PMAC 技術(shù)培訓(xùn)(高級(jí))

1、NEW IDEAS IN MOTION1E-MOTIONPMAC多軸運(yùn)動(dòng)控制卡多軸運(yùn)動(dòng)控制卡 （高級(jí)培訓(xùn)）（高級(jí)培訓(xùn)）2PMAC 卡主體結(jié)構(gòu)串行通訊接口 RS-232 and / or RS-422I/O 接口電路 PMAC(1)-style PMAC2-styleCPU Non-Turbo: DSP5600 x (16-bit addressing) Turbo: DSP5630 x (24-bit addressing)總線通訊接口 ISA / VME / PCI PC104/STD USB ETHERNET (Optional DPRAM)MACRO 光纜接口 PMAC2 Ultrali

2、te ACC-42P ACC-5E (UMAC)伺服接口電路 PMAC(1)-style ICs PMAC2-style ICs PMAC(1)-style connectors PMAC2-style connectors Mini / Lite / (full)3機(jī)器接口 2光隔I/O機(jī)器接口 1擴(kuò)展編碼器接收光隔 16-bit DACs標(biāo)志信號(hào)隔離SRAM128 k x 24 ActiveMemoryCPU24-Bit 20/40/60/80 MHz DSP56002Watchdog 定時(shí)器“DSPGATE” 4-Channel伺服電路光隔 16-bit DACsBus Comm. In

3、terfaceADC PortBus 總線接口Standard CPU onlyOption 16標(biāo)志信號(hào)隔離“DSPGATE” 4-Channel 伺服電路ADC Port編碼器接收Option 4A, 5A, 5B, 5COption 2Standard CPU onlyOption 1FLASH 512k x 8 Firmware & User BackupDPRAM 8 k x 16 InterfaceEPROM128 k x 8 固件擴(kuò)充 SRAM16 k x 24 參數(shù)存儲(chǔ)EAROM 2 k x 8 Setup Storage顯示端口面板端口多路復(fù)用口I/O 控制 ICs串

4、行口串行通訊接口比較端口PMAC1 結(jié)構(gòu)框圖4 PMAC上的通道,電機(jī),軸“Channels” “通道”為 硬件定義 由放大器,編碼器,信號(hào)接口組成 “Motors” “電機(jī)”為 軟件定義 非Turbo CPUs PMAC支持8個(gè)電機(jī) Turbo CPUs PMAC支持32個(gè)電機(jī)“Axes”“軸”：為 軟件定義在運(yùn)動(dòng)程序中有效，每個(gè)坐標(biāo)系最多可到 9個(gè)軸NEW IDEAS IN MOTIONNEW IDEAS IN MOTION5Non-Turbo PMAC/PMAC2 CPU 版本PMAC1 Version PMAC2 Version CPU Frequency Internal Memor

5、y RAM Wait States Memory Backup Standard* ? ? ? 20 MHz 1k x 24 1 Battery Opt 4A ? ? ? 20 MHz 1k x 24 0 Flash Opt 5A Standard 40 MHz 1k x 24 0 Flash Opt 5B* Opt 5B 60 MHz 1k x 24 0 Flash Opt 5C Opt 5C* 80 MHz 1k x 24 0 Flash Opt 5CF Opt 5CF 80 MHz 128k x 24 0 Flash Opt 5EF Opt 5EF 160 MHz 128k x 24 0

6、 Flash * 已經(jīng)停產(chǎn)6PMAC參數(shù)存儲(chǔ)器設(shè)定NEW IDEAS IN MOTION固板軟件固板軟件的缺省值的缺省值1. I 變量 設(shè)定2. 轉(zhuǎn)換表設(shè)定3. VME/DPRAM 地址設(shè)定PMAC主機(jī)主機(jī)讀寫 EEPROM or Flash不被激不被激活的寄存器活的寄存器 RAM, DSP, ASICs上的激上的激活的寄存器活的寄存器工作寄存器工作寄存器PMAC復(fù)位方式1. 重新上電2. INIT/信號(hào)低/高3. $ 指令 參數(shù)初始化1、E51 On: PMAC12、E3 On: PMAC23、 $*指令SAVE指令正常復(fù)位復(fù)位、初始化7PMAC 程序和緩沖區(qū)存儲(chǔ)NEW IDEAS IN M

7、OTION RAM中激中激活的緩存活的緩存帶后備電池主存儲(chǔ)器 PMAC1 Programs 和buffers 自動(dòng)被電池存儲(chǔ)PMAC主機(jī)讀寫 RAM中激中激活的緩存活的緩存Flash主存儲(chǔ)器PMAC1.5, PMAC2 Programs and buffers必須用SAVE 指令進(jìn)行存儲(chǔ)到FLASH中PMAC主機(jī)讀寫 Flash緩存緩存SAVEResetNEW IDEAS IN MOTION8PMAC(1) 系列板卡板卡型號(hào)通道數(shù)總線串口插槽PMAC-PC*PMAC-LiteMini-PMACPMAC-VME* PMAC-PCI*4/842+4/84/8ISAISAISAVMEPCIRS422

