no MI-Variable to directly address these registers, so MI198 (Direct Read/Write Format
and Address) and MI199 (Direct Read/Write Variable) will be used here. For each channel, both ADCs
should be observed during setup. Notice that MI199 can only be pointed to one register at one time so it
must be configured twice throughout the following procedure.
Procedure for Configuring MI980 on Channel 1
The procedure for configuring MI980 for Channel 1 is as follows:
9. In the Power PMAC IDE, open a Watch Window (click Delta TauViewWatch).
10. Into a field in the Watch Window, type MacroSlave,MI199, where is the node
number of this ACC-24M2A’s motor (e.g. if this motor is on Node 0, type MacroSlave0,MI199).
11. In the Terminal Window (from within the IDE, click Delta TauViewTerminal), type
MacroSlave,MI198=$6DFF00, where is this motor’s node (as in step 2). This
points MI199 to the Channel 1’s ADC1.
12. Rotate the motor on this channel. Observe MacroSlave,MI199 in the Watch Window. If
it saturates to ±32767, the resolver gain (MI981) is too high. Decrease MI981 until the MI199 just
barely saturates to ±32767. If it does not saturate, type MacroSlave,MI198=$6DFF01 in
the Terminal Window (which sets MI199 to point to Channel 1’s ADC2) and then repeat step 4.
13. Set MI199 to point to the ADC which saturated; that is, if ADC1 saturated, type
MacroSlave,MI198=$6DFF00 in the Terminal Window, or if ADC2 saturated, type
MacroSlave,MI198=$6DFF01 in the Terminal Window.
14. Position the motor’s shaft such that the ADC value is close to the maximum value observed
throughout one revolution of the motor’s shaft. At this point, the other ADC should be close to 0.
15. Increase MI980 by increments of 25. The ADC value should start to increase slowly. If it
decreases, instead start with MI980=255 and then decrease MI980 by increments of 25. The ADC
value should increase up to a maximum point and then start to decrease again. Set MI980 to the
value that produced the largest absolute ADC value achieved throughout the process of adjusting
MI980.
16. If the maximum absolute value of this ADC is less than 16,000, increase the gain of the resolver
by increasing MI981.

Configuring with Power PMAC

Accessory 24M2A
Procedure for Configuring MI980 on Channel 2
The procedure for configuring MI980 for Channel 2 is as follows:
9. In the Power PMAC IDE, open a Watch Window (click Delta TauViewWatch Window).
10. Into a field in the Watch Window, type MacroSlave,MI199, where is the node
number of this ACC-24M2A’s motor (e.g. if this motor is on Node 0, type MacroSlave0,MI199).
11. In the Terminal Window (from within the IDE, click Delta TauViewTerminal), type
MacroSlave,MI198=$6DFF20, where is this motor’s node (as in step 2). This
points MI199 to the Channel 1’s ADC1.
12. Rotate the motor on this channel. Observe MacroSlave,MI199 in the Watch Window. If
it saturates to ±32767, the resolver gain (MI981) is too high. Decrease MI981 until the MI199 just
barely saturates to ±32767. If it does not saturate, type MacroSlave,MI198=$6DFF21 in
the Terminal Window (which sets MI199 to point to Channel 1’s ADC2) and then repeat step 4.
13. Set MI199 to point to the ADC which saturated; that is, if ADC1 saturated, type
MacroSlave,MI198=$6DFF20 in the Terminal Window, or if ADC2 saturated, type
MacroSlave,MI198=$6DFF21 in the Terminal Window.
14. Position the motor’s shaft such that the ADC value is close to the maximum value observed
throughout one revolution of the motor’s shaft. At this point, the other ADC should be close to 0.
15. Increase MI980 by increments of 25. The ADC value should start to increase slowly. If it
decreases, instead start with MI980=255 and then decrease MI980 by increments of 25. The ADC
value should increase up to a maximum point and then start to decrease again. Set MI980 to the
value that produced the largest absolute ADC value achieved throughout the process of adjusting
MI980.
16. If the maximum absolute value of this ADC is less than 16,000, increase the gain of the resolver
by increasing MI981.

Note

At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window

Configuring with Power PMAC

Accessory 24M2A

Flags
On the Ring Controller, the motors’ flag pointers must point to the servo node’s flag addresses used for
the motors on ACC-24M2A.
Example: Motors 1–2 on Nodes 0 and 1, respectively, using ACC-5E3 in a Power UMAC
Motor[1].pEncCtrl=Acc5E3[0].MacroOutA[0][3].a
Motor[1].pEncStatus=Acc5E3[0].MacroInA[0][3].a
Motor[1].pAmpEnable=Acc5E3[0].MacroOutA[0][3].a
Motor[1].pAmpFault=Acc5E3[0].MacroInA[0][3].a
Motor[1].pCaptFlag=Acc5E3[0].MacroInA[0][3].a
Motor[1].pPhaseEnc=Acc5E3[0].MacroInA[0][0].a
Motor[1].pAdc=Acc5E3[0].MacroInA[0][1].a
Motor[2].pEncCtrl=Acc5E3[0].MacroOutA[1][3].a
Motor[2].pEncStatus=Acc5E3[0].MacroInA[1][3].a
Motor[2].pAmpEnable=Acc5E3[0].MacroOutA[1][3].a
Motor[2].pAmpFault=Acc5E3[0].MacroInA[1][3].a
Motor[2].pCaptFlag=Acc5E3[0].MacroInA[1][3].a
Motor[2].pPhaseEnc=Acc5E3[0].MacroInA[1][0].a
Motor[2].pAdc=Acc5E3[0].MacroInA[1][1].a

