Acc-8d Option 9

^1 USER MANUAL
^2 Accessory 8D Option 9
^3 Yaskawa Absolute Encoder Converter Board
^4 3A9-0ACC8D-xUxx
^5 October 27, 2003
Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
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 email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: [email protected]
Website: http://www.deltatau.com
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.
Accessory 8D Option 9
Table of Contents
INTRODUCTION .......................................................................................................................................................1
CONNECTORS ...........................................................................................................................................................3
JP1 to JP4 ..................................................................................................................................................................3
JP6.............................................................................................................................................................................3
JP7.............................................................................................................................................................................3
JENC1 to JENC4.......................................................................................................................................................3
JP8.............................................................................................................................................................................3
ADDRESS MAP ..........................................................................................................................................................5
Default Settings .........................................................................................................................................................5
ABSOLUTE ENCODER SETUP...............................................................................................................................7
PMAC I-VARIABLE SETUP ....................................................................................................................................9
Ix10 - Motor x Power-On Servo Position Address....................................................................................................9
I8x - Motor x Resolver Gear Ratio..........................................................................................................................10
I9x - Motor x Second -Resolver Gear Ratio............................................................................................................10
Ix81 - Motor x Absolute Phasing Position Address ................................................................................................10
TURBO PMAC I-VARIABLE SETUP ...................................................................................................................11
Ixx10 – Motor xx Power-On Position Address .......................................................................................................11
Ixx95 - Motor xx Power-On Servo Position Format ...............................................................................................11
Ixx98 - Motor xx Resolver 3rd Gear Ratio (Yaskawa Only) for Turbo ...................................................................11
Ixx99 - Motor xx Second Resolver Gear Ratio (Yaskawa Encoder only) for Turbo ..............................................12
Example: Turbo PMAC Yaskawa Absolute Encoder Setup ...............................................................................12
Turbo PMAC Power on Phasing .............................................................................................................................12
Ixx81 ...................................................................................................................................................................13
Ixx91 ...................................................................................................................................................................13
Ixx75 ...................................................................................................................................................................13
Ixx80 ...................................................................................................................................................................14
JUMPER SETUP.......................................................................................................................................................15
CONNECTOR PINOUTS.........................................................................................................................................17
Headers....................................................................................................................................................................17
JP1 to JP4 (20-Pin Header) ...............................................................................................................................17
JP6 and JP7 (26-Pin Header) ............................................................................................................................18