8、RS232/422RS232RS422RS2324221.510.721.5DPRAMOff-BoardOn-BoardOn-BoardOn-BoardOn-Board注釋No JPAN, Interrupts * Available with Turbo CPU 9PMAC2 結(jié)構(gòu)框圖FLASH512Kx8FIRMWARE &USER BACKUPSRAM128Kx24ACTIVEMEMORY8/1612-BITADCsDPRAM8Kx16INTERFACECPU24-BIT40/60/80 MHzDSP56002EXTRA SRAM16Kx24PARAMETERSTORAGEBUS

9、COMMUNICATIONSINTERFACEWATCHDOGTIMERBUS PORT擴(kuò)展口模擬量多路復(fù)用端口I/O 緩存Option 12/12AOption 16Data & Address BussesOption 2Option 1I/OI/O 緩存MACRO光纜口串行口顯示端口I/O 緩存手輪接口I/O 緩存比較輸出口DRIVERSI/OASICINPUT/OUTPUTBUFFERSINPUT/OUTPUTBUFFERS4-ChannelSERVOASIC4-ChannelSERVOASICSERIALCOMMUNICATIONSINTERFACEMACHINE PORT

10、4MACHINE PORT 2MACHINE PORT 3MACHINE PORT 1DSP GATE 2DSP GATE1DSP GATE1DSP GATE1NEW IDEAS IN MOTION10PMAC2 板卡板卡型號(hào)通道數(shù)*總線串口插槽* 所有型號(hào)均有2路附加通道* RS422 with Option 9L* Available with Turbo CPUPMAC2-PC*PMAC2-LiteMini-PMAC2PMAC2-PCI*PMAC2-VME*PMAC2-PC Ultralite*PMAC2-VME Ultralite4/8424/84/800ISAISAISAPCIVME

11、ISAVMERS232*RS232/422RS232RS232/422RS232/422RS232*RS232/4221.510.71.5211MACROOff-BoardOff-BoardOff-BoardOff-BoardOff-BoardOn-BoardOn-Board11標(biāo)準(zhǔn) PMACRAMROMFLASHCPUPWMDACENCCOUNTERS直接 PWM輸出 DIG. 電路+/- 10 V.DAC模擬量輸出A/B正交編碼器反饋機(jī)器I/0 PMAC ( MACRO )PMAC2 UltraliteRAMROMFLASHCPUMACROTAXITAXIENCPWMDACI/OENCOD

12、ERA/B QUADPWM+/- 10 V.96 I/O基板 + 2 背板NO RAMOR FLASHTAXITAXIMACROCPUMACRO STATION PMAC2 Ultralite 板卡板卡 !1) 板卡接口只有板卡接口只有 MACRO & I/O 接口接口2) 保留了保留了 PMAC2 的基板功能，用的基板功能，用MACRO STATION控制控制8軸。軸。 3) PC & VME 格式格式4) TURBO 版本的版本的 PMAC ULTRALITE 能控制能控制 32 軸軸RJ45RJ45OpticalOpticalJEXPMACRO12Delta Tau 3U

13、 矩陣結(jié)構(gòu)MACROTurbo堆棧式箱體式MACROStackTurboStackUMACTurboUMACMACRONEW IDEAS IN MOTION13PMAC vs. Turbo PMAC功能功能PMACTurbo PMAC最大控制軸數(shù) 832最大伺服通道接口數(shù) 16 (8 off-board)40 (32 off-board)最大 MACRO 光纜通訊接口數(shù) 1664 (Turbo Ultralite)最大坐標(biāo)系數(shù) 816CPU 頻率 (MHz) 20, 40, 60, 8080, 100, 160 CPU 時(shí)鐘周期（uS) 0.50.75有效 CPU 頻率 (MHz) 20, 4

14、0, 60, 80120, 150, 240 I,P,Q & M-變量數(shù) 1024 each8192 each直接數(shù)組調(diào)用 e.g. P(P1)=2? NoYes 用戶 PID 擴(kuò)展伺服算法功能? NoYes14PMAC vs. Turbo PMAC (cont.)功能功能PMACTurbo PMAC固件存儲(chǔ)器容量 32k x 2464k x 24編譯 PLC存儲(chǔ)器容量 15k x 2448k x 24, 432k x 24用戶緩沖存儲(chǔ)器容量 34k x 4826k x 48, 212k x 48DPRAM 容量8k x 168k x 16, 32k x 16追加后備電池存儲(chǔ)器容量 7