Then, on the Ring Controller, the flag control variables must be set up for each motor on ACC-24M2A.
Example: Motors 1–2 on Nodes 0 and 1, respectively, with overtravel limits enabled, using ACC5E3 in a Power UMAC
Motor[1].pLimits=Acc5E3[0].MacroInA[0][3].a
Motor[1].LimitBits=25
Motor[1].CaptPosRound=1
Motor[1].CaptPosRightShift=0
Motor[1].CaptPosLeftShift=13
Motor[1].CaptFlagBit=19
Motor[1].AmpFaultBit=23
Motor[1].AmpEnableBit=22
Motor[1].AmpFaultLevel=0
Motor[2].pLimits=Acc5E3[0].MacroInA[1][3].a
Motor[2].LimitBits=25
Motor[2].CaptPosRound=1
Motor[2].CaptPosRightShift=0
Motor[2].CaptPosLeftShift=13
Motor[2].CaptFlagBit=19
Motor[2].AmpFaultBit=23
Motor[2].AmpEnableBit=22
Motor[2].AmpFaultLevel=0

Configuring with Power PMAC

Accessory 24M2A
Example: Motors 1–2 on Nodes 0 and 1, respectively, with overtravel limits disabled
Motor[1].pLimits=0;
Motor[1].LimitBits=25
Motor[1].CaptPosRound=1
Motor[1].CaptPosRightShift=0
Motor[1].CaptPosLeftShift=13
Motor[1].CaptFlagBit=19
Motor[1].AmpFaultBit=23
Motor[1].AmpEnableBit=22
Motor[1].AmpFaultLevel=0
Motor[2].pLimits=0;
Motor[2].LimitBits=25
Motor[2].CaptPosRound=1
Motor[2].CaptPosRightShift=0
Motor[2].CaptPosLeftShift=13
Motor[2].CaptFlagBit=19
Motor[2].AmpFaultBit=23
Motor[2].AmpEnableBit=22
Motor[2].AmpFaultLevel=0

Output Commands
On the Ring Controller, the output command address must be set to the ACC-24M2A’s motors’ servo
node addresses directly.
Example: Motors 1–2 on Nodes 0 and 1, respectively, using ACC-5E3 in a Power UMAC
Motor[1].pDac=Acc5E3[0].MacroOutA[0][0].a;
Motor[2].pDac=Acc5E3[0].MacroOutA[1][0].a;

Note

These examples configure only motors 1–2. If you are configuring
other motors, refer to the Power PMAC Software Reference Manual
for the different settings the aforementioned structures can take.

Configuring with Power PMAC

Accessory 24M2A

Axis1MinContCurrent
3
;
Axis1MinPeakCurrent
9
;
Axis1AmpPeakInstCurrent 16.3 ;
Axis1I2TOnTime
2
;

// Assuming that motor 1 is the first motor on MACRO
Motor[1].I2TSet=32767*Axis1MinContCurrent/Axis1AmpPeakInstCurrent
Motor[1].MaxDac=32767*Axis1MinPeakCurrent/Axis1AmpPeakInstCurrent
Motor[1].I2TTrip=(Motor[1].MaxDac*Motor[1].MaxDac - Motor[1].I2TSet*Motor[1].I2TSet +
Motor[1].IdCmd*Motor[1].IdCmd)*Axis1I2TOnTime
Motor[2].I2TSet=Motor[1].I2TSet // Assumes motor 2 is the same as motor 1
Motor[2].MaxDac=Motor[1].MaxDac // Assumes motor 2 is the same as motor 1
Motor[2].I2TTrip=Motor[1].I2TTrip // Assumes motor 2 is the same as motor 1

DAC Calibration

WARNING

At this stage in the setup, the user should calibrate the DACs on ACC-24M2A to make sure that when he
or she commands 0 volts on the DACs, they actually put out 0 volts. You can do this by means of the
automatic DAC calibration program from the Power PMAC System Setup program, easily accessible by
means of a TelNet Terminal connection to your PMAC. To open a TelNet connection, from the Windows
Start Menu click StartRun (or just type into the search field if it is Windows Vista/7) and then type:
telnet 192.168.0.200

Put your Power PMAC’s IP Address in the place of 192.168.0.200 (the default IP address) shown above.
TelNet will prompt you for a “powerpmac login”; here type:
root

The password is:
deltatau

Then, type:
cd setup
dir

Configuring with Power PMAC

Accessory 24M2A
calcdacbias should appear as a program in the list. This is a program that receives two arguments as
follows:
calcdacbias []
is the number of the motor whose DAC bias you want to calculate. [] is the
number of times you want the program to iterate; more iterations generally yields a more accurate result.
Example
To calculate the DAC bias of motor 1 with 10 iterations, type:
calcdacbias 1 10

Once the program completes, it will issue a command to PMAC to change the DAC bias for this motor.
For example, after entering the above command, the final iteration of the program will print something to
the effect of:
Command: Motor[1].DacBias = -139.200000
You may want to write down this number and put it into your motor setup file in your project within the
Power PMAC IDE for future reference.

Configuring with Power PMAC

Accessory 24M2A

Open Loop Test

WARNING

The user should now execute an Open-Loop test in order to determine whether the feedback from ACC24M2A is working properly. To do this, open Tuning from the Power PMAC IDE by clicking on
ToolsTune. Then, click the Open Loop Test button on the left:

Configuring with Power PMAC

Accessory 24M2A
You should see the actual velocity increasing positively while the commanded velocity is positive, the
actual velocity decreasing while the commanded velocity is negative, looking something like this:

If you see an erratic response, or an inverted saw tooth, then most likely the encoder decode setting is
incorrect. To change this, change MS{node},MI910 for this motor from 7 to 3, or vice versa.