JENC1 to JENC4 (10-Pin Header).....................................................................................................................18
SERVOPACK 1CN TERMINAL DESCRIPTION ................................................................................................19
TEST SETUP .............................................................................................................................................................21
YASKAWA ABSOLUTE ENCODER INTERFACE ............................................................................................23
Jumper Settings .......................................................................................................................................................23
Jumper E8 and E9 Setup.....................................................................................................................................23
PMAC I-Variable Setup ..........................................................................................................................................23
Ix10 - Power-On Initial Position Type and Address:..........................................................................................23
I8x and I9x:.........................................................................................................................................................23
Ix81 - Motor x Absolute Phasing Address: .........................................................................................................24
MI11x (Bit 16-23 Only First two Digits) ............................................................................................................24
TROUBLE SHOOTING ...........................................................................................................................................25
Data Acquisition Sequence .....................................................................................................................................25
Checking Up Steps ..................................................................................................................................................25
APPENDIX ................................................................................................................................................................27
Setup Method for 12-bit Absolute Encoder.............................................................................................................27
Table of Contents i
ii Table of Contents
INTRODUCTION
PMAC’s Acc-8D Option 9 (P/N 309-0ACC8D-OPT9) allows a PMAC interface to the Yaskawa absolute
encoder.
This board provides up to four channels of absolute encoder inputs to the PMAC 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 3V battery is included on the board with a
monitor circuit to provide an indication of any drop in excess of 5%. 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.
The encoder has internal counters and memory that count and retain the incremental counts. Upon power
up, it sends RS232 data to PMAC representing the absolute position. Operation is then switched to
incremental automatically. Refer to the Yaskawa manual for further explanation.
Note:
If using a PMAC with Flash Memory (40 MHz or 60 MHz), use firmware version
1.16A or newer. Call the factory for details on upgrading the firmware.
Introduction 1
2 Introduction
CONNECTORS
JP1 to JP4
These connectors are 20-pin Honda connectors that come directly from the absolute encoder. For detailed
signal description, refer to the Yaskawa manual.
JP6
This is a 26-pin header that provides the link between PMAC’s JTHW (J3) and the absolute encoder
conversion board through the supplied flat cable. Through this connector, PMAC captures the absolute
position.
JP7
This is a 26-pin header, which brings out the JTHW signals for the next accessory board on the JTHW
multiplex memory map. This connector is pin-to-pin compatible with JP6.
JENC1 to JENC4
These are 10-pin headers that provide the normal differential A quad B encoder signal as well as a C
channel generated by the absolute encoder. The four connectors are for the first to the fourth encoder,
respectively.
JP8
This is a 2-pin terminal block for the power supply input. The power requirement of the system is +5V
DC @ 10W. External power is needed only when JP6 or JP7 and JENC1-JENC4 are not connected.
Connectors 3
4 Connectors
ADDRESS MAP
Acc-8D Option 9 generates both absolute and incremental position data from the absolute encoder.
Normally the absolute position is read (by PMAC) through the Thumbwheel Port (JTHW) only during
power up. The incremental (A QUAD B) data, however, is counted continuously. A 5-bit dip switch, S1,
determines the address of this board. The factory default setup is as follows:
Multiplex Encoder S1 DIP Switch Setting
Address (starting address) 5 4 3 2 1
1 ($08) CLOSE CLOSE CLOSE CLOSE OPEN
2 ($10) CLOSE CLOSE CLOSE OPEN CLOSE
3 ($18) CLOSE CLOSE CLOSE OPEN OPEN
4 ($20) CLOSE CLOSE OPEN CLOSE CLOSE
5 ($28) CLOSE CLOSE OPEN CLOSE OPEN
. . . . . . .
. . . . . . .
. . . . . . .
27 ($D8) OPEN OPEN CLOSE OPEN OPEN
28 ($E0) OPEN OPEN OPEN CLOSE CLOSE
29 ($E8) OPEN OPEN OPEN CLOSE OPEN
30 ($F0) OPEN OPEN OPEN OPEN CLOSE
31 ($F8) OPEN OPEN OPEN OPEN OPEN
Default Settings
Position 5 4 3 2 1
Set ON ON ON ON OFF
There will be 32 different address settings for a possibility of 32 board connections.
Address Map 5
6 Address Map
ABSOLUTE ENCODER SETUP