15、k x 4816k x 48, 64k x 48 Lookahead 功能? 選項(xiàng)標(biāo)準(zhǔn)配置串行口數(shù)量 12 (2nd optional)同時(shí)多端口通訊? NoYes最大同時(shí)數(shù)據(jù)采集源 2448最大轉(zhuǎn)換表行數(shù) 32192單運(yùn)動(dòng)最大同時(shí)分配M變量363 (1 個(gè)坐標(biāo)系.)反向運(yùn)動(dòng)學(xué)功能? NoYes快速運(yùn)動(dòng)中改變目的位置功能? NoYesNEW IDEAS IN MOTION15Turbo PMAC CPU 版本 Option CPU Speed CPU Internal Memory External “P” Program Memory (Code) External “X/Y” Data M

16、emory 5C0* 80 MHz 8k x 24 128k x 24 128k x 24 5C3 80 MHz 8k x 24 512k x 24 512k x 24 5D0 100 MHz 34k x 24 128k x 24 128k x 24 5D3 100 MHz 34k x 24 512k x 24 512k x 24 5E0 160 MHz 128k x 24 128k x 24 128k x 24 5E3 160 MHz 128k x 24 512k x 24 512k x 24 16要求電壓要求電壓 4.75 V要求輸入頻率要求輸入頻率 20 Hz 計(jì)數(shù)計(jì)數(shù) 0實(shí)時(shí)中斷實(shí)時(shí)中

17、斷 觸發(fā)器計(jì)數(shù)定時(shí)觸發(fā)器計(jì)數(shù)定時(shí) 后臺(tái)管理重置計(jì)數(shù)器最大值后臺(tái)管理重置計(jì)數(shù)器最大值 (=512) 在要求電壓或輸入頻率之下時(shí)在要求電壓或輸入頻率之下時(shí) 強(qiáng)制強(qiáng)制0值輸出值輸出 放大器禁能放大器禁能 “FEFCO” 輸出輸出 (PMAC1) “WDO” 輸出鎖存輸出鎖存 (PMAC2)PMAC Watchdog 看門狗計(jì)時(shí)器NEW IDEAS IN MOTION)(IFrequencyServoFrequency18217PMAC 編碼器輸入電路 無編碼器或單端編碼器輸入： pin 1 to 2 差分 +2.5 V 輸入 開集電極編碼器輸入： pin 2 to 3 差分 +5 V 輸入 能支持編

18、碼器電路外部XOR丟失 差分編碼器輸入方式直接接卡NEW IDEAS IN MOTION+R2R2R123AA+5v18PMAC(1) 標(biāo)志信號(hào)輸入標(biāo)志信號(hào)輸入標(biāo)志信號(hào)輸入FAULTn+LIMn-LIMn HMFLn 必須光隔輸入 三路電源線回路 Note: 可定義共源極或共陰極輸入NEW IDEAS IN MOTIONAGNDFGNDGNDTo ASICGNDPMAC外部E89E9019PMAC2 ACC-8x標(biāo)志信號(hào)輸入NEW IDEAS IN MOTION+V0V0V+VRETURNFLAGnGNDTo PMAC2+5V 必須光隔輸入 共陰極輸出, 連接 RETURN to +24V 共

19、源極輸出, 連接 RETURN to 0V 4路標(biāo)志信號(hào)共用1個(gè) RETURN 標(biāo)志信號(hào)輸入標(biāo)志信號(hào)輸入U(xiǎn)SERnPLIMnMLIMnHOMEn外部ACC-8x20HOME 1-4+LIM 1-4-LIM 1-4FAULT 1-4PMAC(1) “DSPGATE”門陣列 ICDAC移位寄存器(4)Encoder Control模擬量控制ADC移位寄存器(4)ADC16 bitMUX標(biāo)志信號(hào)控制Encoder 1Encoder 2Encoder 3Encoder 4DSP-Gate編碼器采樣頻率伺服頻率相頻率DAC/ADC可選頻率時(shí)鐘輸入InputFlagsOutputFlagsSerialDa

20、ta OutSerialData InClockMuxControlACC-28 Board4模擬量輸入12344模擬量輸出16 bit精度AENA 1-4EQU 1-44編碼器輸入ABCABCABCABC24-bitData Bus5-bitAddress Bus光電隔離DAC 4DAC 1DAC 2DAC 321時(shí)鐘, to 30 MHz位置比較寄存器相位捕獲寄存器零位信號(hào)捕獲寄存器24 bit up/down 位置計(jì)數(shù)器 (30 MHz Max)伺服位置捕獲寄存器定時(shí)器 (2)1/T 編碼器周期測(cè)量狀態(tài) & 控制寄存器EQU位置捕獲觸發(fā)A/B 正交譯碼W/mode Control

