^2 Accessory 8DCE ^1 USER MANUAL. ^3 CE Certified PC Board/Terminal Block. ^4 3Ax xUxx. ^5 October 27, 2003

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^1 USER MANUAL ^2 Accessory 8DCE ^3 CE Certified PC Board/Terminal Block ^4 3Ax-602654-xUxx ^5 October 27, 2003 Single Source Machine

1 ^1 USER MANUAL ^2 Accessory 8DCE ^3 CE Certified PC Board/Terminal Block ^4 3Ax xUxx ^5 October 27, 2003 Single Source Machine Control Power // Flexibility // Ease of Use Lassen Street Chatsworth, CA // Tel. (818) Fax. (818) //

2 Copyright Information 2003 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: (818) Fax: (818) 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 Table of Contents INTRODUCTION...1 Features...1 EMC Test Summary...1 HARDWARE...3 Acc-8DCE Main Board...3 Board Layout...3 Options...4 Option PCE: PMAC to Acc-8DCE Cable...4 Option 1: PMAC Input Terminal Block 301-AC8DCE-OPT...4 Option 2: D-Sub Input for PMAC 302-AC8DCE-OPT...4 Option 5: Third Phase Generator 305-AC8DCE-OPT...4 Option 6: Rail Mount 306-AC8DCE-OPT...4 JUMPER CONFIGURATION...5 Connectors...6 TB1 through TB4...6 TB5...6 Connectors J3, J6, J9 and J12 (DB-15 Female Connectors)...7 Connectors J4, J7, J10 and J13 (DB-9 Female Connectors)...7 Connectors J5, J8, J11 and J14 (DB-9 Male Connectors)...8 Connector J1...9 Table of Contents i

4 ii Table of Contents

5 INTRODUCTION PMAC Accessory 8DCE (Acc-8DCE P/N 3A X) is a CE-Certified printed circuit board for routing a PMAC s JMACH connector signals and power supply lines to terminal block or D-Sub connectors. This accessory facilitates PMAC s connection to amplifiers and feedback signals and provides a convenient means to connect several input/output options to PMAC. The Acc-8DCE design takes EMI considerations into account. The product optimizes performance by providing easy, efficient and cost-effective interface connections between PMAC and the amplifier connectors. The printed circuit board itself is layered by ground and power plains, with higher frequency lines imbedded in the middle layers. The following options are offered for the Acc-8DCE: Option Name Description Part Number Acc-8DCE - PMAC Terminal block remote (Must order OPT 3A X PCE and Option 1 or 2) Option PCE PMAC to Acc-8DCE cable 30P-AC8DCE-OPT Option 1 Terminal block input for encoders and 301-AC8DCE-OPT flags (not compatible with Option 2) Option 2 Dsub connector input for encoders and 302-AC8DCE-OPT flags (not compatible with Option 1) Option 5 3rd phase generator 305-AC8DCE-OPT Option 6 Rail mount 306-AC8DCE-OPT Features One Acc-8DCE provides all the pinouts from a single JMACH connector on PMAC, which consists of four I/O channels analog outputs, encoder feedback, and associated flags. The base version of PMAC has only one JMACH connector so only needs one Acc-8DCE. A PMAC with an Option 1 (additional four channels) has two JMACH connectors, so requires two Acc-8DCEs. If a 4-channel Acc-24 (axis expansion board) is used also, there is one more JMACH connector so three Acc-8DCEs are required. An 8-channel Acc-24 has two JMACH connectors so four Acc-8DCEs are required when this is used. The Acc-8DCE remote terminal block board requires the Option PCE (30P-AC8DCE-OPT) cable to interface to the PMAC with full CE conformity. This is a 60-pin, flat, 360-degrees shielded cable in a twist. Both connector ends are fitted with EMI back shells, which when properly grounded provide EMI protection. The board is divided into four sections axis 1 through 4, respectively. All cables used with the product must be foil shielded and the shield must be terminated as designated for CE conformity. EMC Test Summary Acc-8DCE was tested in accordance with the EU Council Directive 89/336/EEC. All the tests were conducted stand-alone. EN Limit A Radiated Emissions EN Limit A Conducted Emissions IEC Level 2 (3V/M) Radiated Immunity IEC Level 2 EFT Immunity IEC Level 2 (4kV/8kV) ESD Immunity IEC Class A Harmonics IEC Class A Voltage fluctuation Introduction 1

