^2 Accessory 57E ^1 USER MANUAL. ^3 Yaskawa & Mitsubishi Abs. Enc. Con. Board. ^4 3Ax xUxx. ^5 November 16, 2007

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1 ^ USER MANUAL ^ Accessory E ^ Yaskawa & Mitsubishi Abs. Enc. Con. Board ^ Ax-0-xUxx ^ November, 00 Single Source Machine Control Power // Flexibility // Ease of Use Lassen Street Chatsworth, CA // Tel. () -0 Fax. () -0 //

2 Copyright Information 00 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 Delta Tau Data Systems, Inc. Technical Support Phone: () - Fax: () -0 support@deltatau.com Website: 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.

3 REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD ADDED ACC-E DB CONNECTOR OPTION P. - //0 CP S. MILICI

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5 Table of Contents INTRODUCTION... Options... BOARD LAYOUT... Acc-E - Yaskawa DB Option... Acc-E - Yaskawa Terminal Block Option... Acc-E - Mitsubishi Terminal Block Option... HARDWARE SETTINGS... Address Select DIP Switch S... Turbo PMAC U Switch Settings... MACRO Station Switch Settings... JUMPERS... E-Point Jumpers... JP- Jumpers... Connector Descriptions... TB and TB... J and J... J and J... J... J... P... Hardware Address Limitations... UMAC Card Types... Chip Select Addresses... Addressing Conflicts... Type A and Type B Example : Acc-E and Acc-E... Type A and Type B Example : Acc-E and Acc-E... ACC-E THEORY OF OPERATION... UMAC TURBO I-VARIABLE SETUP FOR POWER ON POSITION... Ixx0 Motor xx Power-On Position Address... Ixx - Motor xx Power-On Servo Position Format... Ixx - Motor xx Resolver Third Gear Ratio (Yaskawa Only) for Turbo... Ixx - Motor xx Second Resolver Gear Ratio (Yaskawa Encoder only) for Turbo... Ix - Motor xx Resolver Third Gear Ratio (Yaskawa only) for non-turbo... Ix- Motor xx Second Resolver Gear Ratio (Yaskawa Encoder only) for non-turbo... Example: Turbo UMAC Yaskawa Absolute Encoder Setup... Example: Turbo UMAC Mitsubishi Absolute Encoder Setup... POWER ON PHASING WITH ACC-E... Ixx... Ixx... Ixx... Ixx0... ACC-E CONFIGURATION BLOCK DIAGRAMS... Yaskawa Servo Pack Diagram... Yaskawa Generic Absolute Encoder Setup Mitsubishi Absolute Encoder Setup... ACC-E SETUP FOR UMAC MACRO... Acc-E Absolute Encoder Addresses for MACRO... Power-On Feedback Address for PMAC Ultralite... Absolute Position for Ultralite...0 Absolute Position for Turbo Ultralite...0 MACRO Absolute Position Setup...0 Table of Contents i

6 MACRO MIx Parallel Word Example... Example: UMAC MACRO Yaskawa Absolute Encoder Setup... Example: UMAC MACRO Mitsubishi Absolute Encoder Setup... CONNECTOR PINOUTS... J Yaskawa Sigma Series Encoder Input... J - Yaskawa Sigma Series Encoder Input... J - Mitsubishi RS Input... J Mitsubishi RS Input... ACC-E TERMINAL BLOCKS... Connector TB Top - Encoder... Connector TB Top - Encoder... ACC-E DB CONNECTOR OPTION... Connector J Top - Encoder... Connector J Top - Encoder... SERVOPACK CN TERMINAL DESCRIPTION...0 SCHEMATICS... ii Table of Contents

7 INTRODUCTION UMAC s Acc-E allows a UMAC interface to the Yaskawa or Mitsubishi absolute encoder. The Acc- E is part of the UMAC or MACRO Pack family of expansion cards and these accessory cards are designed to plug into an industrial U rack system. The information from these accessories is passed directly to either the UMAC or MACRO Station CPU via the high speed JEXP expansion bus. Other axis or feedback interface JEXP accessories include the following: Acc-E Parallel Feedback Inputs (absolute enc. or interferometers) Acc-E Digital Amplifier Breakout with TTL encoder inputs or MLDT Acc-EA Analog Amplifier Breakout with TTL encoder inputs or MLDT Acc-ES Stepper Amplifier Breakout with TTL encoder inputs or MLDT Acc-E -bit A/D Converter Inputs (up to four per card) Acc-E 0 times interpolator for Vpp sinusoidal encoders Acc-E SSI encoder interface (up to eight channels) Up to eight Acc-E boards can be connected to one UMAC providing up to channels of encoder feedback. Because each MACRO Station CPU can only service eight channels of servo data, only two fully populated Acc-E boards can be connected to the MACRO-Station. This board provides up to four channels of absolute encoder inputs to the UMAC controller with both A/B quadrature incremental encoder signal feedback as well as absolute position data. To prevent data from being lost in the case of power loss or power off conditions, a.v battery is included on the board with a monitor circuit to provide an indication of any drop in excess of %. In addition, there are four jumpers on the board to allow the customer to reset the absolute position value. See the related paragraphs below for a detailed description of the absolute encoder setup. Options Acc- E(Basic card) Two axes Yaskawa absolute encoder interface Acc-E option Y Additional two-axes Yaskawa absolute encoder interface (additional card must be ordered with the basic card). Acc-E option M Eight axes Mitsubishi absolute encoder interface Mitsubishi Option can only be used with the MR-J-xA series drive. Note: The Acc-E Option M cannot be combined with option Y, and vice versa. In order to avoid the confusion between these two different encoder user, this manual will be divided into two parts-part I will be the manual for Yaskawa absolute encoder user, Part II is for the Mitsubishi absolute encoder user. Introduction

