Delta Tau 4Ax-602804-xHxx ユーザーズマニュアル
MACRO-CPU Hardware Reference
SW2 Rotary Switch Setting: SW2 establishes the number of the master IC to which the MACRO station will
respond. The values of 0 to 15 correspond to Master numbers 0 to 15, respectively. For a non-Turbo PMAC2
master, this value must match the master number value in the first hexadecimal digit of PMAC2’s I996. For a
Turbo PMAC2, this value must match the master number value in the first hexadecimal digit of the Turbo
PMAC2’s I6840, I6890, I6940, or I6990, for MACRO ICs 0, 1, 2, or 3, respectively, on the Turbo PMAC2. The
default switch setting is 0, so the station will respond to Master 0.
respond. The values of 0 to 15 correspond to Master numbers 0 to 15, respectively. For a non-Turbo PMAC2
master, this value must match the master number value in the first hexadecimal digit of PMAC2’s I996. For a
Turbo PMAC2, this value must match the master number value in the first hexadecimal digit of the Turbo
PMAC2’s I6840, I6890, I6940, or I6990, for MACRO ICs 0, 1, 2, or 3, respectively, on the Turbo PMAC2. The
default switch setting is 0, so the station will respond to Master 0.
Watchdog Timer Enable Jumper: For normal operation of the Compact MACRO Station, jumper E1 should be
OFF to enable the watchdog timer (an important safety feature).
OFF to enable the watchdog timer (an important safety feature).
Operational Mode Jumper: Jumper E2 should connect pins 2 and 3 to tell the CPU it is in normal operational
mode, not in “bootstrap” mode. It should only connect pins 1 and 2 if you desire to load new firmware into the
flash IC through the serial port.
mode, not in “bootstrap” mode. It should only connect pins 1 and 2 if you desire to load new firmware into the
flash IC through the serial port.
Baud Rate Jumper: Jumper E3 must be ON if you are connecting an ACC-8D Option 9 Yaskawa absolute
encoder converter to the J7 serial port (most users will connect it to the JTHW port instead). This sets the baud
rate to 9600. If E3 is OFF, the baud rate is 38400.
encoder converter to the J7 serial port (most users will connect it to the JTHW port instead). This sets the baud
rate to 9600. If E3 is OFF, the baud rate is 38400.
Power Supply Check Jumper: Remove jumper E4 if you are not bringing a +/-12V to +/-15V supply into the
Compact MACRO Station itself (5V only). If you are bringing these analog circuit supplies into the Compact
MACRO Station, it is best to have jumper E4 on, so that the servo outputs are disabled if either of the analog
supplies is lost.
Compact MACRO Station itself (5V only). If you are bringing these analog circuit supplies into the Compact
MACRO Station, it is best to have jumper E4 on, so that the servo outputs are disabled if either of the analog
supplies is lost.
MACRO Input Select Jumper: Because the MACRO CPU board can potentially accept MACRO ring input
from either the RJ-45 electrical input or the fiber input, you must select which input is used (even if only one of
the ring interface options is present). Jumper E40 must be ON to use the fiber input; it must be OFF to use the
electrical input. (If both interface options A and C are present, either ring output may be used, regardless of the
setting of E40.)
from either the RJ-45 electrical input or the fiber input, you must select which input is used (even if only one of
the ring interface options is present). Jumper E40 must be ON to use the fiber input; it must be OFF to use the
electrical input. (If both interface options A and C are present, either ring output may be used, regardless of the
setting of E40.)
MACRO Signal-Loss Detect Jumper: Jumper E5 (board revisions –105 and newer only) should connect pins 1
and 2 so that the MACRO receiver’s (fiber or electrical) loss-of-signal detect is reported automatically as a byte
“violation” error. Older revisions (-104 and before) of the board could not use the receiver’s signal-loss detect as
a “violation” error (relying on higher-level detection schemes), and connecting pins 2 and 3 makes operation of
the new revision completely compatible with the old. This is not recommended.
and 2 so that the MACRO receiver’s (fiber or electrical) loss-of-signal detect is reported automatically as a byte
“violation” error. Older revisions (-104 and before) of the board could not use the receiver’s signal-loss detect as
a “violation” error (relying on higher-level detection schemes), and connecting pins 2 and 3 makes operation of
the new revision completely compatible with the old. This is not recommended.
MACRO CPU Board Connections
The connection of Compact MACRO Station to other stations on the MACRO ring is achieved by connecting the
output connector of the Compact MACRO Station to the input connector of the next station, and by connecting
the output connector of the previous station to the input connector of the Compact MACRO Station. There must
be a completely connected ring, with all stations powered up, for any communications to occur on the ring.
output connector of the Compact MACRO Station to the input connector of the next station, and by connecting
the output connector of the previous station to the input connector of the Compact MACRO Station. There must
be a completely connected ring, with all stations powered up, for any communications to occur on the ring.
Optical Fiber Ring Connection: The U73 integrated fiber optic transceiver is used for both the optical fiber
input and the optical fiber output connections to the MACRO ring. With the component side of the board up, and
the opening facing you, the input socket is on the right, and the output socket is on the left (these are marked on
the component).
input and the optical fiber output connections to the MACRO ring. With the component side of the board up, and
the opening facing you, the input socket is on the right, and the output socket is on the left (these are marked on
the component).
RJ45 Electrical Ring Connection: The J14 connector is used for the input from the previous station on the
MACRO ring if electrical connection is used, and the J17 connector is used for the output to the next station on
the MACRO ring.
MACRO ring if electrical connection is used, and the J17 connector is used for the output to the next station on
the MACRO ring.
Multiplexer Port: The J6 26-pin header is used to connect to multiplexer port accessories such as the ACC-8D
Opt 7 resolver-to-digital converter board and the ACC-8D Opt. 9 Yaskawa absolute encoder interface board. This
port can be used alternately to provide 8 inputs and 8 outputs (non-multiplexed) at TTL levels.
Opt 7 resolver-to-digital converter board and the ACC-8D Opt. 9 Yaskawa absolute encoder interface board. This
port can be used alternately to provide 8 inputs and 8 outputs (non-multiplexed) at TTL levels.
Backplane “UBUS” Expansion Port: The P2 96-pin DIN header is used to connect to expansion port
accessories such as the ACC-9E, 10E, 11E, 12E, and 14E I/O boards, or the ACC-24E2x axis boards, through an
accessories such as the ACC-9E, 10E, 11E, 12E, and 14E I/O boards, or the ACC-24E2x axis boards, through an
3U MACRO CPU Board Hardware Setup
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