Configuring with Power PMAC

Accessory 24M2A

Servo Loop Tuning
PMAC’s Servo Algorithm must be configured to properly control any given system with motors and
amplifiers. Configuration is done by adjusting setup structures pertaining to the PID gains. Friction
Feedforward is also needed. The servo loop gains correspond to structures as follows:








Motor[x].Servo.Kp
Motor[x].Servo.Kvfb
Motor[x].Servo.Kvff
Motor[x[.Servo.Ki
Motor[x].Servo.SwZvInt
Motor[x].Kaff
Motor[x].Kfff

Proportional Gain (Kp)
Derivative Gain (Kd)
Velocity Feedforward (Kvff)
Integral Gain (Ki)
Integration Mode
Acceleration Feedforward (Kaff)
Friction Feedforward (Kfff)

The user should connect the load to the motor before tuning the servo
loop.
Note
The process of determining proper values of PID gains is called “Tuning.” The procedure for tuning is as
follows:
4. Set Motor[x].Servo.SwZvInt (Motor xx PID Integration Mode) – can be changed on the fly as
needed
=1, position error integration is performed only when Motor xx is not commanding a move
=0, position error integration is performed always
5. Using the Step Response, tune the following parameters in this order:
Proportional Gain, Kp (Motor[x].Servo.Kp)
Derivative Gain, Kd (Motor[x].Servo.Kvfb)
Integral Gain, Ki (Motor[x[.Servo.Ki)
6. Using the Parabolic Move, tune the following parameters in this order:
Velocity Feedforward, Kvff (Motor[x].Servo.Kvff)
Acceleration Feedforward, Kaff (Motor[x].Kaff )
Friction Feedforward, Kfff (Motor[x].Kfff)


Note



Configuring with Power PMAC

When tuning the feedforward gains, set
Motor[x].Servo.SwZvInt =1 so that the dynamic behavior of
the system may be observed without integrator action. After
tuning these, set Motor[x].Servo.SwZvInt back to your
desired setting.
Setting Kvff = Kd (Motor[x].Servo.Kvff =
Motor[x].Servo.Kvfb) is a good place to start when tuning
Kvff.

Accessory 24M2A
Steps 2 and 3 should be performed in the Interactive Tuning window in Tuning:

Input the move size here

Select the Motor Number here

Commanded
Position [cts]

Time [sec]
Now, compare your motor’s actual position to the commanded position profile. Depending how the actual
position looks, adjust the servo loop gains until you achieve the desired response.

Configuring with Power PMAC

Position Offset
Cause:
Friction or Constant
Force
Fix:
Increase Ki
Increase Kp

Sluggish Response
Cause:
Too much Damping or
too little Proportional
gain
Fix:
Increase Kp or
Decrease Kd

Physical System
Limitation
Cause:
Limit of the
Motor/Amplifier/Load
and gain combination
Fix:
Evaluate Performance
and
maybe add Kp

Typically, one should start by increasing Kp until one observes the “Overshoot and Oscillation” condition
(upper left corner’s plot), and then increase Kd and Ki until the performance goals for the step response
are achieved. Be sure when executing the step response that you plot the Servo Command on the Right
Axis (see image on right below).
If you see a truncation of the
servo command at the
beginning of each move, you
have reached the maximum
output command as determined
by Motor[x].MaxDac. In this
case, adding more Kp will not
improve the Step Response’s
performance.

Configuring with Power PMAC

Accessory 24M2A
Step 3 (Tuning Kvff, Kaff, and Kfff)
Select “Parabolic Velocity” under the “Trajectory Selection” in the Interactive Tuning Window. Select a
move size and speed that will simulate the fastest, harshest moving conditions you expect your machine
to experience. Tune the motor at these settings, and then the motor should be able to handle all easier
moves.
After commanding the Parabolic Velocity move, the commanded Velocity Profile and Acceleration
Profile should look like this:

Velocity
Commanded
Profile

Acceleration
Commanded
Profile

Observing the table below, match your actual position response to one of the response shapes below, and
then adjust the appropriate gain as listed next to each plot:

High Vel./F.E.
Correlation
Cause: Damping
Fix: Increase Kvff

High Acc./F.E.
Correlation
Cause: Inertial Lag
Fix:
Increase Kaff

Configuring with Power PMAC

High Vel./F.E.
Correlation
Cause: Friction
Fix:
Add Kfff
and/or turn on Integral
Gain (Ki)
High Acc./F.E.
Correlation
Cause:
Physical System
Limitation
Fix:
Use softer acceleration
or add more Kfff

Accessory 24M2A

Negative Vel./F.E.
Correlation
Cause:
Too much Velocity
Feedforward
Fix:
Decrease Kvff
Negative Acc./F.E.
Correlation
Cause:
Too much
Acceleration
Feedforward
Fix:
Decrease Kaff

Configuring with Power PMAC

High Vel./F.E.
Correlation
Cause: Damping &
Friction
Fix:
Increase Kvff first
Possibly adjust Kfff
High Vel./F.E. &
Acc./F.E.
Correlation
Cause:
Inertial Lag &
Friction
Fix:
Increase Kaff
Possibly adjust Kfff

Accessory 24M2A

LAYOUT

All main dimensions are in units of inches (millimeters are in square brackets).

layout

Accessory 24M2A

APPENDIX A: JUMPERS
Jumper

Lattice Download

1
E5

1
E6

1
E9

E10

Watchdog Timer
Disable

Remove jumper to enable Watchdog Timer.
Jump pins 1 and 2 to disable Watchdog Timer (for test
purposes only)

Not
jumpered

CPU Mode
Operation/Bootstrap

Jump pins 1 and 2 for firmware download through USB port.
Jump pins 2 and 3 for normal operation.

