Delta Tau TURBO UMAC User's Manual
Contents
1. spavog K10ssa22 V e qejuno q ouejdxpeg DVN onis oqan X OQNI 2 VWDn 40f pavog n4d2 oq4n2. AINpoW ATH PUYA LI0 L90 OO 001 oltuolw HSIW HHSSINO 00I Snow TOI SSZ9 LU OOT preoqAox 001 C8 09 SH A QUIOSSY 998JJ9JUI oueq OI A IQI Addo 1 001 anq Addor q 000 Z0T LINO 7001 SAN PEH X 191107000 ACI X0I 989JININO 00I1 1 olN ndo XOI t0ILOd0 O3 K quiossy 01 Od X0T 88v 09 00 preog moyeg J9ALIQ 1nO CT U C P93ye os HST 99V AH8 90V7 pu HQ8 99V JOJ Spreog xoo g jeuruuo Apumej r 20V X01 018c09 00 preog JOVIS OdV I g cI euueq 9 8 H9799V X01 CL8C09 00 pog JOLIS 3nO pc uI yc poejos Iy 29V X0T 118709 00 proq WIS O I ILL tv 1 96 8v Ht 99V X01 S 08c09 00 preog YWIS VOVJIOU SIX V p Z4H 99V A uo O9OVIN OVID X01 018709 00 prog JIS IAU SIXV 4I 99V spicog AIOSSIDIYV YOVQASSIg HVIS 2 nPOIN Jepug eg Yoo D Suit Voy pu J9QUI1N uoneoynuepy Apure4 gp uondo AJOUJI9JN 1919urpipq peyoeg Aroneg Apmue4 9 uondo uoneorroedg UOISIADY WEMUIL 01 uondo TASI X90 2 Ko einooy usipg A rue g uondo suonegnstjuo AJouro A pue peeds Ado Apure uondo d L NdO Apure4 uondo ATuO uoneans3uo YWIS e egiojyu sng Aqrume z uondo suond peog AdO NE COVWd oq L uoroung Aq sjonpoud n sous jqe SurMO 0J Sur uonduis p poep 10 NULL umo sy sey yg SurMo oj uonoes uonensrjuo 9U ur Kpoeriq pequosep oe Kou 9J9U PAST 9J8 soussoooe ASML OVW N U
3. This manual describes the hardware for the UMAC Turbo CPU board for the UMAC MACRO CPU board consult the hardware reference manual for that product Associated Manuals This document is the Hardware Reference Manual for the 3U Turbo CPU board for a UMAC Turbo system It describes the hardware features and provides setup instructions Other manuals as well are needed to use the UMAC Turbo system Each accessory to the 3U Turbo CPU board has its own manual describing its operation and any required software setup of the Turbo CPU The Software Reference Manual for the Turbo PMAC family and the User s Guide for the PMAC or Turbo PMAC families is also needed 3U Board Configurations The 3U boards can be configured in either of two fundamental assemblies UMAC and Stack e UMAC In the UMAC configuration once called Pack the 3U format boards are put together to communicate through a backplane bus called the UBUS with all boards installed in a Euro card rack In this configuration all 3U format boards or modules can be installed or withdrawn from the pack individually providing ease of installation debugging and repair The photo at right shows two boards connected through a backplane in the UMAC configuration They are not connected directly to each other e Stack In the Stack configuration the 3U format boards are put together as a stack of piggyback boards right below This configuration is ideal Two b
4. HARDWARE REFERENCE MANUAL 3U Turbo CPU Board 3U Turbo PMAC2 DELTA TAU Data Systems Inc NEW IDEAS IN MOTION 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 support deltatau com 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 contr