If the battery is connected, the Yaskawa absolute encoder provides five digits of signed absolute position
data. However, when the absolute position data needs to be cleared to 0, the following setup is needed.
1. Turn off power supply for the entire motor and encoder.
2. Remove the battery from this board.
3. Discharge the capacitor inside of the encoder by moving the corresponding jumper (E1 to E4 for
encoder 1 to 4, respectively) from the default setting 2-3 to 1-2, for at least two minutes.
4. Place the Jumper back to the default position, and reinstall the battery on the board.
This completes the setup.
Note:
The reset procedure may be different for different models of the encoders. Refer
to the encoder manual for details.
Absolute Encoder Setup 7

8 Absolute Encoder Setup

PMAC I-VARIABLE SETUP

The following PMAC I-variable setup is needed for the system to use the Yaskawa absolute encoder and
the Acc-8D Option 9 conversion board:
Ix10 - Motor x Power-On Servo Position Address
Modes Address
Hex($) 7 1 0 0 0 8
Bin 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0
=00-07: Address is multiplexer port

address; specifies device # at
this port address (resolver)
=08-30(hex): Address is PMAC memory I/O
address; specifies # of bits (parallel input)
=31 (hex): Address is PMAC memory I/O
address; data in high 16 bits (e.g. ADC) or
Address is multiplexer, data is Yaskawa rev. coun
=0: Data at Y address (08-30); ADC data (31)
=1: Data at X address(08-30); Yaskawa data (31)
=0: Treat as unsigned value
=1: Treat as signed value
The Ix10 variable will allow the system to enable the absolute encoder and get the absolute position data
upon power-on condition. (See the PMAC User Manual Addendum 1.15 from June 1994.) To define the
Ix10 variable correctly, place a $7100 value in front of the beginning address +2 hex for each encoder.
Encoder # I-Variable I-Variable Value
1 I110 $710008
2 I210 $71000A
3 I310 $71000C
4 I410 $71000E
An easy way to understand the addressing scheme is to look at the dip switch setting table and place a 1
where the open is located and a 0 for the close position. Now, place three zeros after the switch setting,
and convert this binary representation to a hex value.
Example:
Address 5 4 3 2 1
($08) 0 0 0 0 1 000
($10) 0 0 0 1 0 000
($18) 0 0 0 1 1 000
The starting address for board 2 (encoders 5, 6, 7 and 8) would be $10. Therefore, our definitions for the
Ix10 variables would be:
Encoder # I-Variable I-Variable Value
5 I510 $710010
6 I610 $710012
7 I710 $710014
8 I810 $710016
PMAC I- Variable Setup 9

I8x - Motor x Resolver Gear Ratio

I9x - Motor x Second -Resolver Gear Ratio
Set I8x= (counts/rev)/4096
I9x= The remainder from above division
Example:
The number of lines per revolution of the Yaskawa absolute encoder in the system is 8192. PMAC will
multiply this term by 4 and read (8192×4) = 32768 counts/rev.
32768
∴ I8x = =8
4096
I9x = 0
I8x = 8
I9x = 0
Note:
The I8x and I9x are defined for something else in the PMAC manual for a general-
purpose application. It is necessary to use the above definition for this application.
Ix81 - Motor x Absolute Phasing Position Address

I-Variable Name I-Variable Value
Encoder 1 I181 $4(D)C001 *
Encoder 2 I281 $4(D)C009 *
Encoder 3 I381 $4(D)C011 *
Encoder 4 I481 $4(D)C019 *
*The number in the parenthesis should reflect the number of lines of the absolute encoder in
hexadecimal. To derive this value:
1. Convert the number of lines to a binary number, such as 8192 = 213 = 10000000000000.
2. Convert the exponential part (which is 13 in the above example) to a hexadecimal number: 13
(dec.) = D (hex.).
Example:
If encoder 1 in the system is a Yaskawa absolute encoder with 8192 lines/rev, the correct value for I-181
will be:
I-181 = $4DC001
However, encoder 2 in the system is a 12-bit Yaskawa absolute encoder. For instance, if the number of
lines/rev for this encoder were 4096, then the right value for I-281 would be:
I-281 = $4CC009
Note:
The last four digits are motor x phasing position address (see PMAC manual on
Ix83 for details).
10 PMAC I- Variable Setup