8 Introduction

9 BOARD LAYOUT Acc-E - Yaskawa DB Option Acc-E - Yaskawa Terminal Block Option Board Layout

10 Acc-E - Mitsubishi Terminal Block Option TOP J TB TB TB J P BT J J BOTTOM Board Layout

11 HARDWARE SETTINGS The Acc- uses expansion port memory locations defined by the type of PMAC (U Turbo or MACRO Station) it is directly communicating to. Typically, these memory locations are used with other Delta Tau U I/O accessories such as: Acc-E optically isolated inputs Acc-0E optically isolated outputs, low power Acc-E inputs and outputs, low power, all optically isolated Acc-E inputs and outputs, high power, all optically isolated Acc-E -bits TTL level I/O Acc-E -bit A/D Converter Inputs (up to four per card) All of these accessories have settings which tell them where the information is to be processed at either the PMAC U Turbo or the MACRO Station. U Turbo PMAC Memory Locations $0C00, $0C00 $0AC00, $0BC00 $0D00, $0D00 $0AD00, $0BD00 $0E00, $0E00 $0AE00, $0EC00 $0F00, $0F00 $0AF00, $0BF00 MACRO Station Memory Locations $00,$00 $A00,$B00 $0,$0 $A0,$B0 $0,$0 $A0,$B0 $C0,$C0 $AC0,$BC0 The Acc-E has a set of dipswitches telling it where to write the information form the absolute encoders. Once the information is at these locations, we can process the binary word in the encoder conversion table to use for servo loop closure. Proper setting of the dipswitches ensures all of the JEXP boards used in the application do not interfere with each other. Address Select DIP Switch S The switch two (S) settings will allow the user to select the starting address location for the first encoder. Encoders two through eight will follow in descending order from the address selected by the S switch. The following two tables show the dip switch settings for both the Turbo PMAC U and the MACRO Station. Hardware Settings

12 Turbo PMAC U Switch Settings Chip U Turbo Dip Switch SW Position Select PMAC Address Y:$C00-0 CLOSE CLOSE CLOSE CLOSE CLOSE CLOSE CS0 Y:$C00-0 CLOSE CLOSE CLOSE OPEN CLOSE CLOSE Y:$AC00-0 CLOSE CLOSE OPEN CLOSE CLOSE CLOSE Y:$BC00-0 CLOSE CLOSE OPEN OPEN CLOSE CLOSE Y:$D00-0 CLOSE CLOSE CLOSE CLOSE CLOSE OPEN CS Y:$D00-0 CLOSE CLOSE CLOSE OPEN CLOSE OPEN Y:$AD00-0 CLOSE CLOSE OPEN CLOSE CLOSE OPEN Y:$BD00-0 CLOSE CLOSE OPEN OPEN CLOSE OPEN Y:$E00-0 CLOSE CLOSE CLOSE CLOSE OPEN CLOSE CS Y:$E00-0 CLOSE CLOSE CLOSE OPEN OPEN CLOSE Y:$AE00-0 CLOSE CLOSE OPEN CLOSE OPEN CLOSE Y:$BE00-0 CLOSE CLOSE OPEN OPEN OPEN CLOSE Y:$F00-0 CLOSE CLOSE CLOSE CLOSE OPEN OPEN CS Y:$F00-0 CLOSE CLOSE CLOSE OPEN OPEN OPEN Y:$AF00-0 CLOSE CLOSE OPEN CLOSE OPEN OPEN Y:$BF00-0 CLOSE CLOSE OPEN OPEN OPEN OPEN CLOSE refers to the ON position of the switch and OPEN refers to the OFF position on the switch. MACRO Station Switch Settings Chip U Turbo PMAC Dip Switch SW Position Select Address Y:$00 CLOSE CLOSE CLOSE CLOSE CLOSE CLOSE CS0 Y:$00 CLOSE CLOSE CLOSE OPEN CLOSE CLOSE Y:$A00 CLOSE CLOSE OPEN CLOSE CLOSE CLOSE Y:$B00 ($FFE0*) CLOSE CLOSE OPEN OPEN CLOSE CLOSE Y:$0 CLOSE CLOSE CLOSE CLOSE CLOSE OPEN CS Y:$0 CLOSE CLOSE CLOSE OPEN CLOSE OPEN Y:$A0 CLOSE CLOSE OPEN CLOSE CLOSE OPEN Y:$B0 ($FFE*) CLOSE CLOSE OPEN OPEN CLOSE OPEN Y:$0 CLOSE CLOSE CLOSE CLOSE OPEN CLOSE CS Y:$0 CLOSE CLOSE CLOSE OPEN OPEN CLOSE Y:$A0 CLOSE CLOSE OPEN CLOSE OPEN CLOSE Y:$B0 ($FFF0*) CLOSE CLOSE OPEN OPEN OPEN CLOSE Y:$C0 CLOSE CLOSE CLOSE CLOSE OPEN OPEN CS Y:$C0 CLOSE CLOSE CLOSE OPEN OPEN OPEN Y:$AC0 CLOSE CLOSE OPEN CLOSE OPEN OPEN Y:$BC0 CLOSE CLOSE OPEN OPEN OPEN OPEN The default setting is All Closed position. For Option (extra four channels), the next four channels of the encoder data will be added on sequentially (0-0). Hardware Settings

13 JUMPERS Refer to the layout diagram of Acc-E for the location of the jumpers on the board. E-Point Jumpers Jumper Config Description Default E -- - for bootstrap - - for single chip mode E -- Jump - for Turbo U CPU and MACRO CPU * Jump - for legacy MACRO CPU (before /00) - * For legacy MACRO Stations (part number thru 00-0) JP- Jumpers Jumper Config Description Default JP - - for Option M Mitsubishi RS mode. No jumper No jumper for Option M Mitsubishi RS mode JP - - for CPU reset. No Jumper No jumper for normal operation JP - - for Option M Mitsubishi RS mode. No jumper No jumper for Option M Mitsubishi RS mode JP - - for Mitsubishi absolute encoder /F. No jumper for Yaskawa absolute encoder /F No Jumper Connector Descriptions TB and TB These are position terminal blocks; they are designed to take the Yaskawa absolute encoder signals as an input to the interface card, TB for encoder, and TB for encoder respectively. They are used to connect to Yaskawa absolute encoder-for both absolute data signals and the incremental pulses. These terminal blocks have the same pin-out as Acc-E. In order to share the incremental pulse signal with Acc-E, a physical cable connection has to be installed by the customer. J and J These 0 pin D-Sub connectors provide the direct connection for the Yaskawa Servo Pack user. The pinouts on these connectors are the same as CN on the Servo Pack, please reference the Yaskawa Servo Pack User Manual for details. J and J These two 0 pin D-sub connectors allow direct connection from the RS communications cable between the Mitsubishi drive and Acc-E Option M card. Up to Mitsubishi drives can be connected on this card. If there are only two drives involved in the system, these two connectors can be used to connect the two drives respectively, for more than two drives system, a special daisy chained cable has to build by customer (will mention in the system wiring section). J Reserved for factor test use only. J Lattice CPLD program connector for factory use only. P UMAC Bus back-plane connector. Jumpers