5. B H Eee K kad d 4 e G R 9 Re Imtialization T mpet 2 tere better reb e b ere be k aa ea b h e b k An a ua vie a kh a k KAW ba De bre W xi k k a heken 9 Reference Voltage Connect Jumper E ereke keke kre kek ek ennn trennt ka Ke KA KAKA rn ra KAK KK KA sentere Ku KA KE trennen 10 Interrupt Select JUInpersu EE IEE 10 Serial Port Level Select Jumpers i ul yanl kelk lkae k le bik kek a kus e kule s d a h k Ae c kab k AGE k b l a kos d i HG b eba a e u H n kk a k n 10 Re Initializati n Jumper lll e Lettere b ka kek k ha e x n kin seba y ke k kan a ke DEDERE kek b R xWe Dije h k beke h a x k kel Re G 10 CONNECTIONS Sis ci ski sesi ask se ke k as k ke a b na b d e s k Se s b e k e k k ku s k V a w u k de o a w k b a e as w ew k b da e we a b VE e n 11 Stack C OMMEC TIONS n nunus Buat h Sau mash EE RETE EO REPRE CHE ue Ae eveciaaceuscecaqseecsamterscaroniearenateunes 11 Backplane UMAC Connections i 5 440 l a i g k d n k k a ken de da pe Ke b k k b e see Q p K NE b d Cebe b K N e kun sten tenere enne 11 PC IOA4 C Onnec MONS usus sn aa a dy sec dak O Leke k eH ala KER wd be dea P de dh Heb GEGE cece K dek G
6. BOARD CONNECTOR SUMMARY J1 Stack Connector J2 Stack Connector J1A B PC 104 Main Connector 64 pin prong connector Option 2 required J2C D PC 104 AT Connector 40 pin prong connector Option 2 required J5 JTAG OnCE for factory use only 10 pin IDC connector J6 JISP for factory use only 8 pin SIP connector J7 RS 232 RS 422 Serial Port Connector J8 Auxiliary RS 232 Serial Port Option 9T required J21 JISP_B for factory use only SIP 8 connector P1 UBUS Expansion Port 96 pin DIN connector TBI JPWR Power Supply Connector 4 point terminal block Pinouts shown in next section Connectors not flagged with an asterisk are for internal use or factory setup Turbo PMAC2 3U CPU Board Connector Summary 17 18 Turbo CPU Board for UMAC Turbo amp Turbo Stack Turbo PMAC2 3U CPU Board Connector Summary 3U Turbo CPU Board for UMAC Turbo and Turbo Stack BOARD CONNECTOR PINOUTS J7 RS 232 422 Serial Port Connector 25 e ee eee seem 26 pin Header at Location A 2 26 9e e e e e e ee Front View Pin Symbol Function Description Notes 1 CHASSI Common Turbo PMAC2 3U Common 2 S 5V Output 5VDC Supply Deactivated by ES 3 RD RXD Input Receive Data Diff low TRUE low TRUE 4 RD Input Receive Data Diff high TRUE 5 SD TXD Output Send Data Diff l
7. 120 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 4M x 8 flash memory Check factory for availability of this option e Option 5D0 provides a 100 MHz CPU 150 MHz PMAC equivalent 128k x24 of compiled assembled program memory 128k x 24 of user data memory and a 1M x 8 flash memory e Option 5D1 provides a 100 MHz CPU 150 MHz PMAC equivalent 128k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 2M x 8 flash memory e Option 5D2 provides a 100 MHz CPU 150 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory 128k x 24 of user data memory and a 2M x 8 flash memory e Option 5D3 provides a 100 MHz CPU 150 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 4M x 8 flash memory Check factory for availability of this option Option 8 High Accuracy Clock Crystal The 3U Turbo CPU board has a clock crystal component Y1 of nominal frequency 19 6608 MHz 20 MHz The standard crystal s accuracy specification is 100 ppm e Option 8A provides a nominal 19 6608 MHz crystal with a 15 ppm accuracy specification Option 9 Serial Port Configuration The 3U Turbo CPU board comes standard with a single RS 232 422 serial port A second serial port can be added e Option 9T adds an auxiliary RS 232 port on