TURBO PMAC I-VARIABLE SETUP

Ixx10 – Motor xx Power-On Position Address
Ixx10 should be set to the multiplexer port location associated with the switch setting of the Acc-8D
option9. The following table shows the possible address settings of Ixx10.
Board Mux. Ixx10 Board Mux. Ixx10 Board Mux. Ixx10 Board Mux. Ixx10
Addr. Addr. Addr. Addr.
0 $000100 64 $000040 128 $000080 192 $0000C0
8 $000008 72 $000048 136 $000088 200 $0000C8
16 $000010 80 $000050 144 $000090 208 $0000D0
24 $000018 88 $000058 152 $000098 216 $0000D8
32 $000020 96 $000060 160 $0000A0 224 $0000E0
40 $000028 104 $000068 168 $0000A8 232 $0000E8
48 $000030 112 $000070 176 $0000B0 240 $0000F0
56 $000038 120 $000078 184 $0000B8 248 $0000F8
Since each Acc-8D option 9 card can support up to four Yaskawa Absolute encoders, the following table
list the channel address of each channel relative to the base address. Notice that each successive channel
is two addresses (+2) from the previous channel.
Board Mux. Channel 1 Channel 2 Channel 3 Channel 4
Addr. Ixx10 Ixx10 Ixx10 Ixx10
$0 $100 $02 $04 $06
$08 $08 $0A $0C $0E
$10 $10 $12 $14 $16
$18 $18 $1A $1C $1E
$20 $20 $22 $24 $26
$28 $28 $2A $2C $2E
Ixx95 - Motor xx Power-On Servo Position Format

Ixx95 will be set to a value which tells the controller that the register from Ixx10 will be processed as an
Acc-57E absolute encoder. The following table shows the possible settings of Ixx95.
Encoder Type Controller Ixx95 Value
Yaskawa Turbo PMAC or $710000 – unsigned
Turbo PMAC2 $F10000 – signed
Ixx98 - Motor xx Resolver 3rd Gear Ratio (Yaskawa Only) for Turbo
Ixx98 tells the PMAC how many counts per revolution the Yaskawa Encoder has. The units for this
parameter are in counts per revolution divided by 4096. The counts per revolution are based on the
decode value of I7mn0. Almost all users will use 4× decode.
If the Yaskawa absolute encoder used has 32768 counts per revolution, then set Ixx10 to the following
value:
32768
Ixx98 = =8
4096
Turbo PMAC I- Variable Setup 11

Ixx99 - Motor xx Second Resolver Gear Ratio (Yaskawa Encoder only)

for Turbo
This is used to let the PMAC know what the remainder from the Ixx98 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 (1024, 2048, 4096, etc.).
Example: The number of lines per revolution of the Yaskawa absolute encoder in the system is 8192.
PMAC will multiply this term by 4 and read (8192×4) = 32768 counts/rev.
32768
∴ Ixx98 = =8
4096
Ixx99 = 0
Example: Turbo PMAC Yaskawa Absolute Encoder Setup

For this example, the Acc-8D option 9 is addressed to the base address $08 based on the SW1 settings.
The four encoders for this example have 8192 lines per revolution or 32768 encoder counts (with 4×
decode). Assume that motors 1, 2, 3, and 4 are being set up. To properly set up the Acc-8D option 9 to
read Yaskawa absolute encoders, do the following:
Ixx10 Setup
I110=$08 ; first channel Acc-57E
I210=$0A ; second channel Acc-57E
I310=$0C ; third channel Acc-57E
I410=$0E ; fourth channel Acc-57E
Ixx95 Setup
I195=$F10000 ;Yaskawa absolute power on position setting
Ixx98 Setup
I198=8 ; Ixx98 = 32768/4096 = 8
I298=8 ; Ixx98 = 32768/4096 = 8
I398=8 ; Ixx98 = 32768/4096 = 8
I498=8 ; Ixx98 = 32768/4096 = 8
Ixx99 Setup
I199=0 ; Ixx99 = remainder from Ix98 calculation
Turbo PMAC Power on Phasing

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-8D Option 9 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-8D Option 9, setup I-variables Ixx81, Ixx91 (for Turbo only), Ixx75, and Ixx80.
12 Turbo PMAC I- Variable Setup