14 Hardware Address Limitations Some of the older UMAC IO accessories might create a hardware address limitation relative to the newer series of UMAC high-speed IO cards. The Acc-E would be considered a newer high speed IO card. The new IO cards have four addresses per chip select (CS0, CS, CS, and CS). This enables these cards to have up to different addresses. The Acc-E, Acc-0E, Acc-E, and Acc-E all have one address per chip select but also have the low-byte, middle-byte, and high-byte type of addressing scheme and allows for a maximum of twelve of these IO cards. UMAC Card Types UMAC Card Number of Addresses Category Maximum # of cards Card Type Acc-E, Acc-0E General IO A Acc-E, Acc-E Acc-E, Acc-E General IO B Acc-E, Acc-E Acc-E Acc-E, Acc-E ADC and DAC B Acc-E Acc-E, Acc-E Acc-E Feedback Devices B Chip Select Addresses Chip UMAC Turbo MACRO Type A Card UMAC Turbo Type B Card MACRO Type B Card Select Type A Card 0 $0C00 $FFE0 or $00 $0C00, $0C00 $0AC00, $0BC00 $00,$00 $A00,$B00 $0D00 $FFE or $0 $0D00, $0D00 $0AD00, $0BD00 $0,$0 $A0,$B0 $0E00 $FFF0 or $0 $0E00, $0E00 $0AE00, $0EC00 $0,$0 $A0,$B0 $0F00 $C0 $0F00, $0F00 $0AF00, $0BF00 $C0,$C0 $AC0,$BC0 Addressing Conflicts When using only the type A UMAC cards or using only the type B UMAC cards in an application, do not worry about potential addressing conflicts other than making sure the individual cards are set to the addresses as specified in the manual. If using both type A and type B UMAC cards in their rack, be aware of the possible addressing conflicts. If using the Type A card on a particular Chip Select (CS0, CS, CS, or CS), then do not use a Type B card with the same Chip Select address unless the Type B card is a general IO type. If the Type B card is a general IO type, then the Type B card will be the low-byte card at the Chip Select address and the Type A cards will be setup at as the middle-byte and high-byte addresses. Type A and Type B Example : Acc-E and Acc-E If using an Acc-E and Acc-E, do not allow both cards to use the same Chip Select because the data from both cards will be overwritten by the other card. The solution to this problem is to make sure both cards are not addressed to the same chip select. Type A and Type B Example : Acc-E and Acc-E For this example, allow the two cards to share the same chip select because the Acc-E is a general purpose IO Type B card. The only restriction in doing so is that the Acc-E must be considered the low-byte addressed card and the Acc-E must be jumpered to either the middle or high bytes (jumper EA-EH). Jumpers

15 ACC-E THEORY OF OPERATION The encoder absolute position data for the motor is processed at the Acc-E while the on-going encoder position is processed at the Acc-E card like a standard encoder. The Acc-E will request the absolute data from the encoder and process this data as parallel word. Since the Yaskawa absolute encoders and Mitsubishi Drives have standard quadrature encoders outputs, wire these signals to a standard Acc-E, Acc-EA, or Acc-ES cards to obtain the on-going position data for PMAC. To read the absolute data, setup PMAC variables Ixx0 and Ixx. Once these parameters are setup correctly, the absolute data can be obtained at either power-up, software restart ($$$ command) or with the online motor specific restart command #n$* where n stands for the motor number. For both the UMAC Turbo and the Turbo UMAC MACRO systems, Ixx0 will be setup to tell the controller where the absolute data resides and Ixx tells the controller how to process the absolute data. For non-turbo UMAC MACRO systems Ix0 is used to tell the controller where the absolute data resides and how to process the data. For the Yaskawa Encoder, Ixx and Ixx must also be setup at the UMAC Turbo to process the data from Ixx0 and Ixx. On non-turbo Ultralite/MACRO systems, Ix and Ix must also be setup in conjunction with Ix0. Acc-E Theory of Operation

16 0 Acc-E Theory of Operation

17 UMAC TURBO I-VARIABLE SETUP FOR POWER ON POSITION Ixx0 Motor xx Power-On Position Address Ixx0 should be set to the location associated with the switch setting of the Acc-E. The following table shows the possible address settings of Ixx0. Base Address Channel Channel Channel Channel Y:$C00 Y:$C00 Y:$C0 Y:$C0 Y:$C0 Y:$C00 Y:$C00 Y:$C0 Y:$C0 Y:$C0 Y:$AC00 Y:$AC00 Y:$AC0 Y:$AC0 Y:$AC0 Y:$BC00 Y:$BC00 Y:$BC0 Y:$BC0 Y:$BC0 Y:$D00 Y:$D00 Y:$D0 Y:$D0 Y:$D0 Y:$D00 Y:$D00 Y:$D0 Y:$D0 Y:$D0 Y:$AD00 Y:$AD00 Y:$AD0 Y:$AD0 Y:$AD0 Y:$BD00 Y:$BD00 Y:$BD0 Y:$BD0 Y:$BD0 Y:$E00 Y:$E00 Y:$E0 Y:$E0 Y:$E0 Y:$E00 Y:$E00 Y:$E0 Y:$E0 Y:$E0 Y:$AE00 Y:$AE00 Y:$AE0 Y:$AE0 Y:$AE0 Y:$BE00 Y:$BE00 Y:$BE0 Y:$BE0 Y:$BE0 Y:$F00 Y:$F00 Y:$F0 Y:$F0 Y:$F0 Y:$F00 Y:$F00 Y:$F0 Y:$F0 Y:$F0 Y:$AF00 Y:$AF00 Y:$AF0 Y:$AF0 Y:$AF0 Y:$BF00 Y:$BF00 Y:$BF0 Y:$BF0 Y:$BF0 Ixx - Motor xx Power-On Servo Position Format Ixx will be set to a value which tells the controller that the register from Ixx0 will be processed as an Acc-E absolute encoder. The following table shows the possible settings of Ixx. Encoder Type Controller Ixx Value Yaskawa UMAC Turbo $00 Yaskawa UMAC MACRO $0000 unsigned $F0000 signed Mitsubishi UMAC Turbo $0000 unsigned $A signed Mitsubishi UMAC MACRO $0000 unsigned $F0000 signed Ixx - Motor xx Resolver Third Gear Ratio (Yaskawa Only) for Turbo Ixx tells the PMAC how many counts per revolution the Yaskawa Encoder has. The units for this parameter are in counts per revolution divided by 0. The counts per revolution are based on the decode value of Imn0. Usually, decode is used. If the Yaskawa absolute encoder being used has counts per revolution, then set Ixx0 to the following value: Ixx = = 0 Note Changing the sign of the calculated value changes the sense of the absolute feedback data. UMAC Turbo I-Variable Setup for Power On Position