Buffer Request
Select Polarity

Remove jumper to allow BRSEL- to 5Vdc
Jump pins 1 and 2 to pull BRSEL- to 0Vdc

Encoder / Pulse and
Direction Ch1

Remove jumper to enable +/-10V analog output on Ch1
Jump pins 1 and 2 to enable Stepper mode output for Ch1

Encoder / Pulse and
Direction Ch2

Remove jumper to enable +/-10V analog output on Ch1
Jump pins 1 and 2 to enable Stepper mode output on Ch2

Stepper Drive
Amplifier Enable
Ch1

Remove jumper to receive encoder C-Channel input on Ch1.
Jump pins 1 and 2 to provide Amp Enable line for Stepper
Motor-style amplifier Ch1.

Not
jumpered

Stepper Drive
Amplifier Enable
Ch2

Remove jumper to receive encoder C-Channel input on Ch2.
Jump pins 1 and 2 to provide Amp Enable line for Stepper
Motor-style amplifier Ch2.

Not
jumpered

Default
Not
jumpered

Description
Remove jumper to disable ability to perform Lattice
Download.
Jump pins 1 and 2 to enable ability to download.

Name

appendix A: Jumpers

Pin 2-3

Not
jumpered
Not
jumpered
Not
jumpered

Accessory 24M2A

APPENDIX B: SCHEMATICS
MACRO Fiber Connection

+3.3VD

U35
C113
R37
68.1

0.1 uF

R38
68.1

0.1 uF

1
2
3
4
5
6
7
8
9

C115
0.1 uF
L21 FB

C114

L22 FB

R39
187.0

R40
187.0

C116 +

C117

C118

10 uF

.1 uF

C400
.1UF

MACRO Over Fiber

3.3/5.0 Volt Fiber
Optic Transceiver
Analog Ground

LVPECL Termination Network Located
at Optical Transceiver Inputs TD+/TD(NEAR U35 HFBR-5803)
+3.3VD

RXVEE
RD+
RDSD
RXVCC
TXVCC
TDTD+
TXVEE
HFBR-5803

+3.3VD

C401
R41 .1UF
4.99K

R42
4.99K

C402
.1UF

C403
.1UF
R44
7.5K

R43
7.5K

R70
82

R71
82

LVPECL Termination Network Located
at Ethernet Transceiver Inputs
FXR+/FXR- (NEAR U31 AM79C874)

OPT A -

FIBER MACRO ONLY

MACRO RJ45 Connection
+3.3VD

R51
49.9

U32

R52
49.9
16
15
14

C111
.1UF

13
12

TD-

rj45
TX-

TD+

TX+

n.c.

1
2

R400
R401
R402
R403
R404
R405

n.c.

10
9

R53
49.9

R54
49.9

C112
.1UF

C106
.1UF

RD-

RX-

RD+

RX+

1
2
3
4
5
6
7
8

R61 R62 R63

rj45

7
8

TG110-S050N2
R64

R65

R66 R67 R68

MACRO Over Copper
(Transmit)

R406
R407
R408
R409
R410
R411

RJ-45-8

n.c.
51

51
51
51
51
51
51

1
2
3
4
5
6
7
8

J5
MACRO Over Copper
(Receive)

RJ-45-8

C109
.01 uF (3KV)
Chassis Ground

Appendix B: Schematics

Accessory 24M2A
Limit Inputs
1

+5V
RP35

9
8
7
6
5
4
3
2

3.3KSIP10C
U62A (SMT4)

FLAG_A1

4
3

FLAG_A1

4
3

C147

C146

FLAG_C1

1
3
5
7

4.7KSIP8I
1 RP38
3
5
7

2
4
6
8

FLAG_A2

4
3

C151

GND

Appendix B: Schematics

LIMITS 1,2
J6
USER1
PLIM1
MLIM1
HOME1
FL_RT1
BEQU1
USER2
PLIM2
MLIM2
HOME2
FL_RT2
BEQU2

1
3
5
7

RP40

2
4
6
8

4.7KSIP8I
2 RP41
4
6
8

1
3
5
7

4.7KSIP8I
1 RP42
3
5
7

2
4
6
8

USER2
PLIM2
MLIM2
HOME2
FL_RT2

GND

1
9
2
10
3
11
4
12
5
13
6
14
7
15
8

USER1
PLIM1
MLIM1
HOME1
FL_RT1
BEQU1
USER2
PLIM2
MLIM2
HOME2
FL_RT2
BEQU2
GND
GND
GND

DB15S

x1KSIP8I
(IN SOCKET)

FLAG_A2

4
3

FLAG_C2

C152

FLAG_C2

4
3

USER1
PLIM1
MLIM1
HOME1
FL_RT1

RP39
1KSIP8I

1
3
5
7

C153

FLAG_B2

1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC
U63B (SMT4)
1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC
U63C (SMT4)
1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC
U63D (SMT4)
1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC

FLAG_B2

4
3

FLAG_D2

C150

FLAG_D2

2
4
6
8

4.7KSIP8I
2 RP37
4
6
8

U63A (SMT4)
2

RP36

x1KSIP8I
(IN SOCKET)

FLAG_C1

4
3

1
3
5
7

FLAG_B1

1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC
U62B (SMT4)
1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC
U62C (SMT4)
1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC
U62D (SMT4)
1
C1 ACI1A 2
E1 ACI1B
PS2505L-1NEC

C148

FLAG_B1

4
3

C149

FLAG_D1

2
4
6
8

1
3
5
7
RP43
1KSIP8I

Accessory 24M2A
Digital Quadrature Encoder Inputs
U47A
U46A

1
1

74HC132
(SO14)

74AC86
(SO14)

1
3
5
7

U47B
R84

2.2K

4
6

74AC86
(SO14)

RP15

+5V

5
QL_1-

QL_1-

74HC132
(SO14)