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 Ix75 and represents the
power-on phase position offset. Ix81 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.
Ixx81
Ixx81 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 Ixx83, but it must have the same resolution and direction
sense. Ixx81 is set to zero if no special power-on phase position reading is desired, as is the case for an
incremental encoder. The Acc-8D Option 9 Yaskawa Absolute Encoder converter board synthesizes
quadrature signals into the Turbo PMAC at power-on until the power-on position within one revolution is
reached, so the value of the encoder counter can simply be read.
Turbo PMAC(1) Ixx81 Encoder Register Settings
(Ixx91=$480000 - $580000)
Encoder Register PMAC First Second Third Fourth
Channel # Acc-24P/V Acc-24P/V Acc-24P/V Acc-24P/V
Channel 1 $078001 $078201 $079201 $07A201 $07B201
Channel 3 $078009 $078209 $079209 $07A209 $07B209
Channel 5 $078101 $078301 $079301 $07A301 $07B301
Channel 7 $078109 $078309 $079309 $07A309 $07B309
Turbo PMAC2 Ixx81 Typical Encoder Register Settings
(Ix91=$480000 - $580000)
Encoder Register PMAC2 First Second Third Fourth
Channel # Acc-24x2 Acc-24x2 Acc-24x2 Acc-24x2
Channel 1 $078001 $078201 $079201 $07A201 $07B201
Channel 2 $078009 $078209 $079209 $07A209 $07B209
Channel 3 $078011 $078211 $079211 $07A211 $07B211
Channel 4 $078019 $078219 $079219 $07A219 $07B219
Channel 5 $078101 $078301 $079301 $07A301 $07B301
Channel 6 $078109 $078309 $079309 $07A309 $07B309
Channel 7 $078111 $078311 $079311 $07A311 $07B311
Channel 8 $078119 $078319 $079319 $07A319 $07B319
Ixx91
Ixx91 tells how the data at the address specified by Ixx81 is to be interpreted. It also determines whether
the location specified by Ixx81 is a multiplexer (thumbwheel) port address, an address in Turbo PMAC’s
own memory and I/O space or a MACRO node number. For the Acc-8D option, Ixx91 will be set to a
value of $580000.
Ixx75
Ixx75 tells Turbo PMAC the distance between the zero position of an absolute sensor used for power-on
phase position (specified by Ixx81 and Ixx91) 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 (Ixx81 > 0). See the Software Reference manual for the proper setting.
Turbo PMAC I- Variable Setup 13

Ixx80
Ixx80 controls the power-up mode, including the phasing search method (if used), for Motor xx. If Ixx80
bit 0 is 1 (Ixx80 = 1 or 3), 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 $$ on-line command to the coordinate system
containing the motor. If Ixx80 is set to 0, phasing will be done also in response to a $ on-line command
to the motor, or a $$ on-line command to the coordinate system containing the motor.
14 Turbo PMAC I- Variable Setup

JUMPER SETUP
Jumper Position Description Default Setting
E1 Encoder 1 absolute data reset
2-3
Encoder 1 normal operation
Default
2-3
Default
2-3
Default
2-3
Default
E5 Additional driver for LED out
E6 CPU reset
2-3
CPU normal operation
Default
E7 Bootstrap mode
2-3
Single chip
Default
Jumper Setup 15
16 Jumper Setup
CONNECTOR PINOUTS
Headers
JP1 to JP4 (20-Pin Header)
Top View
Pin # Symbol Function Description Notes
1 GND Common Encoder Common
4 SEN Power +5V
5 SEN Power +5V
6 SEN Power +5V
7 NC
8 NC
9 NC
10 RESET Input Encoder Reset
11 NC
12 BAT + Input +3V
13 BAT - Input Encoder Common
14 PHASE C Output Channel C+
15 *PHASE C Output Channel C- 1
16 PHASE A Output Channel A+
17 *PHASE A Output Channel A-
18 PHASE B Output Channel B+
19 *PHASE B Output Channel B-
20 F-GND Common Encoder from Ground
1. Channel C/ is terminated at the connector.
The part number and manufacture information for connector JP1-JP4 is as follow:
Manufacture: HONDA
Part number: MR-20RMD2(male)
Mate-in connector part number: MR-20F
(Vendor: CONNEX - Fremont, CA Telephone: 1-800-972-5932)
Connector Pinouts 17
JP6 and JP7 (26-Pin Header)