18 Ixx - Motor xx Second Resolver Gear Ratio (Yaskawa Encoder only) for Turbo This is used to let the PMAC know what the remainder from the Ixx division is. For most Yaskawa encoders, this value will be zero because the majority of their encoders are based on a power of two line count (0, 0, 0, etc.). Example: The number of lines per revolution of the Yaskawa absolute encoder in the system is. PMAC will multiply this term by and read ( ) = counts/rev. Ixx = = 0 Ixx = 0 Ix - Motor xx Resolver Third Gear Ratio (Yaskawa only) for non-turbo Ix tells the PMAC how many counts per revolution the Yaskawa Encoder has. The units for this parameter are in counts per revolution divided by 0. The counts per revolution are based on the decode value of Imn0. Usually, decode is used. If the Yaskawa absolute encoder you are using has counts per revolution, then the user will set Ixx0 to the following value: I x = = 0 Ix- Motor xx Second Resolver Gear Ratio (Yaskawa Encoder only) for non-turbo This is used to let the PMAC know what the remainder from the Ix division is. For most Yaskawa encoders, this value will be zero because the majority of their encoders are based on a power of a two line count (0, 0, 0, etc.). Example: The number of lines per revolution of the Yaskawa absolute encoder in the system is. PMAC will multiply this term by and read ( ) = counts/rev. I x = = 0 I x = 0 Example: Turbo UMAC Yaskawa Absolute Encoder Setup For this example, the Acc-E is addressed to the base address Y:$D00 based on the SW settings. The four encoders for this example have lines per revolution or encoder counts (with decode). Also assume that we are setting up motors,,, and. To properly setup the Acc-E to read Yaskawa absolute encoders, do the following: Ixx0 Setup I0=$D00 I0=$D0 I0=$D0 I0=$D0 Ixx Setup I=$00 I=$00 I=$00 I=$00 ; first channel Acc-E ; second channel Acc-E ; third channel Acc-E ; fourth channel Acc-E ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting UMAC Turbo I-Variable Setup for Power On Position

19 Ixx Setup I= ; Ixx = /0 = I= ; Ixx = /0 = I= ; Ixx = /0 = I= ; Ixx = /0 = Ixx Setup I=0 ; Ixx = remainder from Ix calculation I=0 ; Ixx = remainder from Ix calculation I=0 ; Ixx = remainder from Ix calculation I=0 ; Ixx = remainder from Ix calculation Example: Turbo UMAC Mitsubishi Absolute Encoder Setup For this example, the Acc-E will be addressed to the base address Y:$D00 based on the SW settings. We will also assume that we are setting up motors,,, and as signed absolute encoders. To properly setup the Acc-E to read Mitsubishi absolute encoders, do the following: Ixx0 Setup I0=$D00 I0=$D0 I0=$D0 I0=$D0 Ixx Setup I=$A0000 I=$A0000 I=$A0000 I=$A0000 ; first channel Acc-E ; second channel Acc-E ; third channel Acc-E ; fourth channel Acc-E ;Mitsubishi absolute power on position setting (signed) ;Mitsubishi absolute power on position setting (signed) ;Mitsubishi absolute power on position setting (signed) ;Mitsubishi absolute power on position setting (signed) UMAC Turbo I-Variable Setup for Power On Position

20 UMAC Turbo I-Variable Setup for Power On Position

21 POWER ON PHASING WITH ACC-E All brushless motors require some type of a phase-search on power up to establish a relationship between the zero position of the motor s commutation cycle and the zero position of the feedback device. Since the data from the Acc-E is absolute, the motor phase position relative encoder position is fixed and a no-movement motor phase can be performed. To properly phase the motor using the absolute data from the Acc-E, set up I-variables Ixx, Ixx (for Turbo only), Ixx, and Ixx0. The no-movement power-on phase reference works as follows. Initially, when setting up the system (this may be done in a lab setting) the motor is forced to the zero position in its phase cycle. The position of the absolute sensor is read by querying an M-variable previously set up to point to the sensor. After performing some math on this value, the resulting value is stored in PMAC as Ix and represents the power-on phase position offset. Ix is set to tell PMAC the address location where it can find the absolute sensor s feedback and how to decode this information. On power-up (or when a reset motor, "$", command is issued) PMAC will look to this address, grab the current position of the rotor, add to it the pre-determined offset parameter, and instantly it knows where the motor is in its phasing cycle relevant to the current position! No movement is necessary. Ixx Ixx tells Turbo PMAC what address to read for absolute power-on phase-position information for Motor xx, if such information is present. This can be a different address from that of the ongoing phase position information, which is specified by Ixx, but it must have the same resolution and direction sense. Ixx is set to zero if no special power-on phase position reading is desired, as is the case for an incremental encoder. Ixx Ixx tells how the data at the address specified by Ixx is to be interpreted. It also determines whether the location specified by Ixx is a multiplexer (thumbwheel) port address, an address in Turbo PMAC s own memory and I/O space, or a MACRO node number. Ixx Ixx tells Turbo PMAC the distance between the zero position of an absolute sensor used for power-on phase position (specified by Ixx and Ixx) and the zero position of Turbo PMAC s commutation cycle. It is used to reference the phasing algorithm for a PMAC-commutated motor with an absolute sensor (Ixx > 0). See the Software Reference manual for the proper setting. Power On Phasing with Acc-E