CHA1+
CHA1CHB1+
CHB1-

1KSIP8I

U46B
2

2
4
6
8

C127

4
.1uf
C128
.1uf

GND

U47C
U46C

10
10

74HC132
(SO14)

74AC86
(SO14)

1
3
5
7

U47D
R85

2.2K

13
11

74AC86
(SO14)

RP16

+5V

12
QL_2-

QL_2-

74HC132
(SO14)

CHA2+
CHA2CHB2+
CHB2-

1KSIP8I

U46D
2

2
4
6
8

C129

13
.1uf
C130
.1uf

GND

Appendix B: Schematics

Accessory 24M2A
Pulse and Direction Outputs
U50
16

VCC
2

PWM_C_T1

JUMP "E5 1-TO-2 TO ENABLE STEPPER#1 OUT
JUMP "E5 2-TO-3 TO ENABLE A-B QUAD#1 OUT

IN-A

OUT-A

OUT-A
EN-A,C

PWM_C_B1

PWM_C_T2

JUMP "E6 1-TO-2 TO ENABLE STEPPER#2 OUT
JUMP "E6 2-TO-3 TO ENABLE A-B QUAD#1 OUT

PWM_C_B1

PWM_C_T2

IN-C

OUT-C

IN-B

OUT-B

PWM_C_B2

RP25

1
3
5
7

EN-B,D
IN-D

U51

GND
2,7
JUMP "E09" TO ENABLE AMP-ENA#2

VCC
AENA_1

AENA_1

ENA_AEN1

IN-A

2,7
JUMP "E10" TO ENABLE AMP-ENA#2

AENA_2
E10

OUT-A
OUT-A

EN-A,C

AENA_2

ENA_AEN2

IN-C

OUT-C

IN-B

OUT-B
OUT-B

EN-B,D
OUT-D

ENC_B2

ENA_AEN1

ENA_AEN2

IN-D

DIR_1+
DIR_1PUL_1PUL_1+

RP27

2
4
6
8

CHU2+
CHV2+
CHW2+
CHT2+

DIR_2+
DIR_2PUL_2PUL_2+

PUL-DIR OUTPUT SECTION

.1UF
16

OUT-C
ENC_B1

CHU1+
CHV1+
CHW1+
CHT1+

C135

2.2KSIP8I

2
4
6
8

33SIP8I

OUT-D

GND
ST34C87CF16 (SO16)

2
4
6
8

1
3
5
7

OUT-B

RP26

33SIP8I

OUT-D
2

1
3
5
7

OUT-C

OUT-D

GND
ST34C87CF16 (SO16)

2
3
FAULT_1

5
6
1
3
5
7

14
13

RP28

2
4
6
8

FAULT_1

2,7

FAULT_2

2,7

CHA1+
CHA1CHA2+
CHA2-

33SIP8I

FAULT_2

10
8

C136
.1UF
GND

+5V

Hall Sensor Inputs
RP19
3.3KSIP10C

+5V

2
2
2
2
2
2
2
2

FLAG_U1
FLAG_V1
FLAG_W1
FLAG_T1
FLAG_U2
FLAG_V2
FLAG_W2
FLAG_T2

18
17
16
15
14
13
12
11
20
10

C125

Y1
Y2
Y3
Y4
Y5
Y6
Y7
Y8

A1
A2
A3
A4
A5
A6
A7
A8

VCC
GND

G1
G2

74AC541
(SOL20)

.1UF

9
8
7
6
5
4
3
2

U45

FLAG_U1
FLAG_V1
FLAG_W1
FLAG_T1
FLAG_U2
FLAG_V2
FLAG_W2
FLAG_T2

2
3
4
5
6
7
8
9

1
3
5
7
1
3
5
7

2RP20
4
6
81KSIP8I
2RP21
4
6
81KSIP8I

CHU1+
CHV1+
CHW1+
CHT1+
CHU2+
CHV2+
CHW2+
CHT2+

6
6
6
6
6
6
6
6

1
19
C126
.1UF

GND

Appendix B: Schematics

Accessory 24M2A
Position Compare Outputs
+5V
C123

EQU_1

R80
330

.1UF
GND
1

U43A
4

DS75451N
(DIP8)

R81
330
BEQU1

(IN SOCKET)

GND
6
2

EQU_2

U43B

BEQU2

DS75451N
(DIP8)
(IN SOCKET)

RESET-

Appendix B: Schematics

Accessory 24M2A
Motor Thermal Inputs
Use 1.74K 1% for a 130°C allarm, 1.62K 1% for a 150°
2.23 V KTY 84-130 @ 130°C
2.33 V KTY 84-130 @ 150°C
+5VAN1

R136

R132
1.74K 1%

C212
0.1uF
3

1in_therm_mot

R130

R134

100 1%

1K 1%

LM393AD
+
1
U80A
(SO8)

D25
SMAJ5.0

R133
1.5K 1%

To J10 pin 23 Encoder connector

AGND

C213 C214
0.1uF0.1uF

1_therm_mot

Has to be KTY84_130 and not KTY84_150

R137
2.21K 1%

71.5K 1%
8

R131
1k 1%

R135
7.5K 1%

Note: USE NC contact as thermal sensor. PTC resistor KTY84-130 or similar
can be used. Different PTC type needs different R82 value.

Use 1.74K 1% for a 130°C allarm, 1.62K 1% for a 150°
2.23 V KTY 84-130 @ 130°C
2.33 V KTY 84-130 @ 150°C
+5VAN2

R141
1k 1%

R142
1.74K 1%

R146

R147
2.21K 1%

71.5K 1%
5
6

2in_therm_mot

R140

R144

100 1%

1K 1%

D26
SMAJ5.0

To J11 pin 23 Encoder connector

AGND

Appendix B: Schematics

R143
1.5K 1%

C215

C216

0.1uF 0.1uF

LM393AD
+
7
U80B
(SO8)

2_therm_mot

Has to be KTY84_130 and not KTY84_150
R145
7.5K 1%

Motor Thermal
Input 1&2

Note: USE NC contact as thermal sensor. PTC resistor KTY84-130 or similar
can be used. Different PTC type needs different R82 value.