6 2 Introduction

HARDWARE Acc-8DCE Main Board The Acc-8DCE board provides terminal blocks or Dsub connectors for the JMACH signals. It was designed to address CE requirements and considerations specifically.

7 HARDWARE Acc-8DCE Main Board The Acc-8DCE board provides terminal blocks or Dsub connectors for the JMACH signals. It was designed to address CE requirements and considerations specifically. The JMACH connector on the PMAC is connected to the JMACH connector on the Acc-8DCE via Option PCE, which is a 24-inch, 60-pin shielded cable with back shells. The board provides the option of single-ended as well as differential encoder operation through jumpers E1 to E12. The JMACH connector in the Acc-8DCE is a 60-pin box header with a CE back shell, which is screwmounted on the board. Board Layout Hardware 3

8 Options Option PCE: PMAC to Acc-8DCE Cable Option PCE is a 60-pin flat cable with a 360-degrees shield and CE back shells on both ends, which mates to a polarized box header. Option 1: PMAC Input Terminal Block 301-AC8DCE-OPT Acc-8DCE Option 1 provides screw-in terminal connections for the encoder and flag signals. It is not compatible with Option 2. Option 2: D-Sub Input for PMAC 302-AC8DCE-OPT Acc-8DCE Option 2 provides D-Sub connectors with low-ferrite beading for the PMAC JMACH connector interface. Option 5: Third Phase Generator 305-AC8DCE-OPT This option is for those PMAC users driving three-phase PMAC-committed motors (permanent magnet, brushless, or induction) that are not generating the third-phase command signal in the amplifier. It can generate this third (balance) phase command signal for two PMAC-commutated motors. PMAC itself generates two analog current-command signals for phases of motors for which it is doing the commutation. The current command for the third phase of a three-phase motor must be generated separately. Many applications utilize actual current information in the amplifier to generate the third phase command inside the amplifier. The Acc-8DCE Option 5 generates the third-phase command simply as the negative sum of the first two phase commands no actual current information is used. Each of the three command phase currents can then be used to control the current in one of the half-bridges of the amplifier. The third-phase command signals and their complements are provided on pins 61 to 64 of TB-1. Note: Option 5 consists of components added to the main Acc-8DCE board. This option cannot be added later to an existing Acc-8DCE board. Option 6: Rail Mount 306-AC8DCE-OPT This option provides a plastic casing for the Acc-8DCE or any of its option boards, so the board can be ruggedly installed on a DIN rail mount. One Option 6 should be ordered for each board to mount in this fashion. 4 Hardware

9 JUMPER CONFIGURATION E Point and Physical Layout Description Default E1 On ties Channel A1/ to 2.1V leaves Channel 1/ free E2 On ties Channel B1/ to 2.1V leaves Channel B1/ Free E3 On ties Channel C1/ to 2.1V leaves Channel C1/ Free E4 On ties Channel A2/ to 2.1V leaves Channel A2/ free E5 On ties Channel B2/ to 2.1V leaves Channel B2/ Free E6 On ties Channel C2/ to 2.1V leaves Channel C2/ free E7 On ties Channel A3/ to 2.1V leaves CHA3/ free E8 On ties Channel B3/ to 2.1V leaves Channel B2/ free E9 On ties Channel C3/ to 2.1V leaves CHC3/ free E10 On ties Channel A4/ to 2.1V leaves Channel A4/ free E11 On ties Channel B4/ to 2.1V leaves Channel B4/ free E12 On ties Channel C4/ to 2.1V leaves Channel C4/ free Note: Install Jumpers E1 to E12 for an axis that is using a single-ended encoder. Remove jumpers for differential encoder use. Jumper Configuration 5