22 Ixx0 Ixx0 controls the power-up mode, including the phasing search method (if used), for Motor xx. If Ixx0 bit 0 is (Ixx0 = or ), this is done automatically during the power-up/ reset cycle and it also be done in response to a $ on-line command to the motor, or a $$ on-line command to the coordinate system containing the motor. If Ixx0 is set to 0, phasing will also be done in response to a $ on-line command to the motor, or a $$ on-line command to the coordinate system containing the motor. Encoder Controller Ixx Ixx Yaskawa UMAC Turbo Servo IC Address $0000 Yaskawa Turbo Ultralite MACRO IC Address $0000 Mitsubishi UMAC Turbo Servo IC Address $0000 Mitsubishi Turbo Ultralite MACRO IC Address $0000 Power On Phasing with Acc-E

23 ACC-E CONFIGURATION BLOCK DIAGRAMS Yaskawa Servo Pack Diagram UBUS BACKPLANE ACC-E J TB ACC-E UMAC Turbo or UMAC MACRO Yaskawa JUSP-TA0P Yaskawa Servo Pack CN CN Enc Motor Yaskawa Generic Absolute Encoder Setup Mitsubishi Absolute Encoder Setup UBUS BACKPLANE UBUS BACKPLANE ACC-E TB ACC-E UMAC Turbo or UMAC MACRO ACC-E J TB ACC-E UMAC Turbo or UMAC MACRO Amplifier Amplifier Enc Motor Enc Motor Acc-E Configuration Block Diagrams

24 UBUS BACKPLANE ACC-E J or J ACC-E UMAC Turbo or UMAC MACRO CN Mitsubishi CN CN Enc Motor Acc-E Configuration Block Diagrams

25 ACC-E SETUP FOR UMAC MACRO In order to process the data from the Acc-E correctly the MACRO Station CPU must have firmware version. or newer. If using the information from the Acc-E converter for absolute position servo data, set up variables at both the Ultralite and MACRO station for proper operation. The absolute encoder data from the Acc-E is processed as a parallel word input at the MACRO Station and then transmitted back to the Ultralite using the power on position servo node MACRO I-variables. In order for the Ultralite controller card to obtain the data, set up the power on position variables at the Ultralite. The on-going position data will be processed as a standard quadrature encoder from the Acc-E family card. To obtain the absolute power on position the use must setup MIx at the MACRO Station and Ixx0 and with the Turbo Ultralite, Ixx. Regardless of the type of Ultralite, retrieving the power-on-position setup at the MACRO CPU is the same. The information must be retrieved from MACRO Station variable MSn,MI0 for each node transfer as specified by Ixx0 at the Ultralite. Do not set up MSn,MI0, because the MACRO Station will place the power-on position the appropriate register at power-up. Note: If MSn,MI0 is monitored, the power on position could be read incorrectly by the Ultralite. Acc-E Absolute Encoder Addresses for MACRO Base Address Channel Channel Channel Channel Y:$00 Y:$00 Y:$0 Y:$0 Y:$0 Y:$00 Y:$00 Y:$0 Y:$0 Y:$0 Y:$A0 Y:$A0 Y:$A Y:$A Y:$A Y:$B00 Y:$B00 Y:$B0 Y:$B0 Y:$B0 Y:$0 Y:$0 Y:$ Y:$ Y:$ Y:$0 Y:$0 Y:$ Y:$ Y:$ Y:$A0 Y:$A0 Y:$A Y:$A Y:$A Y:$B0 Y:$B0 Y:$B Y:$B Y:$B Y:$0 Y:$0 Y:$ Y:$ Y:$ Y:$0 Y:$0 Y:$ Y:$ Y:$ Y:$A0 Y:$A0 Y:$A Y:$A Y:$A Y:$B0 Y:$B0 Y:$B Y:$B Y:$B Y:$C0 Y:$C0 Y:$C Y:$C Y:$C Y:$C0 Y:$C0 Y:$C Y:$C Y:$C Y:$AC0 Y:$AC0 Y:$AC Y:$AC Y:$AC Y:$BC0 Y:$BC0 Y:$BC Y:$BC Y:$BC Power-On Feedback Address for PMAC Ultralite Both the Ultralite and the Turbo Ultralite allow obtaining absolute position at power up or upon request (#n$*). The Ultralite must have Ix0 set up, the Turbo Ultralite needs both Ixx0, and Ixx set up to enable this power on position function. For power on position reads as specified in this document MACRO firmware version. or newer is needed, the Turbo Ultralite firmware must be. or newer, and lastly the standard Ultralite users must have firmware version. or newer. Ix0 permits an automatic read of an absolute position sensor at power-on/reset. If Ix0 is set to 0, the power-on/reset position for the motor will be considered to be 0, regardless of the type of sensor used. There are specific settings of PMAC s/pmac s Ix0 for each type of MACRO interface. The Compact MACRO Station has a corresponding variable Ix for each node that must be set. Acc-E Setup for UMAC MACRO

26 Absolute Position for Ultralite Compact MACRO Station Feedback Type (Firmware version. and above) Ix0 (Unsigned) Ix0 (Signed) Yaskawa Absolute Encoder Converter $000n $F000n Mitsubishi Absolute Encoder Converter $000n $F000n n is the MACRO node number used for Motor x: 0,,,,,, C(), or D(). Absolute Position for Turbo Ultralite (Ixx=$ $0000, $F $F0000) Addresses are MACRO Node Numbers MACRO Node Number Ixx0 for MACRO IC 0 Ixx0 for MACRO IC Ixx0 for MACRO IC Ixx0 for MACRO IC 0 $00000 $00000 $00000 $00000 $00000 $0000 $0000 $0000 $00000 $0000 $0000 $0000 $00000 $0000 $0000 $0000 $00000 $0000 $0000 $0000 $00000 $0000 $0000 $0000 $00000C $0000C $0000C $0000C $00000D $0000D $0000D $0000D Compact MACRO Station Feedback Type Ixx (Unsigned) Ixx (Signed) Yaskawa Absolute Encoder Converter $0000 $F0000 Mitsubishi Absolute Encoder Converter $0000 $A0000 When the Ultralite has Ix0 set to get absolute position over MACRO, it executes a station auxiliary read command MS{node},I0 to request the absolute position from the Compact MACRO Station. The station then references its own Ix value to determine the type, format, and address of the data to be read. MACRO Absolute Position Setup MI through MI (MIx) specify whether, where, and how absolute position is to be read on the Compact MACRO Station for a motor node (MIx controls the xth motor node, which usually corresponds to Motor x on PMAC) and sent back to the Ultralite. If MIx is set to 0, no power-on reset absolute position value will be returned to PMAC. If MIx is set to a value greater than 0, then when the PMAC requests the absolute position because its Ix0 and/or Ix values are set to obtain absolute position through MACRO (sending an auxiliary MS{node},MI0 command), the Compact MACRO Station will use MIx to determine how to read the absolute position, and report that position back to PMAC as an auxiliary response. The following table shows the possible values for MIx: Encoder Type MIx Value Yaskawa Mitsubishi $[address] $[address] unsigned $B[address] - signed MIx consists of two parts. The low bits (last four hexadecimal digits) specify the address on the MACRO Station from which the absolute position information is read. The high eight bits (first two hexadecimal digits) tell the Compact MACRO Station how to interpret the data at that address (the method. 0 Acc-E Setup for UMAC MACRO