21、X1,X2,X4,P, D,CLK數(shù)字延時(shí)濾波總線數(shù)據(jù)控制24-bit 數(shù)據(jù)5-bit 地址伺服時(shí)鐘編碼器輸入AB4 標(biāo)記信號(hào)“C” 通道信號(hào) 相時(shí)鐘每個(gè)門陣列每個(gè)門陣列4路電路路電路OUT計(jì)數(shù) 方向5 inputs3 Status16 ControlsFlags1) ENC 錯(cuò)誤2) 捕獲3) EQU編碼器功能: DSP Encoder/Flag 門電路 (1 of 4)22編碼器數(shù)字延時(shí)濾波NEW IDEAS IN MOTIONCHACHBSCLK2 of 3Voting2 of 3Voting D Q D Q D Q D Q D Q D Q D Q D Q23晶振1/21/41/81/1

22、61/41/171/21/41/81/161/nE3E4E5E619.6608 MHzE34AE34E35E36E37E98123編碼器采樣時(shí)鐘(SCLK)DAC/ADC 時(shí)鐘(DCLK)模擬量通道選擇(ASEL)相時(shí)鐘(Phase)E33E32E31E30E29伺服時(shí)鐘(Servo)NEW IDEAS IN MOTIONPMAC(1) 時(shí)鐘分配電路n = 1 to 1624ENCODER 1FLAG 1ENCODER 2FLAG 2ENCODER 3FLAG 3ENCODER 4FLAG 4ENCODER/FLAGSTATUS & CONTROLOUTPUT1 A,B,CADCIN1

23、 A,BOUTPUT2 A,B,CADCIN2 A,BOUTPUT3 A,B,CADCIN3 A,BOUTPUT4 A,B,CADCIN4 A,BOUTPUT/ADCINCONTROLCLOCK, PLL 24-bit DATA BUS6-bit ADDRESS BUS392392392392226262626PMAC2 門陣列 IC “DSPGATE1”25編碼器采樣時(shí)鐘控制PFM時(shí)鐘控制DAC時(shí)鐘控制ADC時(shí)鐘控制Int/Ext PhaseInt/Ext Servo相時(shí)鐘控制伺服時(shí)鐘控制12n12n12n12n131n+11n+1x6 鎖相環(huán)PWM 最大 計(jì)數(shù)PWM 死區(qū)時(shí)間/PFM 脈沖

24、寬度PWM Up/Down 計(jì)數(shù)器最大相PWM 計(jì)數(shù)DT/PW方向計(jì)數(shù)16840 MHz166 Address24Data20 MHz120 MHz采樣時(shí)鐘PFM 時(shí)鐘DAC 時(shí)鐘ADC 時(shí)鐘相伺服n=0-7n=0-7n=0-7n=0-7n=0-15n=0-15外部相外部伺服PMAC2 門陣列 IC 時(shí)鐘控制26PMAC2 時(shí)鐘信號(hào)時(shí)序+ MaxCount- MaxCountPWMCounterMaxPhasePhaseServot27PMAC/PMAC2 時(shí)鐘跳線控制ClockPMAC(1)PMAC2PMAC2 UltraliteMax PhaseE98 (DAC, ADC Clock)I9

25、00I7m00I992I6800PhaseE98, E29-E33I900, I901I7m00,I7m01I992, I997I6800, I6801ServoE98, E29-E33, E3-E6I900, I901 , I902I7m00,01,02I992, I997, I998I6800,01,02Encoder SampleE34-E38I903, I907 I7m03MI903, MI907DACE98I903, I907I7m03MI903, MI907ADCE98I903, I907I7m03MI903, MI907PFM-I903, I907I7m03MI903, MI90

26、7PWM-I900, I906I7m00MI900, MI90628PWM 頻率/死區(qū)時(shí)間控制*Output A指令值Output B指令值Output C指令值DAC 頻率/鎖存濾波控制*PFM 頻率控制*脈沖頻率調(diào)節(jié)器脈寬調(diào)節(jié)器DAC 調(diào)節(jié)器脈寬調(diào)節(jié)器脈寬調(diào)節(jié)器DAC 調(diào)節(jié)器OutputSelectA,BCPWMA TOPPWMA BOTDAC CLKDAC ADAC BPWMB TOPPWMB BOTPWMC TOPPWMC BOTDIRPULSEDAC STROB編碼器、定時(shí)器輸入復(fù)用接口PMAC2 門電路 IC 輸出通道 (1 of 4)*對(duì)所有通道有效29PMAC2 門陣列 IC