Accessory 24M2A
SSI Inputs
+5V
U82
8
ssi_io1
ena_ssi_out1

1
2

VCC GND
ROUT
RENA

5
7

3
4

DENA
6
DIN
A
(SOIC8)
ADM1485JR
C202 2
1 0.1uF

1
3
5
7

U83 0402
8
ssi_io2

1
2

ena_ssi_out2

3
4

VCC GND
ROUT
RENA

RP12

1
2
ena_ssi_clk1
ssi_clk_out1

3
4

ROUT
RENA

1
2

5
7

DENA
6
DIN
A
(SOIC8)
ADM1485JR
C204 .1UF

ena_ssi_clk2
ssi_clk_out2

3
4

VCC GND
ROUT
RENA

ssi_io1ssi_io1+
ssi_io2ssi_io2+

6
6
6
6

ssi
1&2
1
3
5
7

U85
8

ssi_io1ssi_io1+
ssi_io2ssi_io2+

U84 0402
VCC GND

ALTCOS1ALTCOS1+
ALTCOS2ALTCOS2+

33SIP8I

DENA
6
DIN
A
(SOIC8)
ADM1485JR
C203 2
1 0.1uF

2
4
6
8

RP13

2
4
6
8

ALTSIN1ALTSIN1+
ALTSIN2ALTSIN2+

ssi_clk_out1ssi_clk_out1+
ssi_clk_out2ssi_clk_out2+

ssi_clk_out1- 6
ssi_clk_out1+ 6
ssi_clk_out2- 6
ssi_clk_out2+ 6

33SIP8I

DENA
6
DIN
A
(SOIC8)
ADM1485JR
C205 .1UF
GND

Appendix B: Schematics

Accessory 24M2A
Resolver Outputs
+5V
3

+5V
C187

D15

.1uf

U74A

R108

4.99K

ResOut1

ResOut2

10ohm

lmh6672ma
lt1497cs8
C188

3
R104

MMBD301LT1

D16
1

.1uf
R106

MMBD301LT1
+5V
3

4.99k

D17
MMBD301LT1
6

U74B

ResOut2

10ohm

lmh6672ma
lt1497cs8

4.99K

R109

5
R105

D18
MMBD301LT1
1

R107
4.99k

Analog Feedback Voltage Reference Circuit
+5V_AN
1

U90
GND

TAB

C249
47UF
16V
(TANT)

OUT

BVREF2

BEAD

LT1963AEST-2.5

R331 10ohm
BVREF1
R333 10ohm

+5V
L4

(SOT-223)

C248
47UF
16V
(TANT)

AGND

Appendix B: Schematics

Accessory 24M2A
Sin/Cos Inputs
R230 12.7K
ALTSIN1-

ssi_clk_out1-

5
6

AD824AR
+
7
U91B
- (SO14)

R234
R236
27.4K
27.4K

C243
22pf

AGND
R231 12.7K
ALTSIN1+

ssi_clk_out1+
RP62
220SIP6I
1
3
5

2
4
6

SOCKET
ALTCOS1-

R232 12.7K

ssi_io1-

10
9

AD824AR
+
8
U91C
- (SO14)

R235
R237
27.4K
27.4K

C244
22pf

AGND
R233 12.7K
ALTCOS1+

ssi_io1+

Note: Sin/Cos inputs for Channel #2 are identical to Channel #1.
Encoder Power
+5V
L5

enc_pwr_1_2

2
C266

C267 C268
3

BEAD

(SOT23-5)
4
U99
3

1
enc_pwr_1_2

BEAD
L6

.1uf

NC7SZ14M5
D34

EncPwr1

10
9

.1uf

MMBD301LT1

8
1
12

EncPwr2

FBR12ND05
GND

Appendix B: Schematics

Accessory 24M2A
Sinusoidal Encoder Input
C232
+5VAN1
4

.1uf
R170 12.7K

ß=2.15

3
2

R171 12.7K
27.4K

SIN INPUT

R178

AD824AR
+
1
U91A
- (SO14)

R180

C233
-5VAN1

27.4K

.1uf

C234
22pf

R172 12.7K
AGND
R173 12.7K

BVRE F1
1 in _ t h erm _ m o t
ResO ut 1
E N CP W R1
+5 V
GN D
GN D

ssi_clk_out1+
ssi_clk_out1ssi_io1+
ssi_io1CHU1+
CHV1+
CHW1+
CHT1+

CHA1+
CHA1CHB1+
CHB1CHC1+
CHC1-

2
2
2
2
2
2

D30

27.4K
12
13
R175 12.7K

AD824AR
+
14
U91D
- (SO14)

COS INPUT

R179
R181
R176 12.7K

27.4K
27.4K

R177 12.7K

AGND

R183

27.4K
C269

C231

.1uf

C238

R186

R188

24.9K

10.0K

C236

R187

R189

.1uf

24.9K

10.0K

3
2

R194
30.9K

.1uf

AD822AR
+
1
U97A
(SO8)

R193

10.0K

C240
.1uf

C239

LM393AD
+
1
U98A
(SO8)

R196
3.01K

LOS_1-

.1uf

AD822AR
+
1
U95A
(SO8)