10 Connectors Channel 1 Connectors include TB1/J3, J4 and J5 Channel 2 Connectors include TB2/J6, J7 and J8 Channel 3 Connectors include TB3/J9, J10 and J11 Channel 4 Connectors include TB4/J12, J13 and J14 TB1 through TB4 are 16-terminal screw type connectors provided with Option 1. They provide the encoder A, B and C channel connections on terminals A1 through A8. Terminals B1 through B8 provide Home, +/- Lims, Fault, AENA/DIR, DAC and DAC/ connections. Connectors J3, J6, J9 and J12 are 15-pin D-Subs with low-ferrite beading provided with Option 2. The encoder channels A, B and C are provided via these connectors. Connectors J4, J7, J10 and J13 are 9-pin D-Subs with low-ferrite beading provided with Option 2. The connector supplies the Home, +/- LIMs, AGND, A-15V and A+15V. Connectors J5, J8, J11 and J14 are 9-pin D-Subs with low-ferrite beading. The connectors supply DAC, DAC/, AGND, AENA/DIR, FAULT, A+15V and A-15V. Connector TB5 is used for the Third Phase Generators (Option # 5). TB1 through TB4 TB5 Pin Symbol Function Description A1 GND Common PMAC common A2 +5V Output +5V power A3 CHA* Input Encoder A CH. Positive A4 CHA/* Input Encoder A CH. Negative A5 CHB* Input Encoder B CH. Positive A6 CHB/* Input Encoder B CH. Negative A7 CHC* Input Encoder C CH. Positive A8 CHC/* Input Encoder C CH. Negative B1 HMFL* Input Home-Flag 1 B2 -LIM* Input Neg. Limit 1 B3 +LIM* Input Pos. Limit 1 B4 AGND Analog common B5 FAULT* Input Amp-Fault 1 B6 AENA/DIR* Output Amp-Ena/Dir.1 B7 DAC* Output Ana. Out Pos. 1 B8 DAC/* Output Ana. Out Neg. 1 *Channel number n is 1 for TB1, 2 for TB2, 3 for TB3, and 4 for TB4. Pin Symbol Function Description A1 +5V Input/Output +5V power A2 GND Common PMAC common A3 AGND Input/Output Analog common A4 +15V Input/Output +15V A5-15V Input/Output -15V B1 FEFCO/ Output Watchdog B2 PHA-BAL1 Output Only with option 1 (third phase generator) B3 PHA-BAL1/ Output Only with option 1 (third phase generator) B4 PHA-BAL2 Output Only with option 1 (third phase generator) B5 PHA-BAL2/ Output Only with option 1 (third phase generator) Note: Use A1-A5 as inputs only if the PMAC does not get its own power via the Bus. 6 Jumper Configuration

11 EMC Compliance Notes All cables must be foil shielded. All shields must be terminated at both ends. All unshielded wires must be exposed no longer than 10-12mm from the point of shield termination. All shields must be terminated at the connector to which the cable is connected. Each individual axis connector has its own ground termination. Each individual axis connector has its own ground termination. Connectors J3, J6, J9 and J12 (DB-15 Female Connectors) Pin Symbol Function Description 1 +5V Output +5V power 2 GND Common PMAC common 3 CHA* Input Encoder A CH. positive 4 CHB* Input Encoder B CH. positive 5 CHC* Input Encoder C CH. positive 6 Not used 7 Not used 8 GND Common PMAC common 9 +5V Output +5V power 10 GND Common PMAC common 11 CHA/* Input Encoder A CH. negative 12 CHB/* Input Encoder B CH. negative 13 CHC/* Input Encoder C CH. negative 14 Not used 15 Not used -Channel number n is 1 for J3, 2 for J6, 3 for J9, and 4 for J12. Connectors J4, J7, J10 and J13 (DB-9 Female Connectors) Pin Symbol Function Description Not used 2 -LIM* Input Neg. Limit n 3 AGND Analog Common 4 A-15V Input 5 AGND Analog Common 6 +LIM* Input Pos. Limit n 7 HMFL* Input Home-flag n 8 A+15V Input 9 AGND Analog Common -Channel number n is 1 for J4, 2 for J7, 3 for J10, and 4 for J13. Jumper Configuration 7