27、編碼器/標(biāo)志信號(hào)通道 (1 of 4)TUVWUSER-LIM+LIMHOMEINDEXBAFAULT數(shù)字延時(shí)濾波器輔助標(biāo)志信號(hào)(Subcount, Hall,Fault Code)數(shù)字延時(shí)濾波器數(shù)字延時(shí)濾波器數(shù)延器.捕獲標(biāo)志編碼器輸入霍爾元件傳感器解碼標(biāo)志捕獲控制器Index選通MUX脈沖方向（脈沖發(fā)生器）位置比較 A計(jì)數(shù)器(40MHz)定時(shí)器(40/120MHz)譯碼控制器自動(dòng)增量比較通道狀態(tài)通道控制標(biāo)志捕獲位置相位捕獲位置伺服捕獲位置最后2位計(jì)數(shù)時(shí)間最后計(jì)數(shù)時(shí)間Q TCTRLCTRLSS=?伺服時(shí)鐘相時(shí)鐘24Data6AddressEQUAENACTRLCTRLCTRL=?位置比較 B3

28、0PMAC2 門電路 IC ADC 輸入通道(1 of 4)ADC 輸入值 AADC 寄存器 AADC 寄存器 BADC 輸入值 BADC 頻率控制*ADC 鎖存濾波控制*ADC 濾波鎖存ADC CLKADC INAADC INB6 Address24 Data相時(shí)鐘*對(duì)所有通道有效31NEW IDEAS IN MOTIONPMAC(1) 脈沖加方向控制軌跡規(guī)劃PID譯碼/計(jì)數(shù)驅(qū)動(dòng)器E方向PMAC+V/FDACACC-8DOpt 2Motor主位置32NEW IDEAS IN MOTIONPMAC2 脈沖加方向控制主位置軌跡規(guī)劃PID累加器r加法器解碼器/計(jì)數(shù)器驅(qū)動(dòng)器E方向脈沖PMAC2 Dr

29、ive & Motor+PFM 電路33NEW IDEAS IN MOTIONPMAC/PMAC2 直驅(qū)微步控制軌跡規(guī)劃PID模擬位置H-橋驅(qū)動(dòng)器H-橋驅(qū)動(dòng)器PMAC Drive & Motor+DACDAC主位置正弦波整流34JTHW Multiplexer PortACC8D Opt 7 R/D ConverterACC8D Opt 9 Yaskawa Encoder InterfaceACC18 Thumbwheel BoardACC34 Family I/O BoardsACC35 ExtendersJ8J2J3J4J1JDISP Display PortACC12 F

30、amilyLCD, VFD DisplaysJPAN Control Panel PortACC16 Control PanelACC39 Handwheel InterfaceJRS232/RS422 Serial PortACC20 Handwheel TerminalACC26 Serial IsolatorJRS232/RS422 Serial PortACC20 Handwheel TerminalACC26 Serial IsolatorJOPTO I/O PortACC21 Opto22 Interface CablesJS1, JS2 ADC PortACC28 ADC Boa

31、rdsJ5JS1J7JS2JEXP Expansion PortOpt 2 DPRAM (ISA)ACC14 I/O BoardACC24 Axis ExpansionACC29 MLDT InterfaceACC36 ADC BoardJMACH Servo Port(s)ACC8 Family Breakout BoardsJEXPPMAC(1) 的附件連接35JTHW Multiplexer PortACC8D Opt 7 R/D ConverterACC8D Opt 9 Yaskawa Encoder InterfaceACC18 Thumbwheel BoardACC34 Famil

32、y I/O BoardsACC35 ExtendersJRS232/RS422 Serial PortACC20 Handwheel TerminalACC26 Serial IsolatorJMACRO PortACC42 MACRO InterfaceJEXP Expansion PortACC14 I/O BoardACC24 Axis ExpansionACC36 ADC BoardJMACH Servo Port(s)ACC8 Family Breakout BoardsPMAC2 附件連接JDISP Display PortACC12 FamilyLCD, VFD Displays

33、36PMAC Accessory ACC - 8D with Options 2,4,6, & ACC - 8PTB11LD1U1U2U5U6LD2U9U10LD3U13U14LD4U15U16U11U8U4U311E211E4E1U7E31111U12J1E9E10E5E6E7E8PMAC ACC-8D OPTION 4QUAD HYDRAULIC VALVE/MOTOR DRIVER110J1TB1E1J2JENC4JENC3JENC2JENC1R3DR3DR3DR3DPMAC ACC-8D OPTION 24 CHAN. V/F CONVERTERJ5J6246810121416

34、18202224262830323436384042444648505254565860626413579111315171921232527293133353739414345474951535557596163J3AJ2AJ1AJ4AJ3BJ2BJ1BJ4BTP1TB1R3R4JPMAC/PCBUSJPMAC/VMEBUSPMAC ACC-8DTERMINAL BLOCK BOARD126TB1JENC3JENC2JENC1126TB2JENC41E41E31E21E1159602JPMAC/PCBUSPMAC ACC-8D OPTION 64 CHAN. ENCODER OPTICAL