8. 232 communications they should connect pins 2 and 3 to use this port for RS 422 communications Board Connector Pinouts 19 Turbo CPU Board for UMAC Turbo amp Turbo Stack J8 Auxiliary Serial Port Connector RS232 10 pin Header at Location A 3 9e eem loe e e 02 Front View Pin Symbol Function Description Notes 1 PHASE In Out Phasing Clock 2 DTR Bidirect Data Terminal Ready Shorted to DSR 3 TXD Input Receive Data Low TRUE 4 CTS Input Clear to Send High TRUE 5 RXD Output Send Data Low TRUE 6 RTS Output Request to Send High TRUE 7 DSR Bidirect Data Set Ready Shorted to DTR 8 SERVO In Out Servo Clock 9 GND Common Turbo PMAC2 3U Common 10 5V Output 5VDC Supply Note 1 If communicating to Turbo PMAC2 3U over this connector with a modem style terminal emulator such as Microsoft Windows Terminal line 1 should not be connected Note 2 SERVO and PHASE are outputs if jumper E1 is OFF they are inputs if Jumper E1 is ON The J8 connector provides an auxiliary RS 232 serial port independent of the main serial port at J7 It is provided if Option 9T is ordered TB1 4 Pin Terminal Block Location A 3 Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 5V Input Positive Supply Voltage Supplies all Turbo PMAC2 3U digital circuits 3 12V Input Positive Supply Voltage 12
9. BOARD CONFIGURATION AR w l K Wu E HESE SU k ew ER HENA at k 5 Option Us iter haces sirnak ole eke dre b e H sees Ebe V NE WEK SJ H N N qv be BDN W N b VEDE WEN W K d dcs cete ns si ede 5 Op onzE CPU Ty pe PE 5 Option 5 CPU and Memory ConfiguUratiOnsS eene enne ener reke kek k reka ka KAK K Kr ra Ka KA nete xr Ku KA KA 5 Option 8 High Accuracy Clock Crystal E keke enne ener keke ke kek ka ke KK rr ka Ka Kek KE KAK K xe Ku Ku KE KA KAK KA A 6 Option 9 Serial Port Configuration ener nenne k n daia cd ka k trennen Ae h n b n Hadi n hb h daka 6 Option 10 Firmware Revision Specification L erkek eker keke kek rk ee ka kek Kr rk karek A KAK AK Ku Ku KA KAKA KA A 6 Option 16 Battery Backed Parameter Memory Eu n e keke ke k re xaka kake K r ka ka nenne nennen KA KA KK KA A 6 Option 18 Identification Number and Real Time Clock Calendar Module E eke keke keke kek 7 HARDWARE SETUP a na HA KAKA KA M 9 GClock SOutce JUmDGLS sal d nad Mw M 9 Watchdog Timer JUMPen rm 9 Operation Mode hne yy yyzzee rr r b zzxrxrmlrr r W r 9 Firmware Reload JUm DeL is4 iy nl kale de restet se tope ede teet Ie b W b Q W N eV Gu B u LE qe de d k dek d d n d d v d
10. OCAOL ydwy Wadd Induy AQT F So euy SIXV y XOT EPPE09 00 vt c OGASr ey dury INAM d Induy AQT F So euy sixy p X01 687 09 00 VI S 0 ODAAT ydwy 1eour induy AQT F So euy sixy p S1030 A usn rq 3ndu OGAOI So euy syogi dury XOT1 16r 09 00 euejdxoeg 1o S 8I SAAN 810 2v XOT TL7 09 00 euejdxpeg 101S 91 SAN 910 v X01 997 09 00 euejdxoeg 1o S pT SAAN FIn o9v X01 9v 09 00 euejdxoeg 1o S cI SAAN In 29V XOI v9v 09 00 eue dxoeg 1o S 0I SAAN 010 5V X01 9v 09 00 X01 0v 09 00 XOI cC9v 09 sp1eog euejdxoeg 10 S 8 SAAN 80 25v euejdxoeg 10 S 9 SAAN on sov 00 euejdxoeg 10 S p SAJA ra 95v euejdxpeg s VINO saga XOI C8T 09 700 NE OT J9 J9AU0O A A 9 99V XOI P8r 09 00 tur 1opooug SQV lUsIqnsJIJA 10 PAPNSEA ALC OOV XOI TOY 09 00 PO J9pU9JX4 95 99V XOI 09 09 00 ISS AES 99V X0I 8tr 09 00 tojg odi ul 9607X AT S 99V XOI 87E09 00 I9 19AU00 C V 3Ig c I I9uutUO 91 I9 99V XOI Y0F 09 00 IIAU A V 3Ig 9T fouuryD p c H8c 99V Sno uc 3SI JA spavog A4 oss9909V 9 qeJunojv ouejdpeq DVN XOI S87 09 00 pled XIOAJ9N Joidepy sng pier pesroAtum LANN 4SS 99V XOI L9PE09 00E uoneorunurtuooO dI d OL U0 F ASN IFrS 99V XOT LEre09 00 998JJ9JUI O T 79 OWN H6 99V UOrjeorunululo
