Delta Tau UMAC MACRO - 16-AXIS MACRO CPU Manuale Utente
16-Axis MACRO CPU User Manual
Hardware Setup
9
Auto Configuration and Identification of UMAC (Pack) Boards
The 16-Axis MACRO CPU identifies all the UMAC Servo IC type boards in the Ubus backplane
automatically. From this list, it then attaches them to the two MACRO ICs. Each MACRO IC will
support and configure eight servo channels and six encoder feedback channels.
automatically. From this list, it then attaches them to the two MACRO ICs. Each MACRO IC will
support and configure eight servo channels and six encoder feedback channels.
BITn Fault/Status
Description
(MI4)
15
Detected Ubus Encoder IC #7 Attached to MACRO IC 0 and 1 (2 channels each)
16
Detected Ubus Encoder #6 Attached to MACRO IC 1 (4 encoder channels)
17
Detected Ubus Encoder #5 Attached to MACRO IC 0 (4 encoder channels)
18
Detected Ubus Servo IC #4 Attached to MACRO IC 1 (4 full servo channels)
19
Detected Ubus Servo IC #3 Attached to MACRO IC 1 (4 full servo channels)
20
Detected Ubus Servo IC #2 Attached to MACRO IC 0 (4 full servo channels)
21
Detected Ubus Servo IC #1 Attached to MACRO IC 0 (4 full servo channels)
22
Detected CPU MACRO IC 1 ($C0C0)
23
Detected CPU MACRO IC 0 ($C080)
Wiring into the MACRO Station
The connections detailed in the Hardware Reference manuals establish the first mapping required
between the physical devices and the machine interface channels on the MACRO Station. For the UMAC
pack, the interface circuitry and breakout connectors are on the same rack-mounted boards, so the field
wiring is made directly into these boards.
between the physical devices and the machine interface channels on the MACRO Station. For the UMAC
pack, the interface circuitry and breakout connectors are on the same rack-mounted boards, so the field
wiring is made directly into these boards.
UMAC (Pack) Interface/Breakout Boards
The UMAC boards available presently that interface to the MACRO CPU board through the UBUS
backplane include:
backplane include:
•
Acc-24E2 2/4-channel PWM servo interface/breakout board
•
Acc-24E2A 2/4-channel analog servo interface/breakout board
•
Acc-24E2S 4-channel stepper/encoder interface/breakout board
•
Acc-51E high-resolution encoder-interpolator board
•
Acc-9E isolated 48-input board
•
Acc-10E isolated 48-output board
•
Acc-11E isolated 24 in/24 out board
•
Acc-12E isolated 24 in/24 high-power out board
•
Acc-14E 48-TTL output board
•
Acc-28E 2/4-channel 16-bit ADC board
•
Acc-36E 16-channel 12-bit ADC board (V1.115 or newer firmware required)
•
Acc-53E SSI encoder interface board
•
Acc-59E 8-channel 12-bit ADC/8-channel 12-bit DAC board (V1.115 or newer firmware required)
•
Acc-65E self-protected sourcing 24 in/24 out board
•
Acc-66E self-protected sourcing 48 input board
•
Acc-67E self-protected sourcing 48 output board
•
Acc-68E self-protected sinking 24 in/24 out board
All of these boards provide their own breakout connectors, so no additional breakout boards are required
for the field wiring. Consult the manual for each of these accessory boards for detailed pinout
information.
for the field wiring. Consult the manual for each of these accessory boards for detailed pinout
information.