27 MACRO MIx Parallel Word Example Signed -bit Absolute data from Acc-E at $0 X/Y Address Bit: If bit of Ix0 is 0, the PMAC looks for the parallel sensor in its Y address space. This is the standard choice, since all I/O ports map into the Y address space. If this bit is, PMAC looks for the parallel sensor in its X address space. Signed/Unsigned Bit: If the most significant bit (MSB -- bit ) of MIx is 0, the value read from the absolute sensor is treated as an unsigned quantity. If the MSB is, which adds $0 to the high eight bits of MIx, the value read from the sensor is treated as a signed, two s-complement quantity. Example: UMAC MACRO Yaskawa Absolute Encoder Setup For this example, the Acc-E will be addressed to the base address Y:$0 based on the SW settings. The four encoders for this example have lines per revolution or encoder counts (with decode). We will also assume that we are setting up motors,,, and. To properly set up the Acc- E to read Yaskawa absolute encoders, do the following: MSn,MIx Setup MS0,MI=$0 MS0,MI=$ MS0,MI=$ MS0,MI=$ Ixx0 Setup Ixx Setup (for Turbo Ultralite) I=$F0000 I=$F0000 I=$F0000 I=$F0000 Axis Turbo Ultralite Node Address Ultralite Signed $00000 $F0000 $00000 $F000 $00000 $F000 $00000 $F000 ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting Yaskawa Scale Factor: Ixx and Ixx for Turbo and Ix and Ix for Non-Turbo Axis Turbo Ultralite Ultralite Description I= I= /0 = I= I= /0 = I= I= /0 = I= I= /0 = Acc-E Setup for UMAC MACRO

28 Axis Turbo Ultralite Ultralite Description I=0 I=0 Remainder from Ix calculation I=0 I=0 Remainder from Ix calculation I=0 I=0 Remainder from Ix calculation I=0 I=0 Remainder from Ix calculation Example: UMAC MACRO Mitsubishi Absolute Encoder Setup For this example, the Acc-E will be addressed to the base address Y:$0 based on the SW settings. We will also assume that we are setting up motors,,, and as signed absolute encoders. To properly set up the Acc-E to read Mitsubishi absolute encoders, do the following: MSn,MIx Setup MS0,MI=$0 MS0,MI=$ MS0,MI=$ MS0,MI=$ Ixx0 Setup Ixx Setup (for Turbo Ultralite) I=$F0000 I=$F0000 I=$F0000 I=$F0000 Axis Turbo Ultralite Node Address Ultralite Signed $00000 $F0000 $00000 $F000 $00000 $F000 $00000 $F000 ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting ;Yaskawa absolute power on position setting Acc-E Setup for UMAC MACRO

29 CONNECTOR PINOUTS J Yaskawa Sigma Series Encoder Input Pin # Symbol Function Description Notes Common Encoder Common Common Encoder Common Common Encoder Common SEN Power SEN Power SEN Power NC NC NC 0 NC NC BAT + Input +V BAT - Input Encoder Common PHC Output Channel C+ *PHC Output Channel C- PHA Output Channel A+ *PHA Output Channel A- PHB Output Channel B+ *PHB Output Channel B- 0 F Common Encoder from Ground. Channel C/ is terminated at the connector. The part number and manufacture information for connector Jand J is as follows: Manufacture: M Part number: N00-BVC Connector Pinouts

30 J - Yaskawa Sigma Series Encoder Input Pin # Symbol Function Description Notes Common Encoder Common Common Encoder Common Common Encoder Common SEN Power SEN Power SEN Power NC NC NC 0 NC NC BAT + Input +V BAT - Input Encoder Common PHC Output Channel C+ *PHC Output Channel C- PHA Output Channel A+ *PHA Output Channel A- PHB Output Channel B+ *PHB Output Channel B- 0 F Common Encoder from Ground. Channel C/ is terminated at the connector. The part number and manufacture information for connector Jand J is as follow: Manufacture: M Part number: N00-BVC Connector Pinouts

31 J - Mitsubishi RS Input Pin # Symbol Function Description Notes Common RXD Read Input Serial Data input NC No Connection NC No Connection RDP NC No Connection NC No Connection NC No Connection SDP No Connection 0 Common TXD Transmit Output Transmit serial data NC No Connection NC No Connection RDN NC No Connection NC No Connection NC No Connection SDN 0 NC No Connection The part number and manufacture information for connector Jand J is as follow: Manufacture: M Part number: N00-BVC J Mitsubishi RS Input Pin # Symbol Function Description Notes Common RXD Read Input Serial Data input NC No Connection NC No Connection RDP NC No Connection NC No Connection NC No Connection SDP No Connection 0 NC No Connection Common TXD Transmit Output Transmit serial data NC No Connection NC No Connection RDN NC No Connection NC No Connection NC No Connection SDN 0 NC No Connection The part number and manufacture information for connector Jand J is as follow: Manufacture: M Part number: N00-BVC Connector Pinouts