-5VAN1

2
MMBD4148CC

.1uf

C242

R191

D31
1
3

C237
-5VAN1

10uf
25V_tant

DB25S

+5VAN1

150.0K
+5VAN1

+5VAN1

C235
22pf

1in_therm_mot 5
ResOut1
5
EncPwr1
+5V

3
2
MMBD4148CC

27.4K

+5VAN1
C230

AD822AR
+
7
U95B
(SO8)
R184

R174 12.7K
5
5
5
5
2
2
2
2

R190

1
5
R182

ssi_clk_out1+
ssi_clk_out1ssi_io1+
ssi_io1CHU1+
CHV1+
CHW1+
CHT1+
BVREF1
1in_therm_mot
ResOut1

CHA1+
CHA1CHB1+
CHB1CHC1+
CHC1-

ALTSIN1+
ALTSIN1ALTCOS1+
ALTCOS1-

Sin1+
Sin1Cos1+
Cos1index1+
index1ResSin1+
ResSin1ResCos1+
ResCos1-

SOCKET

CLK1+/ALTSIN1+
CLK1-/ALTSIN1DAT1+/ALTCOS1+
DAT1-/ALTCOS1CHU1+/DIR_1+
CHV1+/DIR_1CHW1+/PUL_1+
CHT1+/PUL_1-

1
14
2
15
3
16
4
17
5
18
6
19
7
20
8
21
9
22
10
23
11
24
12
25
13

SIN 1 +
SIN 1 CO S1 +
CO S1 IN D E X 1 +
IN D E X 1 ResSin 1 +
ResSin 1 ResCo s1 +
ResCo s1 -

2
4
6

J11

SINUSOIDAL
ENCODER /
RESOLVER
INPUT #1

RP60
220SIP6I
1
3
5

ENCODER 1

R195
4.99K

.01uf

150.0K
R192

C241
.1uf

10.0K

R185

AGND

27.4K
AGND
+

C270
-5VAN1
10uf
25V_tant
AGND

Note: Encoder #2 is identical to Encoder #1.
Amplifier Output

"DGND" PLANE

"AGND" PLANE
AMP-OUT 1
J1
DAC1_A+
DAC1_ADAC1_B+
DAC1_BAE_NC_1
AE_COM_1
AE_NO_1
AFAULT_1+
AFAULT_13
4
5
K3
9

+5V

**NETLIST CHANGE**

AENA_1

DACENA

**PART CHANGE**

AGND

DB15S

FBR12ND05

NC7SZ00
(SOT23-5)

AENA_1

**NEW POWER SIGNAL**

U119
2,4

A+12V
A--12V

DAC1_A+
DAC1_ADAC1_B+
DAC1_BAE_NC_1
AE_COM_1
AE_NO_1
AFAULT_1+
AFAULT_1N.C.
N.C.
AGND
A+12V
A-12V
AGND

D42
MMBD301LT1

1
12

A+12V
A--12V

1
9
2
10
3
11
4
12
5
13
6
14
7
15
8

GND

Note: Amplifier Output #2 is identical to Amplifier Output #1.

Appendix B: Schematics

Accessory 24M2A
DAC Outputs
"AGND" PLANE

A+5V

C280

U110
PWM_B_T1

DAC_STB1

PWM_A_B1

DACA_DAT1

3
4

PWM_A_B2

PWM_B_T2

PWM_A_B2

DACA_DAT2

PWM_B_T2

DAC_STB2

6
7
8

VOL

NRL

AGND

NRR

DGND

VOR

VBR

AD1868R
(SOL16)

15
14

SA+12V
1

12
11
10

4.7UF
C282
4.7UF

RP67A
1
2
22KSIP8I 1%

C293
3

C283
13

RP65A

2.2KSIP8I 1%

RP65B

2.2KSIP8I 1%
OUTPUT
OFFSET
POT
R250

R251

5K POT

100K 1%

C281

R258
11.00K 1%

LF347M
+
1
U114A
(SO14)

RP67C
5
6
22KSIP8I 1%

5
6

LF347M
+
7
U114B
(SO14)

RP71A
1

DAC1_A+

DAC1_A-

220SIP8I

RP67D
7
8
22KSIP8I 1%

PWM_A_B1

C288
.1UF

(SO8)
+
1
U112A
2
AD822AR

PWM_B_T1

VBL

.1UF

C294

RP71B

RP67B

3
4
22KSIP8I 1%

3
220SIP8I

C289
SA-12V

.1UF
.1UF
(SO8)
+
7
U112B
6
AD822AR

AGND

RP65C

2.2KSIP8I 1%

C295

RP68A
1
2
22KSIP8I 1%

1
PWM_A_T1

PWM_A_T1

DAC_CLK1
2

U116
3

NC7SZ14M5
(SOT23-5)

RP65D

OUTPUT
OFFSET
POT
R252

2.2KSIP8I 1%

5K POT

100K 1%

LF347M
+
14
U114D
13
(SO14)
C296

R259
11.00K 1%
RP68B
3
4
22KSIP8I 1%

10
9

LF347M
+
8
U114C
(SO14)

RP68C
5
6
22KSIP8I 1%

RP68D
7
8
22KSIP8I 1%

R253

RP71C
5

DAC2_A+

DAC2_A-

220SIP8I

RP71D
7
220SIP8I

C284

U111

DACB_DAT1

3
4

PWM_B_B2

DACB_DAT2

5
6
7
8

VOL

NRL

AGND

NRR

DGND
VBR
AD1868R
(SOL16)

VOR
VS

15
14

SA+12V
1

4.7UF
C286

10
9

4.7UF

RP69A
1
2
22KSIP8I 1%

C297
3

C287
13

RP66A

2.2KSIP8I 1%

RP66B

2.2KSIP8I 1%
OUTPUT
OFFSET
POT
R254

11.00K 1%

LF347M
+
1
U115A
(SO14)

RP69C
5
6
22KSIP8I 1%

5
6

LF347M
+
7
U115B
(SO14)