35、ISOLATORSPMAC ACC-8PTERMINAL BLOCKS ONLYP P4 4DAC/ADC-CLK.(16 PIN)(16 PIN)PMACMAIN BOARD(PMAC CPU PIGGYBACK)J6 (JXIO)(10 PIN)DAC-INT.J7 (JMACH2)(60 PIN)AXIS 5 TO 8J5 (JOPT)(34 PIN)INPUT/OUTPUTJ8 (JMACH1)(60 PIN)AXIS 1 TO 4J4 (RS422)(26 PIN)RS422/232J1 (JDISP)(14 PIN)DISPLAYJ2 (JPAN)(26 PIN)CONTROL P

36、ANELJ3 (JTHW)(26 PIN)THUMBWHEELSJ1(36 PIN)J3(36 PIN)JS1JS2C1A1P3J4(JDPRAM)(10 PIN)JEQUINTERRUPTSP2(36 PIN)P.C. BUSP1(62 PIN)J2 (JAXEXP)(50 PIN)37R R1 1T TB B1 11 11 1T TB B2 2J J1 1U U5 5U U2 2U U2 2U U2 2U U2 2U U6 6U U1 1U U1 1U U1 1U U1 1L LD D2 2L LD D2 2L LD D2 2L LD D2 2L LD D3 3L LD D1 1L LD

37、D1 1L LD D1 1L LD D1 1F F1 1R R1 1U U3 3R R1 1U U3 3U U3 3U U3 3C C9 9C C9 9C C9 9C C9 9A AB BC CD DM MO OT TO OR R1 1+ +- -M MO OT TO OR R2 2+ +- -M MO OT TO OR R3 3+ +- -M MO OT TO OR R4 4+ +- -+ +- -P PO OW WE ER RS SU UP PP PL LY Y+ +1 15 5V V t to o + +4 48 8V VP PG GN ND D1 10 05 5O O W WO OP

38、PT TI IO ON NA AL LM MO OT TO OR RE EN NC CO OD DE ER RS ST TO O P PM MA AC C A AC CC C 8 8D D5 5 A AM MP PS S P PE EA AK K P PE ER RC CH HA AN N. . C CU UR RR RE EN NT T M MO OD DE ET TO O P PM MA AC CA AC CC C- -8 8D D J J5 5 3 3 A AM MP PS S C CO ON NT TI IN NU UO OU US S O OU UT TP PU UT T5 5 A

39、AM MP PS S P PE EA AK K F FO OR R 1 1 S SE EC CO ON ND D8 8. .7 75 5 i in n. . ( (2 22 22 2. .2 25 5m mm m) )2 2. .8 81 1 i in n. . ( (7 71 1. .3 37 7 m mm m. .) )E EX XT TE ER RN NA AL LS SH HU UN NT TR R1 1R R1 1R R1 1PMAC ACC-8D Option 4A線性馬達(dá)驅(qū)動(dòng)器38ACC-8D Option 7旋轉(zhuǎn)變壓器數(shù)字轉(zhuǎn)換器9 9. .6 63 3 I IN N. . (

40、(2 24 44 4. .6 6M MM M. .) )2 2. .8 88 8 I IN N. . ( (7 73 3. .2 2M MM M. .) ). .1 16 6 i in n. . ( (4 4. .0 06 6 m mm m) ). .1 16 6 i in n. . ( (4 4. .0 06 6 m mm m) )J J1 1A AT TB B2 2T TB B1 1J JE EN NC C1 1J JE EN NC C2 2J JE EN NC C3 3J JE EN NC C4 4J J1 1B BT TB B3 3E E1 11 1E E3 3E E2 2T TP P

41、1 1- -2 2T TP P5 5- -6 6T TP P3 3- -4 4T TP P7 7- -8 8S SW W1 12 26 61 1R R5 5R R6 6R R1 13 3R R1 12 21 16 62 26 61 1NEW IDEAS IN MOTION39ACC-8D Option 7旋轉(zhuǎn)變壓器數(shù)字轉(zhuǎn)換器 基板提供 2 極點(diǎn) RDCs 可選option A , 提供 4 極點(diǎn) RDCs 12-bit 精度: 4096 計(jì)數(shù) (1024 “線”) /每電子周期 能接收 2.5 kHz, 5 kHz, 10 kHz 激勵(lì) 單獨(dú)激勵(lì)增益調(diào)節(jié) 2.5 Vpp - 10 Vpp si

42、n/cos 反饋信號(hào) 提供感應(yīng)同步器接口NEW IDEAS IN MOTION40ACC-8D Option 7旋轉(zhuǎn)變壓器數(shù)字轉(zhuǎn)換器( 續(xù)) 通過PMAC多路復(fù)用口讀入絕對(duì)位置 從Ix81讀入上電相位置 從Ix10讀入上電伺服位置 從 I9x, I8x讀入上電旋變齒輪比 用戶使用M變量讀入 TWR 格式 通過PMAC通用編碼器口讀入增量位置 類似于編碼器輸入進(jìn)行伺服更新 只有旋變齒輪設(shè)定需要這樣做(Only fine resolver of geared set needs this)NEW IDEAS IN MOTION41編碼器細(xì)分: 數(shù)字增量編碼器數(shù)字細(xì)分?jǐn)?shù)字細(xì)分模擬信號(hào)模擬信號(hào)BAAA