12 Connectors J5, J8, J11 and J14 (DB-9 Male Connectors) Pin Symbol Function Description 1 DAC Output Ref. to Analog Ground 2 AGND Analog Common 3 AENA/DIR* Output Amplifier Enable/Direction Bits - Function and Polarity Set on PMAC* 4 A+15V Ana. Pos. Supply 5 AGND Analog Common 6 DAC/ Output Ref. to Analog Ground 7 AGND Analog Common 8 AFAULT Input Ref. to Analog Ground 9 A-15V Ana. Neg. Supply -Channel number n is 1 for J5, 2 for J8, 3 for J11, and 4 for J14. *The settings of Ix02 and Ix25 determine whether these lines are amplifier-enable signals or direction bit signals. Jumper E17 on PMAC determines the polarity of these signals. **Do not attempt to supply power to the Acc-8D Option 4 amplifier board through these pins of the terminal block board -- the cable cannot carry the required current. If Jumper E9 and E10 on the Option 4 board are ON, so that the power supply for the amplifier and for PMAC s analog output stage are shared, the power supply should be connected directly to the Opt 4 board. EMC Compliance Notes All cables must be foil shielded. All shields must be terminated at both ends. All unshielded wires must be exposed no longer than 10-12mm from the point of shield termination. Flat cables must be 360 degrees shielded and be terminated to the metal chassis of the D-Type connector. All D-Type connectors must then be screwed in to the standoffs provided for each connector. All shields must be terminated at the connector to which the cable is connected. Each individual axis connector has ground termination. 8 Jumper Configuration

13 Connector J1 Term. # Symbol Function Description Notes 1 +5V Output* +5V power For encoders 3 GND Common PMAC common 5 CHC3 Input Encoder C channel positive Axis #3 7 CHC3/ Input Encoder C channel negative Axis #3 (do not GND of not used) 9 CHB3 Input Encoder B channel positive Axis #3 11 CHB3/ Input Encoder B channel negative Axis #3 (do not GND if not used) 13 CHA3 Input Encoder A channel positive Axis #3 15 CHA3/ Input Encoder A channel negative Axis #3 (do not GND if not used) 17 CHC1 Input Encoder C channel positive Axis #1 19 CHC1/ Input Encoder C channel negative Axis #1 (do not GND if not used) 21 CHB1 Input Encoder B channel positive Axis #1 23 CHB1/ Input Encoder B channel negative Axis #1 (do not GND if not used) 25 CHA1 Input Encoder A channel positive Axis #1 27 CHA1/ Input Encoder A channel negative Axis #1 (do not GND if not used) 29 DAC3 Output Analog out positive 3 +/- 10V to AGND 31 DAC3/ Output Analog out negative 3 +/- 10V to AGND 33 AENA3/DIR3 Output Amp-ENA/dir. 3 Jumperable polarity 35 FAULT3 Input Amp-fault 3 High true 37 +LIM3 Input Pos limit 3 Failsafe high true 39 -LIM3 Input Neg limit 3 Failsafe high true 41 HMFL3 Input Home-flag 3 Programmable polarity 43 DAC1 Output Analog out positive 1 +/- 10V to AGND 45 DAC1/ Output Analog out negative 1 +/- 10V to AGND 47 AENA1/DIR1 Output Amp-ENA/dir. 1 Jumperable polarity 49 FAULT1 Input Amp-fault 1 High true 51 +LIM1 Input Positive limit 1 Failsafe high true 53 -LIM1 Input Negative limit 1 Failsafe high true 55 HMFL1 Input Home-flag 1 Programmable polarity 57 FEFCO/ Output Following err. 59 A+15V Input Analog +15v supply Note: The terminal numbers 1-60 match exactly the pin numbers of the PMAC and PMAC STD JMACH connectors. Jumper Configuration 9

