prbt

Hi, I purchased an ACC-68E with Sinking Ultra(Pn: 3-3595A-00-0000-B200). 1) For the card, 24 IN/24 OUTPUT are all configured as sinking. However, ACC-68E user manual(Ver. 2014 Feb) writes that the inputs can only be configured as sourcing on Page 8. I am puzzled at that. 2) According to following digital wiring diagram for S700 drive by Kollmorgen, an output from 68E needs to be connected to DIGITAL-IN1 to reset drive fault. I wonder if the sinking configuraion works. Or I have to purchase one more 68E with sourcing outputs. 3) An ACC-24E3(Pn: 3-4002A6666-3232-B00) is also purchased. For amplifier-enable output signal, can AE_NO_x of 24E3 be connected to Enable of S700 and AE_Com_x to DGND and XGND of S700? It seems that S700 is a sourcing drive. I wonder if the amplifier-enable of 24E3 can be configured for a sourcing or a sinking output. If it can, how to do it? Thank you!

Hi, I purchased an ACC-68E with Sinking Ultra(Pn: 3-3595A-00-0000-B200). 1) For the card, 24 IN/24 OUTPUT are all configured as sinking. However, ACC-68E user manual(Ver. 2014 Feb) writes that the inputs can only be configured as sourcing on Page 8. I am puzzled at that. 2) According to following digital wiring diagram for S700 drive by Kollmorgen, an output from 68E needs to be connected to DIGITAL-IN1 to reset drive fault. I wonder if the sinking configuraion works. Or I have to purchase one more 68E with sourcing outputs. 3) An ACC-24E3(Pn: 3-4002A6666-3232-B00) is also purchased. For amplifier-enable output signal, can AE_NO_x of 24E3 be connected to Enable of S700 and AE_Com_x to DGND and XGND of S700? It seems that S700 is a sourcing drive. I wonder if the amplifier-enable of 24E3 can be configured for a sourcing or a sinking output. If it can, how to do it? Thank you!

Hi, For PPMAC, I wonder if the "data" in the instruction PVT{data} can be set to a floating point with double-precision format, such as follows: -------------------- PVT 3.045678122 A...B...C... PVT 4.458963145 A...B...C... -------------------- I want to use cubic splines to do the joint interpolation by PPMAC. It seems that Turbo PMAC do not support that. Is it Right? Thank you!

Hi, For ACC-59E3 with D-Sub connectors, 1)what the least value of cross section for each wire of a 15-core cable with Braid shield should be? I wonder if each wire with 0.25mm2 cross section is sufficient enough for analog outputs and inputs. Sometimes, the outer diameter of the cable is too thicker to fit to the D-Sub connectors. 2)should twisted pair cable, such as 8*2 or 7*2, be used to reach a better shielding effect? 3) under what circumstances should pin-7(+15V) and pin-15(-15V) be connected to outside equipments? Can I leave them unconnected? Thank you!

Thank you! 1）If PPMAC outputs a high level to enable a motor, for AE_NC_x and AE_NO_x, which of them should be used with AE_COM_x? 2）If PPMAC is not enough to provide +24VDC for the drive, an external power supply(EPS) has to be used. In this case, I wonder if GND of EPS and AGND of PPMAC should be connected together. 3) Besides, low level output from X3B(15) is True for amplifier fault. I wonder if the following wiring diagrams are correct for AMP Enable and Fault. In fact, AE_COM_x and AGND are connected together.

Hi, I want to confirm two things for ACC-24E3. 1) I wonder if the voltage between AE_NO_1(pin4, normally open) and AGND is High after sending a command to enable the drive. (For AE_NC_1, it is Low correspondingly.) 2) If FAULTn- and FAULTn /+ are left open, what is the default voltage between them and AGND respectively (High or Low by software polarity control)? If the input fault signal from the drive is Low instead of high, shall I have to connect it to FAULTn-(pin #12)? Can I connect it to FAULTn+ instead? It seems that FAULTn-/+ are designed for sinking and sourcing circuit separately in ACC-24E3. Thank you!

Thanks for your reply. I check the S700 drive manual. S700 drive can supply users with "synchronous serial absolute-encoder emulation by its SSI interface (X5, which is a D-sub 9-pin connector)". Five pins may be essential for the encoder wiring because the power supply of encoder emulation is provided by S700 itself. Shall I have to connect the encoder power supply?

