PAM & SAM System User's Manual
Contents
1. fiber optic bus ring at reduced power level 80 of normal Any loose connections defective cable segments or other defect that may cause marginal operation of the Easy Bus are detected prior to starting application execution Operator Display and Controls When using PAM ISA the information below is not relevant Refer instead to PAM ISA Features page 10 On PAM Full Systems and PAM for Simatic S5 an 8 digit alphanumeric display see Figure 2 provides a simple operator interface for diagnostic and maintenance purposes A RESET button provides hardware reset capability and a RUN indicator illuminates when the firmware is executing normally Run Indicator Display 1 e Reset Buton 4 Service Port EasyBus Connections lt option RS422 Port Pah009 c cdr Figure 2 Front Panel Controls Indicators and Connectors RS 232 interface The RS 232 interface is a service port reserved for use with PAM Tools Page 7 PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 PART 4 PAM TECHNICAL INFORMATION FUNCTIONAL DESCRIPTION File Transfer Functions Downloading Information during System Startup During the system setup configuration phase application software firmware and parameter files destined for the PAM or a SAM Drive may be downloaded to the PAM with SAM system through the Network Interface Files destined for SAM drives are then routed to the2. Dimensions 157 139 A 3 free 2 3U 4 front panels cP All dimensions are mm J o L 9 Allow min 50 mm clearance 29 2 above below chassis for air flow e Allow min 70 mm clearance 67 in front of chassis for 2 g connectors TE Power Supply y 1 ov x Y 116 Sd PAHOO8 d cdr Figure 6 PAM Panel Mount Chassis PAM with SAM System Users Handbook Page 13 P n 9032 011 984 October 6 2000 PART 4 PAM TECHNICAL INFORMATION SPECIFICATIONS PAM ISA Electrical and Environmental Specifications CPU intel 80960KB with floating point unit clock speed MHz Onboard Memory DRAM for application execution Mbytes Flash EPROM for firmware amp Mbytes application storage non volatile RAM for parameter Kbytes retention ISA Bus Interface specification version Based on IEEE P996 memory operations 16 bit read write Operations I O port address switch selectable RS 232 Service Port baud rate 19 200 Input Power supply voltage current Environmental Operating temperature without fan 0 55 transport and storage temperature 20 55 Relative humidity 10 90 non condensing Fatal Error Output Switching capacity resistive 2A 24 VDC D o o FIRST Max switching current 2 0 Max switching voltage AC VAC 50 Max switching voltage DC
3. 032 011 984 October 6 2000 Page 4 PART 4 PAM TECHNICAL INFORMATION INTRODUCTION Introduction Overview The PAM Programmable Axis Manager is the control and motion coordination center ina PAM with SAM system PAM controls motion I O and program flow as dictated by the application program under execution Its advanced hardware and software technology make it especially well suited for applications where the motions of multiple axes must be precisely controlled and continuously coordinated with other machine functions Configurations PAM is supplied in three different configurations e panel mount chassis PAM Full Systems with i e Profibus DP interface e circuit board for direct installation in a PC PAM ISA e module for insertion into a Simatic 55 PLC All PAM configurations provide the same core functionality and an identical EasyBus interface to the SAM Drives Page 5 PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 Part 4 PAM TECHNICAL INFORMATION FUNCTIONAL DESCRIPTION Functional Description Main Board All PAM types exceptions are stated CPU and Memory The PAM hardware configuration see Figure 1 is built around a 32 bit RISC processor Intel i960 which performs all PAM functions The application program and PAM firmware along with data reside in DRAM Dynamic RAM during application execution PAM firmware and application programs are stored compressed in flash EEP