14 Connector J1 (Continued) Term No. Symbol Function Description Notes 2 +5V Output* +5V power For encoders 4 GND Common PMAC common 6 CHC4 Input Encoder C channel positive Axis #4 8 CHC4/ Input Encoder C channel negative Axis $4 (do not GND if not used) 10 CHB4 Input Encoder B channel positive Axis #4 12 CHB4/ Input Encoder B channel negative Axis #4 (do not GND if not used) 14 CHA4 Input Encoder A channel positive Axis #4 16 CHA4/ Input Encoder A channel negative Axis #4 (do not GND if not used) 18 CHC2 Input Encoder C channel positive Axis #2 20 CHC2/ Input Encoder C channel negative Axis #2 (do not GND if not used) 22 CHB2 Input Encoder B channel positive Axis #2 positive 24 CHB2/ Input Encoder B channel negative Axis #2 (do not GND if not used) 26 CHA2 Input Encoder A channel positive Axis #2 28 CHA2/ Input Encoder A channel negative Axis #2 (do not GND if not used) 30 DAC4 Output Analog out positive 4 +/- 10V to AGND 32 DAC4/ Output Analog out negative 4 +/- 10V to AGND 34 AENA4/DIR4 Output Amp-Ena/Dir. 4 Jumperable polarity 36 FAULT4 Input Amp-Fault 4 High true 38 +LIM4 Input Positive limit 4 Failsafe high true 40 -LIM4 Input Negative limit 4 Failsafe high true 42 HMFL4 Input Home-Flag 4 Programmable polarity 44 DAC2 Output Analog out positive 2 +/- 10V to AGND 46 DAC2/ Output Analog out negative 2 +/1 10V to AGND 48 AENA2/DIR2 Output Amp-Ena/Dir. 2 Jumperable polarity 50 FAULT2 Input Amp-Fault 2 High true 52 +LIM2 Input Positive limit 2 Fail-safe high true 54 -LIM2 Input Negative limit 2 Fail-safe high true 56 HMFL2 Input Home-Flag 2 Programmable polarity 58 AGND Input Analog common 60 A-15V Input Analog 15V supply *Note: In stand-alone applications, these can be used as +5V power supply inputs to power PMAC s digital circuitry. EMC Compliance Notes Option PCE (part number 30P-AC8DCE-OPT) is the recommended interface cable from the PMAC to 8DCE. This cable is shielded and terminated at both ends with back shells. The cable has been designed to plug into and screw onto the 8DCE. At the PMAC, the cable is plugged into the JMACH connector, and two shorting gasket clips are placed on either side of the J1 pin 1 and 2 and J1 pin 59 and 60. The gasket is stick on and ensures a good GND connection between the cable shield and Chassis GND. 10 Jumper Configuration

^2 Accessory 24V ^1 USER MANUAL. ^3 PMAC VME Axis Expansion Card. ^4 3Ax xUxx. ^5 October 15, 2003

^2 Accessory 24V ^1 USER MANUAL. ^3 PMAC VME Axis Expansion Card. ^4 3Ax xUxx. ^5 October 15, 2003 ^1 USER MANUAL ^2 Accessory 24V ^3 PMAC VME Axis Expansion Card ^4 3Ax-602226-xUxx ^5 October 15, 2003 Single Source Machine Control Power // Flexibility // Ease of Use 21314 Lassen Street Chatsworth,