Hi, I got a question for ACC-24E3 of PPMAC. The motor used is AKM(made by kollmorgen), drived by S700, provided with an multi-turn absolute sinusoidal encoder. Now I want to use the synchronous serial absolute-encoder emulation from its SSI interface(X5) as the position feedback for 24E3. Now I need to set a user-defined absolute zero position for the motor instead of using the original absolute zero position provided by SSI interface. I wonder if it is accessable for Power PMAC. How to do it (Homing Offset)? Thank you! Prbt

Mr Sattari, Thank you for your reply. It is necessary for us to talk about the drive modes and motors we have chosen for the system. The drive for the motors are made by Accelnet Micro Pannel supporting for +/-10V position/velcocity/torque command and PWM velcocity/torque command. The motors for slave manipulators are made by Maxon, where ten of them are brushless 24V DC motors and the rest are brushed 24V DC motors. Our questions are: 1. Without considering force feedback, we wonder if the drive for slave manipulators can operate both in the control mode of velocity and torque with the analog output of Acc-24E2A under MACRO ring, because, as you said, servo data such as position feedback, torque or PWM commands(without velocity commands)and flags and status can be transferred over the MACRO. In this case, maybe the drive cannot close the velocity loop, although Acc-24E2A supports the interfaces of Analog +/-10V velocity commands(we are not very sure about this). And it is impossible to use direct PWM control because of the exist of brushed DC motors. 2. We plan to build two control cabinets, one for the master manipulators and video arm, the other for the slave manipulators, connected by 2 fiber optical cables lying on the ground between them. We are afraid that the fiber optical cable(with the color of yellow) shown in your company website is not strong enough to resist the external force. We wonder if it can be packaged on the outside by some jacket or something like that provided by Delta Tau. 3. There are four motors on the slave manipulators for the surgical instruments with different dof. Therefore, we need to determine the type of the instruments by reading a chip installed in them and inform the UMAC so that it can execute the corrsponding motion programs for the instrument. If the serial port of UMAC(RS232) is used, an independent circuit board has to be designed to read the information from the chip and send it to the UMAC(Our system does not have any computers). So we wonder if serial RS232 is reliable enough to transimit over long distant more than 5 meters(when using UMAC MACRO , the distant may be more longer). Is there any other communication ports more reliable for this application(of course, the interface the chip needs to be changed accordingly)? Thank you! Best Regards! ------------------ Tony Liu

Mr Sattari, Thank you for your reply. Ok, forget about one single UMAC turbo scheme and please check the other two schemes for the following matters. The 1st scheme(with the master UMAC turbo and second UMAC turbo) 1. The I6840 on the ACC-5E of the master UMAC should be set to $30, and I6840 on the other ACC-5E of the second UMAC should be $90. And I6890 on both ACC-5E(s) should be set to $10. 2. Maybe the phrase "MACRO nodes" mentioned in the manuals of Delta Tau's products usually refers to a set of registers(servo nodes and I/O nodes), whereas it refers to both the master nodes and the slave nodes on the ring in the [i]MACRO Network Specification[/i]. 3. All parts needed to be ordered for this scheme are as follows: ---The master UMAC turbo: CPU(Option 5E3) with Option-2B(DPRAM) + 1 ACC-5E + 4 ACC-24E2A+OPT1A + Power supplies, cables and racks + RS232 and Ethernet Communication ports to a host computer with WinXP OS(without using ACC-PC104) + I/O boards + A/D boards. ---The second UMAC turbo: CPU(Option 5C0) with Option-2B(DPRAM) + 3 ACC-24E2A+OPT1A+1 ACC-24E2A + Power supplies, cables and racks + RS232 and Ethernet communication ports to a host computer with WinXP OS(without using ACC-PC104) + I/O boards + A/D boards. where I/O boards: At least 48 inputs and 48 outputs should be available to meet the requirements of the system and its extension in the future. There are many ways to add I/O resources to the system. However, if possilbe, we tend to add them directly to the two turbo UMACs instead of introducing another slave station by the following 3 ways: a) through JTHW-Multiplexer Port of the ACC-5E with 1 for both sides or 2 ACC-34AAs for each sides b) with 1 ACC-66E(48-Bit Input Board) and 1 ACC-67E(48-Bit Output Board) c) with 2 ACC-65Es(using 2 I/O nodes) or 2 Acc-11Es A/D boards: Our system needs to be extended for the force feedback from the slave manipulators to the master manipulators. So far we have not achieved a feasible scheme for the force feedback, either by contact and non-contact measurement. Therefore, we wonder if 2 ACC-36Es(using 2 I/O nodes)can be added to the UMAC turbo both for master and slave. ------------------------------------------------------------------ The 2nd scheme(with the master UMAC turbo and UMAC MACRO) 1. Only one ACC-5E is needed for the the master UMAC turbo with I6840=$30 and I6890=$10. 2. All parts needed to be ordered for this scheme are as follows: ---The master UMAC turbo: CPU(Option 5E3) with Option-2B(DPRAM) + 1 ACC-5E + 4 ACC-24E2A+OPT1A + Power supplies, cables and racks + RS232 and Ethernet Communication ports to a host computer with WinXP OS(without using ACC-PC104) + I/O boards + A/D boards. ---The UMAC MACRO: MACRO16 CPU with 16 servo node support + 3 ACC-24E2A+OPT1A (12 axis)+ 1 ACC-24E2A (2 axis) + ACC-R2 (12 slot back plane + rack + power supply) + I/O boards + A/D boards. where I/O boards and A/D boards are the same as the scheme 1. But we wonder if UMAC MACRO donot support RS232 or Ethernet communication. Thank you! Best Regards! ------------------ Tony Liu