DAC1_B+

DAC1_B-

RP72B

RP69B
3
4
22KSIP8I 1%

R255
100K 1%

RP72A
1
220SIP8I

RP69D
7
8
22KSIP8I 1%

C298

5K POT
C285

R268

PWM_B_B1

+
1
U113A
2
AD822AR
4

PWM_B_B1

VBL

C290
.1UF
(SO8)

2
2

.1UF

3
220SIP8I

C291
SA-12V

.1UF
.1UF
(SO8)
+
7
U113B
6
AD822AR

AGND

RP66C

2.2KSIP8I 1%

C299
12

RP66D

OUTPUT
OFFSET
POT
R256

2.2KSIP8I 1%

5K POT

100K 1%

R257

13
C300

RP70A
1
2
22KSIP8I 1%

LF347M
+
14
U115D
(SO14)

R269
11.00K 1%
RP70B
3
4
22KSIP8I 1%

10
9

LF347M
+
8
U115C
(SO14)

RP72C
5

RP70C
5
6
22KSIP8I 1%
RP70D
7
8
22KSIP8I 1%

DAC2_B+

DAC2_B-

220SIP8I

RP72D
7
220SIP8I

"AGND" PLANE

Appendix B: Schematics

100

APPENDIX C: SINUSOIDAL INTERPOLATION
Decoder /
Counter
A

A
Comparator
1 - Bit A/D
B
n-bit
A/D
B
Analog
Photo
Current

Differential
Amplifier

Encoder

Sin / Cos
Signals

n-bit
A/D

Controller

The sine and cosine signals from the encoder are processed in two ways in this product (see above
diagram). First, they are sent through comparators that square up the signals into digital quadrature and
are then sent into the quadrature decoding and counting circuit of the Servo IC on the ACC-24M2A. The
units of the hardware counter, which are called hardware counts, are thus ¼ of a line. For most users, this
fact is an intermediate value, an internal detail that does not concern them. However, this is important in
two cases. First, if the sinusoidal encoder is used for PMAC-based brushless-motor commutation, the
hardware counter (not the fully interpolated position value) will be used for the commutation position
feedback. Therefore, the units of Ixx71 will be hardware counts. Second, if the hardware positioncompare circuits in the Servo IC are used, the units of the compare register are hardware counts. The
same is true of the hardware position-capture circuits, but often these scaling issues are handled
automatically through the move-until-trigger constructs.
The second, parallel processing of the sine and cosine signals is through analog-to-digital converters,
which produce numbers proportional to the input voltages. These numbers are used to calculate
mathematically an arctangent value that represents the location within a single line. This is calculated to
1/4096th of a line, so there are 4096 unique states per line, or 1024 states per hardware count.
For historical reasons, PMAC expects the position it reads for its servo feedback software to have units of
1/32th of a count. That is, PMAC considers the least significant bit (LSB) of whatever it reads for position
feedback to have a magnitude of 1/32th of a count for the purposes of its software scaling calculations.
We call the resulting software units software counts and any software parameter that uses counts from the
servo feedback (e.g. jog speed in counts/msec, axis scale factor in counts/engineering-unit) is using these
software counts. In most cases, such as digital quadrature feedback, these software counts are equivalent
to hardware counts.
However, with the added resolution produced by the ACC-24M2A interpolator option, software counts
and hardware counts are no longer the same. The LSB produced by the interpolator (through the encoder
conversion table processing) is 1/1024th of a hardware count, but PMAC software considers it 1/32 th of a
software count. Therefore, with the ACC-24M2A, a software count is 1/32th the size of a hardware count.

Appendix C: Sinusoidal Interpolation

101

The following equations express the relationships between the different units:
1 line = 4 hardware counts = 128 software counts = 4096 states (LSBs)
¼-line = 1 hardware count = 32 software counts = 1024 states (LSBs)
1/128-line = 1/32-hardware count = 1 software count = 32 states (LSBs)
1/4096-line = 1/1024-hardware count = 1/32-software count = 1 state (LSB)

Note that these are all just naming conventions. Even the position data that is fractional in terms of
software counts is real. The servo loop can see it and react to it, and the trajectory generator can
command to it.

128 whole software counts and 3 bits
of fractional counts (1024 states)

One hardware count
Four hardware counts per line

The Interpolator can accept a voltage-source (1 Vpp) signal from the encoder. The maximum sine-cycle
frequency input is approximately 8 MHz (1,400,000 SIN cycles/sec), which gives a maximum speed of
about 5.734 billion steps per second.
When used with a 1000 line sinusoidal rotary encoder, there will be 4,096,000 discrete states per
revolution (128,000 software counts). The maximum calculated electrical speed of this encoder would be
1,400 RPS or 84,000 RPM, which exceeds the maximum physical speed of most encoders.
Example 1:
A 4-pole rotary brushless motor has a sinusoidal encoder with 2000 lines. It directly drives a screw with a
5-mm pitch.
For servo control, the interpolated results of the conversion table are used. There are 128 software counts
per line, or 256,000 software counts per revolution. With each revolution corresponding to 5 mm on the
screw, there are 51,200 software counts per millimeter. The measurement resolution, at 4096 states per
line, is 1/8,192,000 of a revolution, or 1/1,638,400 of a millimeter (~0.6 nanometers/state).
Example 2:
A linear brushless motor has a commutation cycle of 60.96 mm (2.4 inches). It has a linear scale with a
20-micron line pitch.
The servo uses the interpolated results of the conversion table. With 128 software counts per line, and 50
lines per millimeter, there are 6400 software counts per millimeter (or 162,560 software counts per inch).
The measurement resolution, at 4096 states per line, is 204,800 states per mm (~5 nanometers/state).

Appendix C: Sinusoidal Interpolation

102

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Delta Tau Acc 24M2A Users Manual

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