43、BB編碼器編碼器PMAC1234比較器比較器“1-Bit A/D”2-bits數(shù)字增量數(shù)字增量解碼解碼 /計(jì)數(shù)計(jì)數(shù)1計(jì)數(shù)評(píng)估計(jì)數(shù)評(píng)估1242編碼器細(xì)分: 模擬量“Sin / Cos”編碼器 AnalogPhotoCurrentAABB編碼器編碼器PMACn-bitA/Dnnn-bitA/D+-+-差分放大器差分放大器FlashA/D轉(zhuǎn)換轉(zhuǎn)換Sin / Cos數(shù)數(shù)Arctan轉(zhuǎn)換表轉(zhuǎn)換表角度數(shù)角度數(shù)2n-12n-100n-1, n bitsSin / Cos信號(hào)信號(hào)43模擬相電流模擬相電流AABB編碼器編碼器控制器控制器+-+-差分放大器差分放大器正正/余弦余弦信號(hào)信號(hào)比較器比較器“1-Bit

44、A/D”n-bitA/Dn-bitA/D解碼器解碼器 /計(jì)數(shù)器計(jì)數(shù)器編碼器細(xì)分: 高分辨率模擬量“Sin / Cos”編碼器44 ACC-8A, ACC-8D-Opt8, ACC-DE, ACC-8FE 128 or 256 細(xì)分?jǐn)?shù)/線 (LSB=1/32 software count) 增量計(jì)數(shù)頻率 1x or 2x 倍 最大線輸入頻率 150 kHzNEW IDEAS IN MOTION256x 低精度細(xì)分器45ACC-51高精度細(xì)分器 ACC-51P 用于 PMAC PC/ISA , ACC-51E 用于 UMAC 應(yīng)用于 sin/cos 增量編碼器 或干涉儀 支持 24 路（選項(xiàng)）編碼

45、器輸入 轉(zhuǎn)換表 ( $F 方式) 計(jì)算細(xì)分插值后的位置 4096 細(xì)分?jǐn)?shù)/線 (LSB=1/32 software count) 最大線輸入頻率 1MHzNEW IDEAS IN MOTION46絕對(duì)編碼器接口 Product (s) Power On Interface Ongoing Interface Yaskawa Sigma I ACC-8D Opt9 ACC-57E OptY Multiplexer Port UBUS Expansion Port Encoder Counter Encoder Counter SSI ACC-53E UBUS Expansion Port UBU

46、S Expansion Port Stegman Hiperface ACC-51P Opt2 ACC-51C Opt2 JEXP Expansion Port UBUS Expansion Port Encoder Interpolator Encoder Interpolator Heidenhain EnDat ACC-51C Opt3 C-UBUS Expansion Port Encoder Interpolator Mitsubishi ACC-57E OptM UBUS Expansion Port UBUS Expansion Port Sanyo ACC-49P JEXP E

47、xpansion Port JEXP Expansion Port 47PMAC2 信號(hào)轉(zhuǎn)接板Drive InterfaceSignalsBreakoutStyleBreakoutConnectorNotesACC 8EDual AnalogDIN - RailTerminalBlock 12-point - 2 18-bit DACs per axis- Relays for amp enableACC 8FDirect PWM &Digital CurrentDIN - RailMini - D36-pin- Loss-of-encoder circuit- Opt. Yaskaw

48、a Hall DecodeACC 8SPulse &DirectionDIN - RailTerm Block10-pointOptional encoder interface; “Pulseswallower” for slow drivesACC 8FP Direct PWM &Digital CurrentPanel Mini - D36-pin- Used in PC-Pack- Loss-of-encoder circuit- Opt. Yaskawa Hall decodeACC 8FE Direct PWM &Digital Current3U - Ra

49、ck Mini - D36-pin - Used in MACRO Station- Opt. 256x interpolatorBoardACC 8ASingle/DualAnalogDIN - RailD-Sub- 1 or 2 16 Bit DACs per axis- Opt. 256x Interpolators48 應(yīng)用于獨(dú)立的操作界面 應(yīng)用于軟件調(diào)試 液晶屏 (LCD) 高亮、寬視角真空管 (VFD): 顯示文本 “message” 顯示數(shù)值 variable 直連距離 3m (10ft) 最大距離200m附加 ACC-12D NEW IDEAS IN MOTIONACC-12

50、系列顯示器件49ACC - 12系列RowsCharactersPer RowCharacterHeightTypeACC 122245 mm液晶LCDACC 12A2405 mmLCDACC 12C12406 mm真空管Display50ACC - 34 系列I/O板MountingVoltageRatingOutputCurrentIndividualIsolationInput RCFilterSerialParityACC 34ADIN Rail24 V100 mANoNoNoACC 34AADIN Rail24 V100 mAYesYesYes*ACC 34BDIN Rail5 V2