4. 2000 PART 4 PAM TECHNICAL INFORMATION Specifications SPECIFICATIONS PAM module PAM Full Systems PAM for Simatic S5 Electrical and Environmental Specifications clock speed Onboard Memory non volatile RAM retention PC 104 Bus memory operations base address RS 232 Service Port baud rate Input Power supply voltage current Ambient Temperature operating RS 422 Port optional baud rate basic cycle dependent DRAM for application execution Flash EPROM for firmware amp application storage for parameter specification version transport and storage Hz i Mbytes Mbytes Kbytes Baud Baud TAL DC ADC on o Intel 1960 with floating point unit N 8 amp 16 bit read write operations switch selectable 9600 or 19 200 19 200 ais Ss S 2 5 typ 4 0 max 5 45 25 to 70 Table 1 PAM Module specifications PAM Full Systems and PAM for Simatic PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 Page 12 PART 4 PAM TECHNICAL INFORMATION SPECIFICATIONS PAM Rack PAM Full Systems Chassis Electrical Specifications 24 VDC Supply Input Voltage Built in Supply Fuse Hold up time 18 to 36 VDC T6 3A 250VAC 20 ms Overvoltage protection yes switches off power to the PAM module Reverse input polarity yes protection Table 2 PAM Rack Specifications
5. October 6 2000 Page 8 PART 4 PAM TECHNICAL INFORMATION PAM Full System Features PAM F05 Full System Profibus DP PAM s Network Interface see Figure 3 is the point of information exchange between a PAM with SAM system and a Profibus DP network A software driver running on a PC 104 CPU module performs signal and message protocol conversion between Profibus DP and PAM protocol Lm Tasks Host 4 Hardware Software incoming Interface driver m RS 232 Profibus DP Interface CPU I Outgoing Fieldbus I 104 Dualport Figure 3 Profibus DP Interface Block Diagram PAM F17 Full System CAN interface FUNCTIONAL DESCRIPTION PC PLCO 017 c cdr An optional CAN port is for communications with a host PC PLC PAM F26 Full System RS 422 interface An optional RS 422 port is for communications with a host PC PLC Page 9 PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 PART 4 PAM TECHNICAL INFORMATION FUNCTIONAL DESCRIPTION PAM ISA Features Block Diagram Figure 4 shows a block diagram of the PAM ISA board PAM ISA utilizes the same CPU and memory configuration as the PAM module as well as an RS 232 interface and fiber optic interface which pe
6. ROM Parameters are stored in non volatile SRAM Static RAM A replaceable battery with a 7 year lifetime maintains the SRAM ff Interface Fieldbus Interface Network Interface Protocol Conversion PC104 Slot ISA Signals Reset Display Dualport Memory Communication Interface Connector x 8 oO N rec To CAN Interface or Simatic S5 Bus Dynamic RAM 8 Mb Fiber Optic Interface Non volatile SRAM Bkb Option RS422 Interface Pah012 b cdr Figure 1 PAM Functional Block Diagram PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 Page 6 PART 4 PAM TECHNICAL INFORMATION FUNCTIONAL DESCRIPTION Dualport Memory A 4 Kbytes by 16 bit dual port memory serves as the focal point for exchange of data and control information between a PAM with SAM system and a host PC PLC Access to the dual port memory is via the 16 bit ISA Bus PC104 connector or a back plane connector Fiber Optic Bus Interface The PAM includes a fiber optic bus interface and two fiber optic connectors for connecting to the EasyBus fiber optic ring All PAM models for use in PAM with SAM systems are supplied with plastic fiber optic connectors The fiber optic bus interface hardware includes a built in test feature which automatically performs a self test of the complete EasyBus throughout the entire PAM with SAM system PAM firmware sends a series of test messages around the
7. This version replaces all previous versions of this document It also replaces the SAM System Designer s Guide 1995 1996 Inmotion Technologies and ACC Motion have made every effort to insure this document is complete and accurate at the time of printing In accordance with our policy of continuing product improvement all data in this document is subject to change or correction without prior notice ACC Motion SA Zone industrielle La Rippe CH 1303 Penthaz Switzerland PAM amp SAM System User s anual Part 4 PAM Technical Information Ordering Number 9032 011 984 Issue October 6 2000 P n 9032 011 984 Issue October 6 2000 1995 2000 by ACC Motion SA All rights reserved PART 4 PAM TECHNICAL INFORMATION TABLE OF CONTENTS PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 Page 2 PART 4 PAM TECHNICAL INFORMATION TABLE OF CONTENTS Table of Contents Table of 3 Iridexcof EIg res 4 63 e oce s et vea ee t e eee 3 Index Of Tables oni e i bte eL pede eB tegens 3 eed de 5 OVeLVIOW so tam etae id etia metet 5 Configurations i mici e b E D ha E t er a o le Pa aget 5 F nctional Description dee etn b ettet 6 Main Board anc a adel aa ts ieee nee ened 6 File Transfer Functions de En rte onde rade e ae d