32 Connector Pinouts

33 ACC-E TERMINAL BLOCKS Connector TB Top - Encoder Pin# Symbol Function Description Notes CHA+ or PHA Input/Output Enc Positive A Channel CHA- or *PHA Input/Output Enc Negative A Channel CHB+ or PHB Input/Output Enc Positive B Channel CHB- or *PHB Input/Output Enc Negative B Channel CHC+ or PHC Input/Output Enc Positive C Channel Index channel CHC- or *PHC Input/Output Enc Negative C Channel Index channel ENCPWR Output Digital Supply Power for encoder Common Digital Reference SEN Power 0 BAT+ Input +V BAT- Input Encoder Common F Connector TB Top - Encoder Pin# Symbol Function Description Notes CHA+ or PHA Input/Output Enc Positive A Channel CHA- or *PHA Input/Output Enc Negative A Channel CHB+ or PHB Input/Output Enc Positive B Channel CHB- or *PHB Input/Output Enc Negative B Channel CHC+ or PHC Input/Output Enc Positive C Channel Index channel CHC- or *PHC Input/Output Enc Negative C Channel Index channel ENCPWR Output Digital Supply Power for encoder Common Digital Reference SEN Power 0 BAT+ Input +V BAT- Input Encoder Common F Acc-E Terminal Blocks

34 ACC-E DB CONNECTOR OPTION Connector J Top - Encoder Pin# Symbol Function Description Notes F BAT+ Input +V Common Digital Reference CHC- or *PHC Input/Output Enc Neg. C Chan. Index channel CHB- or *PHB Input/Output Enc Neg. B Chan. CHA- or *PHA Input/Output Enc Neg. A Chan. N/C Not connected N/C Not connected BAT- Input Encoder Common 0 SEN Power ENCPWR Output Digital Supply Power for encoder CHC+ or PHC Input/Output Enc Pos. C Chan. Index channel CHB+ or PHB Input/Output Enc Pos. B Chan. CHA+ or PHA Input/Output Enc Pos. A Chan. N/C Not connected Acc-E Terminal Blocks

35 Connector J Top - Encoder Pin# Symbol Function Description Notes F BAT+ Input +V Common Digital Reference CHC- or *PHC Input/Output Enc Neg. C Chan. Index channel CHB- or *PHB Input/Output Enc Neg. B Chan. CHA- or *PHA Input/Output Enc Neg. A Chan. N/C Not connected N/C Not connected BAT- Input Encoder Common 0 SEN Power ENCPWR Output Digital Supply Power for encoder CHC+ or PHC Input/Output Enc Pos. C Chan. Index channel CHB+ or PHB Input/Output Enc Pos. B Chan. CHA+ or PHA Input/Output Enc Pos. A Chan. N/C Not connected Acc-E Terminal Blocks

36 SERVOPACK CN TERMINAL DESCRIPTION (For Σ series motor and absolute encoder) Terminal Sigma I Description SG 0V SG 0V PL Power supply for open collector reference SEN SEN signal input V-REF Speed reference input SG 0V PULS Reference pulse input *PULS Reference pulse input T-REF Torque reference input 0 SG 0V SIGN Reference sign input *SIG Reference sign input PL Power Supply for open collector reference *CLR Error counter clear input CLR Error counter clear input TQR-M Torque monitor VTG-M Speed monitor PL Power supply for open collector reference PCO PG dividing output phase C 0 *PCO PG dividing output phase C BAT Battery (+) BAT0 Battery (-) +V Power supply for speed/torque reference -V Power supply for speed/torque reference V-CMP(COIN+) Speed coincidence signal output V-CMP(COIN-) Speed coincidence signal output TGON+ TGON output signal TGON- TGON output signal S-RDY+ Servo ready output 0 S-RDY- Servo ready output ALM+ Servo alarm output ALM- Servo alarm output PAO PG dividing output phase A *PAO PG dividing output phase A PBO PG dividing output phase B *PBO PG dividing output phase B ALO Alarm code output (open collector output) ALO Alarm code output (open collector output) ALO Alarm code output (open collector output) 0 S-ON Servo ON input P-CON P control input P-OT Forward over-travel input N-OT Reverse over-trivial input ALM-RST Alarm reset input P-CL Forward external torque limit ON input N-CL Reverse external torque limit ON input +V IN External power supply input PSO Phase S signal output *PSO Phase S Signal output 0 FG Frame ground 0 Servopack CN Terminal Description