Top View
1 GND Common PMAC Common
3 DAT0 Output Data Bit 0
4 SEL0 Input Address Line 0
6 SEL 1 Input Address Line 1
12 SEL 4 Input Address Line 4
18 SEL7 Input Data Bit 7
19 N.C. Not connected
25 +5V Input +5V DC Supply
JENC1 to JENC4 (10-Pin Header)

Top View
1 CHA1 Output A Channel H.P. Standard
2 +5V Input Power Supply H.P. Standard
3 GND Common Digital Ground H.P. Standard
4 CHA1/ Output Neg. A Channel H.P. Standard
5 CHB1/ Output Neg. B Channel H.P. Standard
6 GND Common Digital Ground H.P. Standard
8 CHB1 Output B Channel H.P. Standard
10 CHC1 Output C Channel H.P. Standard
18 Connector Pinouts
SERVOPACK 1CN TERMINAL DESCRIPTION

(For Σ Series Motor and Absolute Encoder)
Terminal Label Description
1 SG 0V
2 SG 0V
3 PL1 Power supply for open collector reference
4 SEN SEN signal input
5 V-REF Speed reference input
6 SG 0V
7 PULS Reference pulse input
8 *PULS Reference pulse input
9 T-REF Torque reference input
10 SG 0V
11 SIGN Reference sign input
12 *SIG Reference sign input
13 PL2 Power Supply for open collector reference
14 *CLR Error counter clear input
15 CLR Error counter clear input
16 TQR-M Torque monitor
17 VTG-M Speed monitor
18 PL3 Power supply for open collector reference
19 PCO PG dividing output phase C
20 *PCO PG dividing output phase C
21 BAT Battery (+)
22 BAT0 Battery (-)
23 +12V Power supply for speed/torque reference
24 -12V Power supply for speed/torque reference
25 V-CMP(COIN+) Speed coincidence signal output
26 V-CMP(COIN-) Speed coincidence signal output
27 TGON+ TGON output signal
28 TGON- TGON output signal
29 S-RDY+ Servo ready output
30 S-RDY- Servo ready output
31 ALM+ Servo alarm output
32 ALM- Servo alarm output
33 PAO PG dividing output phase A
34 *PAO PG dividing output phase A
35 PBO PG dividing output phase B
36 *PBO PG dividing output phase B
37 ALO1 Alarm code output (open collector output)
40 S-ON Servo ON input
41 P-CON P control input
42 P-OT Forward over-travel input
43 N-OT Reverse over-trivial input
44 ALM-RST Alarm reset input
45 P-CL Forward external torque limit ON input
46 N-CL Reverse external torque limit ON input
47 +24V IN External power supply input
48 PSO Phase S signal output
49 *PSO Phase S Signal output
50 FG Frame ground
Connector Pinouts 19
20 Connector Pinouts
TEST SETUP
The diagram below shows how to connect the Acc-8D Option 9 accessory board to PMAC.
For this example, we will be using a Yaskawa UTMAH-B15AS absolute encoder mounted on the back of
a USAGED-2AS2K AC Servo Motor. The encoder has 8192 counts/rev. As shown in the diagram, the
encoder will be connected to PMAC’s encoder channel 1.
Once everything is properly connected, power up the system. Next, go into the Executive program and
open the position window. If the motor is spun by hand, the position of motor 1 should be moving.
Test Setup 21
Special cable p/n:

3C9-OACC8D-OPT
22 Test Setup
YASKAWA ABSOLUTE ENCODER INTERFACE

(MACRO interface version)
Jumper Settings
Jumper E9 selects the compact MACRO interface RS232 (or thumbwheel communication) function. The
jumper position is read once at power up, so any changes made after that are invalid.
Once the MACRO interface function is active, the communication between the interface card and the
MACRO station is established via RS232. A RS232 cable must be plugged into P2 on the interface card
(see the wiring diagram for details).
Two Acc-8D Option 9 cards are allowed in one system. The card address is defined by jumper E8, and is
read at power up. Changes to the setting of jumper E8 will not be read until the next time power is turned
on.
Jumper E8 and E9 Setup
Jumper Position Description Default Setting
E8 In Interface board address bit board # 1-for encoder 1 to 4 Jumper in
Out Interface board address bit board # 2-for encoder 5 to 8
E9 In * Thumbwheel port communication version Jumper in
Out RS232 communication version (compact MACRO station only)
* For compact MACRO interface application, and for firmware version 1.106 and later, the thumbwheel
communication is supported.
PMAC I-Variable Setup

The following PMAC I-Variable set up are for MACRO interface version only:
Ix10 - Power-On Initial Position Type and Address:
# of Encoder I-Variable Name PMAC: I-Variable Value
1 I110 $72(0000)
2 I210 $72(0001)
3 I310 $72(0004)
4 I410 $72(0005)
5 I510 $72(0008)
6 I610 $72(0009)
7 I710 $72(000C)
8 I810 $72(000D)
The numbers in parenthesis are valid MACRO motor nodes. The motors are
assigned to a Y-MACRO motor node.
I8x and I9x:

I8x=(counts/rev.)*/4096
I9x= the remainder from above division
Note:
Here are the counts/rev. = Encoder lines/revolution X 4.
Yaskawa Absolute Encoder Interface 23

Ix81 - Motor x Absolute Phasing Address:

The following table is a function of its motor X and its MACRO motor node N:
# of I-Variable PMAC PMAC2 Y-MACRO
Encoder name I-Variable Value I-Variable Value Motor Node N
1 I181 $(12)C223* $(12)C0A3* 0
2 I281 $(12)C227* $(12)C0A7* 1
3 I381 $(12)C22B* $(12)C0AB* 4
4 I481 $(12)C22F* $(12)C0AF* 5
5 I581 $(12)C233* $(12)C0B3* 8
6 I681 $(12)C237* $(12)C0B7* 9
7 I781 $(12)C23B* $(12)C0BB* 12
8 I881 $(12)C23F* $(12)C0BF* 13
The number in the parenthesis should reflect the number of lines of the absolute encoder in HEX. To derive
this value:
Convert the number of lines to a binary number, such as 8192 = 2 13
Add 5 to the exponential part (which is 10 in the above example). That is: 13 + 5 =18
Convert the result to hex representation: 18(dec) = 12 (hex)
MI11x (Bit 16-23 Only First two Digits)

The following are MACRO I-Variables:
I11n Bits 16-23 Type of Feedback Notes
$71 Yaskawa Absolute Encoder Converter Used for Acc-8D Opt 9 connected to CPU
through Multiplexer Port (bits 0-15 board JTHW port (use E9 to configure);
equal to Thumbwheel address) address is multiplexer port address ($00 - $FF)
$72 Yaskawa Absolute Encoder Converter Used for Acc-8D Opt 9 connected to CPU
through RS-232 interface (bits 0-15 board serial port.
equals 0).
See the MACRO Station Software Reference manual for details.
24 Yaskawa Absolute Encoder Interface