8. VDC 75 Table 3 PAM ISA Specifications PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 Page 14 PART 4 PAM TECHNICAL INFORMATION Dimensions PAM ISA 114 Figure 7 Dimensions i T E 170 SPECIFICATIONS I O port config 2 ______ Optical link out Service Optical link in Fatal error connector PSU4_001 cdr Page 15 PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000
9. et leads 8 PAM Full System 2 AATAKE EEA OEA TA nente intent 9 PAM ISA 10 PAM fot SImatic S5 ir t e PAURA RARE A ERES 11 SPECIE CATIONS te co RE e e dU odd eng Reak N 12 PAM module PAM Full Systems PAM for Simatic 55 12 PAM Rack PAM Full 5 13 iie detinet Uii d de 14 Index of Figures Figure 1 PAM Functional Block 6 Figure 2 PAM Front Panel Controls Indicators and Connectors 7 Figure 3 Profibus DP Interface Block 9 Figure4 PAM ISA Block 10 Figure5 PAM ISA Status Indicators 10 Figure 6 PAM Panel Mount 13 Figure 7 PAM ISA 15 Index of Tables Table 1 Module specifications PAM Full Systems and PAM for Simatic 12 Table2 PAM Rack Specifications sss 13 Table 3 PAM ISA Specifications 14 Page 3 PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 PART 4 PAM TECHNICAL INFORMATION INTRODUCTION PAM with SAM System Users Handbook P n 9
10. rform the same functions as for the PAM Commands and data between the host PC and PAM ISA are exchanged over a 16 bit ISA bus ISA Bus Run ISA Bus Fault Fatal Error Dualport Memory 232 Interface R Interface Application Execution Dynamic RAM 8 Mb Fiber O Firmware amp Application Storage Parameters Retention Non volatile SRAM 8kb Pah021_b cdr Figure 4 PAM ISA Block Diagram Status Indicators The PAM ISA has two LED status indicators see Figure 5 a Run indicator green and a Fault indicator red The Run indicator indicates the PAM ISA operating state running normally booting or off The Fault indicator illuminates in the event of a CPU memory or bootware error Fault Indicator Run Indicator red green n FATAL ERROR Pah014 a cdr Figure 5 Status Indicators PAM with SAM System Users Handbook P n 9032 011 984 October 6 2000 Page 10 PART 4 PAM TECHNICAL INFORMATION FUNCTIONAL DESCRIPTION Fatal Error Output The FATAL ERROR output is an isolated normally open relay contact The FATAL ERROR output is closed when no fatal error condition exists For additional information of the PAM ISA refer to the PAM ISA Technical Manual document 006 8037 PAM for Simatic S5 Refer to PAM Simatic S5 Technical Manual document 006 8006 B Page 11 PAM with SAM System Users Handbook P n 9032 011 984 October 6
11. specified SAM s over the fiber optic bus Easy Bus The following file types may be downloaded to a PAM or SAM drive through the Network Interface e PAM bootware firmware applications e SAM bootware firmware parameters applications Uploading Information during System Startup At startup the host may request a PAM with SAM system configuration report which is uploaded to the host via the Host Communications Interface This report includes information about the PAM with SAM system hardware and software configuration including PAM and SAM firmware versions application program version parameters version and other items The host typically utilizes this report to detect changes in system configuration resulting from maintenance actions Communications during Application Execution During application execution the host controls a PAM with SAM system mainly by manipulating the value of selected PAM with SAM variables New variable values are transmitted over the fieldbus in messages to the PAM The PAM operating system immediately distributes the variables to the appropriate task s Similarly The PAM operating system sends the current value of requested variables to the host embedded in messages An application program may also define event driven variables which automatically generate messages to the host containing the variable s new value when the variable changes PAM with SAM System Users Handbook P n 9032 011 984
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