37 Servopack CN Terminal Description

38 SCHEMATICS Servopack CN Terminal Description

39 OPT PHA RXD RDP RXD 0 J 0 0 CE 0. J TXD RDN SDN 0 OPTION - MITSUBISHI ENCODER PORT CE 0. CE 0. PA A *PHA HEADER X(FEM)OPT ONLY CLSLDDV NOTE: INSTALL SOKET ON THE MAIN CARD SOLDER SIDE H PD PAI E /XIRQ RESET SERVO B+ SERVO B- OPT JA PHA *PHA 0 CSEN0- CSEN- BAT+ BAT- 0 PHA *PHA HEADER X(MALE) OPT ONLY CLSLDDV COMPONENT SIDE DIRECTLY UNDER J INSTALL THIS ONLY ON THE SECOND TWO AXIS CARD PHA PB CON SDP CE 0. 0 JP TP CON J TXD 0 HEADER X (SPARE PINS,NOT INSTALLED) *PHA TDO TDI BSCAN- CS- CS- CS0- CS- A WR- R D00 D0 D0 D0 D0 D0 D D D D D0 D A00 A0 RXD TXD 0 OPT ONLY SDN (JEXP) SDP R RDP 0 OPT ONLY RDN J PC CON JUMP `E' -TO- FOR TURBO_U CPU (0) JUMP `E' -TO- FOR MACRO_U CPU (00) DB-F P IS FOR TEST PURPOSE ONLY CE-CE ARE CONNECTED TO THE MOUNTING HOLES E JP A0 D0 D0 D0 D0 D0 D D D D D D D HEADER X OPT ONLY JP CLOSE FOR MITSUBISHI ENC.-- OPT U RI+ DO+ BCS- D00 D0 RI- DO- PA CON C CSEN- WAIT- PHASE B+ PHASE B- TIO RIN OPT.UF OPT ONLY DS OPT ONLY C RO DI C + UF C.UF OPTION # - YASKAWA EXTRA AXES OPTION # - MITSUBISHI I/F OPTION # + UF TIO RIN PA A-V ARX ATX C + UF MAX C.UF TP +V V- VSS TIN TIN ROUT ROUT C + UF 0 D0 D0 D0 D0 D0 D0 CON OPT ONLY C SOLDER JUMPER OPT# P/N= $DC D D.UF D0 D0 D0 D BCS- OUT0 IN0 IN IN IN Y Y CLK GOE_0 D D BCS- C.UF REV= R K RESET- CS- CS- CS- CS0- RD- D ATX 0 0 WR- U OE A0 A A A A A A A A A A0 A A A A A OE PFCTATA (TSSOP) BTMS BTDO C + UF C 0 T/R B0 B B B B B B B B B B0 B B B B B T/R.UF U0 V+ HYS THO OUT MAXCPA RED LED JP JUMPER ARX UE 0 0 HC OPEN: FOR OPT. MISHUBISHI RS. CLOSE: FOR OPT. MISHUBISHI RS. BD0 BD0 BD0 BD0 BD0 BD0 BD0 H HEADER X BATLO R 0K % R.K %.UF C0 Note: FOR V BATTERY : R=0K R=0M R0=0K A00 RESET R K.UF C R0 0K % U C0.UF BAT+ BT.V TP TP CON TP CON CON NCSZM (SOT-) BD0 TP CON HC A0 A0 A0 A0 A0 A00 XCS0- Y TP0 CON CLK GOE_0 Y RX BTCK IN IN IN IN0 Q Q CSEN- BAT- XCS0- RD- A00 PR CL U W Y C.UF HC0 UA D CLK KDIP0C A B C G HC UA UB HC0 UC D0 D D D D D D D HC BATLO HC0 PD CSEN- BAT+ C.UF 0 RP C.UF 0 0 ARX CSX0 CSX CSX BD00.UF BD0 BD0 BD0 BD0 BD0 BD0 BAT- PWR0- PD.UF BD00 BD0 BD0 BD0 BD0 BD0 BD0 BD0.UF BD00 BD0 BD0 BD0 BD0 BD0 BD0 BD0 H 0 C C0.UF BD0 C 0 CHA+ CHA+ CHA- CHA- CHB+ CHB+ CHB- CHB- CHC+ CHC+ CHC- CHC- ENCPWR ENCPWR BSCAN- RESET- BTDI OPT OPT O RD- BD00 BD0 U C+ C- C+ C- TOUT TOUT RIN RIN PRD- UF XCS0- RD- BAT- DAT0 SEL0 DAT SEL DAT SEL DAT SEL DAT SEL DAT SEL DAT SEL DAT SEL OUT_0 OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ EQU_- EQU_- PWM_ENA BTDO BTDI BSCAN- C.0UF HEADER X0 U D D D D D D D D CLK OC Q Q Q Q Q Q Q Q HC U Q Q Q Q Q Q Q Q BTCK D CLK 0 PR CL HC SW SW DIP- U BTMS Q Q D D D D D D D D CLK OC (jisp) J U Q Q Q Q Q Q Q Q HC Y Y,EN Y Y,EN UB TMS TCK PC0 PC PC PC PC PC PC HC PC0 PC PC PC PC PC PC PC PC0 PC PC PC PC PC PC PC PD A A HSIPNO PROGRAMMING HEADER MC VSS D D D D D D D D CLK OC PB C.UF A B A B 0 A B A B PD PHA *PHA PHA *PHA PHA *PHA PHA *PHA R.K CSEN CSEN CSEN 0 R BAT+ BAT- BCS- OUT0 BD0 BD0 BD0 BD0 BD0 BD00 PD PD RST PRD- RX ATX TP TP CON CON TP CON TP CON R.K CSEN0 PC /XIRQ PD R K HC 0 R 0 C UB.UF U OE.UF UA R K HC UC R 0 C CSEN0- CSEN- E 0 PC PC PC PC XIRQ R/W/PD AS/PD RESET IRQ RXD TXD PD OPT BATLO PD PC PC PC PC0 Vss EVss XTAL EXTAL E MODA MODB MISO MOSI SCK PD/SS VDD PA PA PA PA PA PA 0 R K HC R K HC R 0 CSEN- TERMINATION RESISTOR, INSTALL AS NECESSARY. UD A NCSZ Y + C.UF R 0 R 0 PC R0 0 R 0 PB0 PB PB PB PB PB PB PB NC PA0 PA SEN SEN SEN 0 SEN SEN SEN 0 U C MCHC()D/PLCC.UF 0 Q Q J PA PA PA PA PA PA CSX0 R.K CSX R.K CSX R.K CSEN0 CSEN CSEN CSEN PB PA0 PA SEN TIPA J SEN TIPA 0 0 PHC *PHC PHA *PHA PHB *PHB F BAT+ BAT- PHC *PHC PHA *PHA PHB *PHB F TP CON TP CON INSTALL THESE PARTS ON BOTH CARD R 0M E BOOTSTRAP R.k S-CHIP JUMPER PHC F PHA C C P P ENCODER Y M PHA *PHA PHB *PHB *PHC BAT+ ENCODER *PHA *PHB PHC *PHC SEN XCS0- WR- A00 PHB SEN BAT+ BAT- F RST Chassis ground R.K TB HEADER TB 0 0 HEADER C.UF U CHA+ CHA+ CHA- CHA- CHB+ CHB+ CHB- CHB- CHC+ CHC+ CHC- CHC- ENCPWR ENCPWR A0 A0 BX/Y CS- A0 CS- CS- A RD- U 00 IO N.C. N.C. BA BA0 BA BA0 CS- BA0 CS_- BA0 CS_-_A BA0 CS0_-_A BA00 0 BRD- BCSXX- N.C. BCSL- 0 BWR- BCSH- N.C. BSCAN- GOE_ RESET- BCS- TDI OUT0 CO0- BD0 CO- BD0 0 CO- BD0 CO- BD0 0 CO- BD0 CO- BDOO CO- S IO N.C. N.C. N.C. IO N.C. CO- S 0 CO- S CO- S 0 CR0- S CR- S CR- CLKEN CR- CLK CT0- GOE_0 CT- Y TMS 0 TDO Y CT- N.C. 0 CT- TCK CT- IN CT- IN CT- IN CT- IN0 CT- CT- CT- CT- CT0- CT- 0 N.C. IO N.C. ISPLSI0E_UNIV_DECODE (TQFP 00) PRD0- C R.K C UF INTERFACE ASSY 0-00 DELTA TAU DATA SYSTEMS,INC Title ACCE YASKAWA/MITSUBISHI ABS. ENCODER I/F BOARD Size Document Number Rev C - 0- Monday, April 0, 00 Date: Sheet of 0 0 RSE MC TBA HEADER RESET TBB BEQU BEQU BEQU HEADER TBC HEADER BEQU BEQU BEQU IN R.K JP JUMPER U RESET DSA/TO Schematics