Download ^2 Accessory 84E

ACC-84E User Manual
INTRODUCTION
Overview
The ACC-84E Universal Serial Encoder Interface Board provides up to four channels of serial encoders
to be read by the UMAC and Ultralite/MACRO Station controllers. The ACC-84E is part of the UMAC
or MACRO Pack family of expansion cards and these accessory cards are designed to plug into an
industrial 3U rack system. The information from these accessories is passed directly to either the UMAC
or MACRO Station CPU via the high speed JEXP expansion bus. ACC-84E supports different serial
encoder protocols depending on the option ordered. These protocols are programmed into an on-board
FPGA upon manufacturing. Multiple common protocols are supported at the moment and future
developments of additional protocols are feasible. Currently, ACC-84E supports the following protocols:
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SSI
Synchronous Serial Interface
EnDat 2.2
EnDat 2.2 interface from HEIDENHAIN
Yaskawa
Yaskawa Sigma II/III/V feedback support
Tamagawa
Tamagawa OAS and SA Absolute Encoders
Panasonic
A4 and A5 Encoder Series
Mitutoyo
Mitutoyo ENSIS® high-speed serial protocol (AT503/AT503A/ST70X)
BiSS B/C
BiSS B/C Unidirectional
Matsushita
Mitsubishi
Mitsubishi Serial Encoder Protocol for HG-X Servo Motors
Each ACC-84E can only support one of the protocols mentioned above for all four channels. If the
customer has two different serial protocols in the system, two separate ACC-84E cards should be used.
Since ACC-84E is strictly a feedback input card, if the feedback is intended to be used as the feedback for
closed loop servo control, the servo command should be sent out to the amplifier using a UMAC axis
interface card depending on the signal and control type required by amplifier. Here is a list of possible
axis interface cards available for UMAC systems:
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ACC-24E2
Digital amplifier breakout w/ TTL encoder inputs or MLDT
ACC-24E2A
Analog amplifier breakout w/ TTL encoder inputs or MLDT
ACC-24E2S
Stepper amplifier breakout w/ TTL encoder inputs or MLDT
ACC-24E3
Analog/Digital Output (Power PMAC Compatible Only)
Up to 12 ACC-84E boards can be connected to one UMAC providing up to 48 channels of serial encoder
feedback. Because each MACRO Station CPU can service only eight channels of servo data, only two
fully populated ACC-84E boards can be connected to the MACRO-Station.
The ACC-84E board will take the data from the serial encoder and process it as up to four 24-bit binary
parallel words depending on protocol specifications. This data can then processed in the UMAC or
MACRO Station encoder conversion table for position and velocity feedback. With proper setup, the
information can also be used to commutate brushless and AC induction motors.
Introduction
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