51、0 mANo*No*No* This function usually provided by mating Opto - 22 or compatible board.* Requires V1.16 or newer firmware.ACC 34DPanel5 V 20 mANo*No*Yes*Board51ACC-34A 64 點(diǎn)光電隔離 I/O 板52PMAC/PMAC2 I/O 點(diǎn)選擇 DirectionAccessTypicalLatencyNotesPosition Capture FlagsInputHardware50-500 nsecLatch countedactual

52、 positionPosition Compare FlagsOutputHardware50-500 nsecBased on countedactual positionOnboard I/O PortsIn/OutForeground/BackgroundSoftware200 sec - 2 msec Speed limited bysoftware ratesACC-14 Family I/OIn/OutForeground/BackgroundSoftware200 sec - 2 msec Opt. 3 inputs canbe latched by servoclockACC-

53、34 Family I/OIn/OutBackgroundSoftware5 - 20 msecSerialcommunicationsto PMACType53 Only background access permitted (PLC 1-31, on-line) Foreground access disabled (PLC0, motion program) 100 microseconds to copy 32-bit word to/from ACC-34 (20MHz) Suggested approach is like real PLCs: At beginning of P

54、LC scan, copy all input words into fixed-point registers in internal memory Work with individual bits of internal registers (Use single-bit M-variables) Prepare output words in fixed-point registers in internal memory At end of PLC scan, copy all output words from internal registersNEW IDEAS IN MOTI

55、ONWorking With ACC-34 Family I/O54NEW IDEAS IN MOTIONACC-34 Family M-Variable Definitionn = Base address of board on multiplexer port as set by 5-point DIP switch on board(n=0 - 248, divisible by 8)Input Port (A): Mx - TWS:n + 1Output Port (B): Mx - TWS:n + 6Example: n=0M901-TWS:1M902-TWS:6M1001=M90

56、1 ; copy inputs into imageM902=M1002 ; copy image to outputs55E1J212345OPEN12345OPENU1U2U4U3J1ACC-35A Option 1The DB37S Connector OptionSW1SW2J212345OPEN12345OPENTB112U1U2U4U3J1ACC-35B Option 1The DB37S Connector OptionSW1SW2ACC-35 Multiplexer Port ExtendersFor use with: ACC-34 family of I/O input A

57、CC-18 thumbwheel input ACC-8D Opt 7 R/D converter ACC-8D Opt 9 Yaskawa absolute encoder board56P P4 4DAC/ADC-CLK.(16 PIN)(16 PIN)PMACMAIN BOARD(PMAC CPU PIGGYBACK)J6 (JXIO)(10 PIN)DAC-INT.J7 (JMACH2)(60 PIN)AXIS 5 TO 8J5 (JOPT)(34 PIN)INPUT/OUTPUTJ8 (JMACH1)(60 PIN)AXIS 1 TO 4J4 (RS422)(26 PIN)RS422

58、/232J1 (JDISP)(14 PIN)DISPLAYJ2 (JPAN)(26 PIN)CONTROL PANELJ3 (JTHW)(26 PIN)THUMBWHEELSJ1(36 PIN)J3(36 PIN)JS1JS2C1A1P3J4(JDPRAM)(10 PIN)JEQUINTERRUPTSP2(36 PIN)P.C. BUSP1(62 PIN)J2 (JAXEXP)(50 PIN)-TM2500/TM2700_EnterMC3487P11J2J3U4MC3486PU11J1MAX232CPEU8E1AE2BE3T1RP1RP4ACC-26RS422/232 TO RS232OPTI

59、CALLY ISOLATEDCONVERTER BOARDRDSDCSRSD1D2D3D41Provides Optical Isolation for RS422/232Control PanelNumeric Input24 Char. Display6 Function KeysACC-20ACC-2657PMAC/PMAC2 A/D Converter Choices# ofChannelsResolution(bits)Repeatability(bits)VoltageRangeMountingOpticalIsolation?ACC 28A4151210VDIN RailYesA

60、CC 28B2, 4161510VDIN RailYesACC 36P1612110-10V, 5VISA BusNoACC 36V1612110-10V, 5VVME BusNoOpt. 12, 12A8/1612110-5V, 2.5VOnboardOptionNoOpt. 15 (V/F)12 onMini11100-10V(10V on Lite)OnboardOptionTypePMACFamilyCompatibility11, 21, 21, 221NoYes onMini58U3E2E4TP1TP2R21R22R10R11R1J1J2E3TB1E1J3iSBXCONNECTOR12191815U3E2TP1TP2R21R22R10R11R1J1J2E3TB1E1J3iSBXCONNECTOR12191815P P