11. port the Executive program will recognize automatically that the card is in bootstrap mode and prompt you for the firmware file to download Re Initialization Jumper Jumper E3 should be OFF for normal operation where the last saved I variable values are loaded from flash memory into active memory at power up reset If E3 is ON during power up reset the factory default I variable values are instead loaded into active memory at power up reset The last saved values are not lost when this happens This jumper is typically only used when the system s set up has a problem severe enough that communications does not work otherwise a command can be used for re initialization Hardware Setup 9 3U Turbo CPU Board for UMAC Turbo and Turbo Stack Reference Voltage Connect Jumper Jumper E12 permits the reference voltage for the analog and digital circuits in the 3U Turbo PMAC2 system to be tied together If you are not isolating the analog circuits from the digital circuits this jumper should be ON Note that in a Turbo Stack system you cannot isolate these circuits from each other If you are isolating the analog circuits from the digital circuits using separate isolated supplies for the two circuits this jumper should be OFF Interrupt Select Jumpers If the Option 2 PC 104 bus interface is installed the 3U Turbo CPU can interrupt the PC 104 host computer over one of four interrupt lines as selected by jumpers E7 E10 At
12. supplies anyway Connections 11 12 3U Turbo CPU Board for UMAC Turbo and Turbo Stack Connections 3U Turbo CPU Board for UMAC Turbo and Turbo Stack BOARD JUMPERS AND PINOUTS The Location columns of the following tables refer to the mapped locations shown in the drawing below H1 mi A B c D O o I E9 CBA J5 a9955 EP x E1B BH E11 K cE I I I 1 1 T I I 1 I I I _ I I I I 1 I I I T Eg E17 J8 isis 3 Comes TB1 BAR E 3 J2 HI li II Ii HI II Hi Ll FI FI FI FI FI FI FI FI FI FI FI FI i olo OODOD H T Hi T II TI Hi Lj FI Fi FI FI FI FI FI FI FI FI FI FI i FL i i CPU Card Layout Note Pin 1 of an E point is masked by an X in white ink on the composite side and by a square solder pad on the solder side E0 Factory Use Only Turbo CPU Board Jumpers and Pinouts 13 3U Turbo CPU Board for UMAC Turbo and Turbo Stack E1A Servo and Phase Clock Direction Control E Point and Location Description Physical Layout Default A 2 Jump pins and 2 or remove jumper for the UMAC Turbo system to use its internally generated servo and phase clock signals and to output these signals on the J7 serial port connector on the Turbo CPU board Use E1B to connect pins 2 and 3 or remove it Jump pins 2 and 3 for the UMAC Turbo system to expect to receive
13. the CPU board The key components added are IC U22 and connector J8 on the CPU board Option 10 Firmware Revision Specification Normally the 3U Turbo CPU board is provided with the newest released firmware revision Some users may wish to freeze their designs on an older revision A label on the U10 flash memory IC shows the firmware revision loaded at the factory The VERSION command can be used to report what firmware revision is currently installed e Option 10 provides for a user specified firmware version Option 16 Battery Backed Parameter Memory The contents of the standard memory are not retained through a power down or reset unless they have been saved to flash memory first Option 16 provides supplemental battery backed RAM for real time parameter storage that is ideal for holding machine state parameters in case of an unexpected power down The battery is located at component BT1 6 Board Configuration 3U Turbo CPU Board for UMAC Turbo and Turbo Stack e Option 16A provides a 32k x 24 bank of battery backed parameter RAM in components U17 U18 and U19 fitting in the smaller footprint for those locations e Option 16B provides a 128k x 24 bank of battery backed parameter RAM in components U17 U18 and U19 filling the full footprint for those locations Option 18 Identification Number and Real Time Clock Calendar Module Option 18 provides a module at location U5 on the CPU board that contains an electroni