TROUBLE SHOOTING
Data Acquisition Sequence
The Acc-8D Option 9 Yaskawa interface card is a slave card for PMAC. It acquires the absolute data
only when PMAC requests it. The absolute position data is obtained by sending out a SEN signal (+5V)
to the encoder. The power will remain on if the data is successfully acquired. It will turn off (0V) if the
data is not received within approximately 1.5 seconds.
Checking Up Steps
If there is no position data showing on the PMAC window, the following steps can be followed to check
the card:
Step 1: Is the jumper setting right?
Which includes:
• Dip switch S1.
• E-point jumpers E1-E9
Step 2: Is there power applied to the card?
Refer to page 2 of this manual for JP8. Check with meter on TP11 and TP12 to verify (should be 5V).
Step 3: Compare all the necessary PMAC I-variables with this manual:
PMAC is shipped with all the I-variables in default values. The Acc-8D Option 9 user has to change the
related I-variable according to this manual. A SAVE command must be executed in order to keep those
values from being lost when the $$$ command or a power recycle occurs.
Step 4: Does the encoder need to be reset?
Reference the Yaskawa motor and encoder manual for detailed information on how to reset the absolute
position data. If some encoders are disconnected from the battery (on this card) for a certain period of
time, either the absolute position data will be lost, (back to 0) or a reset procedure will need to be done
before the encoder starts working correctly.
Troubleshooting 25
26 Troubleshooting
APPENDIX
Setup Method for 12-bit Absolute Encoder
To clear the cumulative rotation number to zero for testing the motor, or when the absolute encoder has
been left disconnected from a battery for more than two days, the encoder needs to be setup by the
following procedure. (Under the above conditions, capacitors in the encoder may be charged
insufficiently so that the internal circuits may malfunction.)
Strictly follow the procedure. Otherwise, an error may occur.
Turn on power to the SGD Servo pack.

Connect the SGD Servo pack, motor, and encoder properly.
Connect the batter and turn on thepower to the SGD Servo pack.
Set the SEN signal (1CN-4) high.

When the SEN signal is high, +5V power is supplied to the encoder.
Keep this condition for three minutes or longer to fully charge the backup capacitor.
Turn off power to the SGD Servo pack.

Remove the encoder connector.
Connect connector terminal 13 and 14 of the encoder for one or two seconds.
Restore the normal wiring.
Turn the power on to the SGD Servo pack.

Set the SEN signal to high-level. If not error occurs, setup has been completed.
If the alarm is 0. output, restart from step 1.
Appendix 27
28 Appendix
Appendix 29

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^1 USER MANUAL

^3 Yaskawa Absolute Encoder Converter Board

^5 October 27, 2003

Single Source Machine Control Power // Flexibility // Ease of Use

ABSOLUTE ENCODER SETUP

Absolute Encoder Setup 7

8 Absolute Encoder Setup

PMAC I-VARIABLE SETUP

=00-07: Address is multiplexer port

PMAC I- Variable Setup 9

I8x - Motor x Resolver Gear Ratio

Ix81 - Motor x Absolute Phasing Position Address

10 PMAC I- Variable Setup

TURBO PMAC I-VARIABLE SETUP

Ixx95 - Motor xx Power-On Servo Position Format

Turbo PMAC I- Variable Setup 11

Ixx99 - Motor xx Second Resolver Gear Ratio (Yaskawa Encoder only)

Example: Turbo PMAC Yaskawa Absolute Encoder Setup

Turbo PMAC Power on Phasing

12 Turbo PMAC I- Variable Setup

Turbo PMAC I- Variable Setup 13

14 Turbo PMAC I- Variable Setup

Encoder 1 normal operation

Encoder 2 normal operation

Encoder 3 normal operation

Encoder 4 normal operation

CPU normal operation

JP6 and JP7 (26-Pin Header)

JENC1 to JENC4 (10-Pin Header)

SERVOPACK 1CN TERMINAL DESCRIPTION

Special cable p/n:

YASKAWA ABSOLUTE ENCODER INTERFACE

PMAC I-Variable Setup

I8x and I9x:

Yaskawa Absolute Encoder Interface 23

Ix81 - Motor x Absolute Phasing Address:

MI11x (Bit 16-23 Only First two Digits)

24 Yaskawa Absolute Encoder Interface

Strictly follow the procedure. Otherwise, an error may occur.

Turn on power to the SGD Servo pack.

Set the SEN signal (1CN-4) high.

Turn off power to the SGD Servo pack.

Restore the normal wiring.

Turn the power on to the SGD Servo pack.

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