Mr Sattari, Thank you for your reply. We need to confirm the following things: 1. How many master nodes and slave nodes on the master UMAC turbo and second UMAC turbo respectively? 2. We check many manuals but fail to find the meaning of "-00-A001-R100" for ACC-5E ordered by PN:3-3437A-00-A001-R100. 3. If we use only a single UMAC turbo(30 axes) without MACRO ring, can we realize the system? 4. We wonder if 2 ACC-68Ms and 2 ACC-28E(8 channels) can be added to one UMAC station at the same time. If so, how many slave nodes will they represent respectively? Thank you! Best Regards! Tony Liu

Mr Sattari, We really appreciate your patient explanation which made us at once become enlightened. Perhaps there are some details about the first two questions we want to confirm. 1. If we adopt two Turbo UMAC systems on a MACRO ring, should the master UMAC be ordered with 30 axes, and the other UMAC as a servo node be ordered with 14 axes? 2. Does this mean that the change in the relationship between the master and slave cannot be realized technically if the two slave manipulators are All connected to a single slave node of UMAC turbo or UMAC Macro? Incidentally, the caution for the change is quite advisable! Thank you! Best Regards! Tony Liu

Mr Sattari, Thank you very much for your prompt and detailed reply. There are some further questions about the scheme.(By the way, if it is possilbe, we want to use some general-purpose drives instead of Geo MACRO Drives) 1. What kind of signals or varibles of the second Turbo UMAC should be detected in the safety PLC so that the control of the axes for the slave manipulators can be taken over by its local CPU? 2. Sometimes, the mapping relationship between the master manipulators and slave manipulators need to be changed by the external I/O signals.(ie, the left slave manipulator should be controlled according to the movement of the right master manipulator instead of the left master manipulator, and the right slave manipulator should be controlled according to the movement of the left master manipulator instead of the right master manipulator). 3. We wonder if the PLC programs running in UMAC Macro can only deal with the I/O signals or some communication matters instead of some simple program commands such as Home, Jog, even CMD"&1B1R". Thank you! Best Regards! Tony Liu

Hi, We want to use UMAC to operate our minimally invasive medical apparatus. There are totally 30 axes under control in our system, where 12 axes are served for two Master manipulators-the left one(6 axes) and the right one(6 axes), 14 axes are served for two Slave manipulators-the left one(7 axes) and the right one(7 axes)-each corresponding to one of the Master manipulators respectively, and the rest 4 axes are served for a video arm. A control system is needed to construct for controlling movement of arms according to user manipulation of the master manipulators. Our questions are: 1. If one UMAC turbo as a master node(connected to the master manipulators-12 axes) and one UMAC Macro as a slave node(connected to the slave manipulators-14 axes) are applied based on Macro with fiber optic, the positions and postures of the Master manipulators needed to be gathered to the UMAC turbo and do some caculation in it, then send control commands to the UMAC Macro over Macro network so that the slave manipulators can perform as the masters do. Since Macro is a real-time network control system and the control loop is closed by fiber-optic cable, we wonder if the motors connected to the slave node(UMAC Macro) will run away when the fiber-optic cable is damaged or broken by accident. 2. If we use the other UMAC turbo as a substitute for the UMAC Macro mentioned in question 1( There are actual two master nodes-each connecting to the Master manipulators and the Slave manipulators respectively), will the runaway speed of the motors connected to UMAC Macro be avoided? And we wonder if it is feasible for UMAC turbo to perform as two Macro master nodes and share their data such as postions and postures by Node 14 Ring Master-to-master Communication (type 1 MACRO). We are looking forward your reply. Thank you! Tony