14. 10g eyeudoudde euros pue Yws 9U 107 oyeudoudde autos spreoq K10ssoooe JO sous v Jo uonoo es MP qr Kprepjnpour poungijuoo ode suiojs s ou uogeungruoo DY M JO JIS eui 19119 310ddns ues spreoq NdD OOVIN u pue oqni eu yog S dld0SS499V YIVIS oqan pu oqan VWA 40f pavog Add 99r ne S2140585299V cc X01 c 6c09 00 u3 sop uiojsno sjueureumnbosq IWONY J9d YIPIAA AQA ory NE X01 C 609 v86 X01 C 6c09 X01 C 6c09 Grp CLv8 101S Ic ea NE 9 LEO 10IS H E ST PA NE THS LTH WIS Z I 01I APA NE sarquiassy sisseu OVNA LdO 89 09 ATE wo Apddng Jamodg OV Z 29V LdO 697 09 ATE Wri Apddng Jamog OV NE TH 29V IdO 697 09 H0 yg Apddng Jamog OV NE 99V jndug jy sayjddng oaoqd LdO 917E09 A0 VOI TAUON Od 91 Od NE d 99V jndug jq sayddng 19404q X0I1 8CT 09 00t XOI SEPEO9 srogipdury XOI Z67 09 LOr V9T 8 OQA09 00 WAdd 183131q ouepdxoeq INA I0JIS1Q NE 107 Ajddns Jomog Joyidury WMd PLSI SIXV o 8urs X0I 16 09 X0I C6 09 IOt V9T 8 OQA09 1egmdury 019 A IN Aq SIC SIXV 9 8uIS 00t V9T 8 OQA09 ydwy oJ A JALAM ENSIA SIXV C X01 16 09 00 V8 F OQA09 o JIjdury WMd esq SIXV ss rysnaq ynduy WMd ENSIA s1ogipdury X01 067 09 00 ydwy So euy o Surg ouedxpoeg XOI 0Lv 09 00 jegirpdury So peuy o qnoqq euedxpoeg X0T 987 09 00 VZI 8
15. E Ke WEHE h Va K HERO N CAR HO b e WERAN DTK 11 Serial Port Connec Nons se s u anasu usq Saa naa Sath aG W N d en i G eW ad E ed EE ER HER ER Dua suq W GR R Ek 11 Power Supply COnfeCtl0DS eiit feeit esee etes tl eee ee oi tie te eene da C pene NE e E EE EAEE e EE E ER EEEE 11 BOARD JUMPERS AND PINOUIT S 13 EO Factory USE Only ceai aeo E RE E E RAE EE E E EEREN EEEE 13 E1A Servo and Phase Clock Direction Control reke kek kek ke k rek ka KE KAKA KAK KAK Ka KA KA KA KA KA KA KA 14 E1B Servo Phase Clock Source Control kk ee ke keke kake kk kek Ka KA Ka KAKE KAKE KA KA KA KA KARA KRA KA KA KA KA KA KA HA WA 14 E2 Reserved for Future Use ee keke k rek ee stette kek ra ka kk Ke KK ra Ka KA A HE KA Ha HHHH Ha KK Hu HAK ra Hu HHHH Ha HAK Hu KAKA HA 14 E3 Re Initialization on Reset COHtroO LL EEE ekere ek kereke keke ka keka KRA KE KA Ka KAKE KA KAK KAK AKA KARA KAKA KA KA KE KA KA KA KA WA 14 E4 Reserved for Future Use ee ke kek kre ke ekere ke kk ka kK Ke kK ra KA KA ru HE KA Hak HHH ra KAK Hu HAK ra Hu HHHH Ha HAK Hu KAKA HA 14 EPS E10 IROQ PC Interrupt Select ettet erret dade deb eerte tiene keba d b q den b n b W K yev
16. J8 Auxiliary Serial Port Connector RS232 kake k kak ka k ka KA KE KA KE KA KARA KAK nennen KA HE KA KA KA HA KA KA KRA 20 TB1 4 Pin Terminal Block kek keke keke ke keka ke ka ka k keka KA KAKE KA KA KE KA HA RA HA HEKA KA HE KA HA ru KH HAA KA HARA KHE 20 ACCESSORIES T 21 Table of Contents 3U Turbo CPU Board for UMAC Turbo and Turbo Stack INTRODUCTION Delta Tau s 3U format Turbo PMAC systems combine the power of the Turbo PMAC family with an integrated packaging strategy that gives the user revolutionary flexibility and ease of use The heart of these systems is the 3U Turbo PMAC CPU board described in this manual It can either be assembled with piggyback accessory boards to form a Turbo Stack or connected through a backplane to rack mounted accessories to form a UMAC Universal Motion and Automation Controller Turbo system UMAC systems provide integrated connectivity as well as ease of assembly diagnostics and repair UMAC CPU Boards The UMAC is available with either of two CPU boards Turbo PMAC2 or MACRO Station The Turbo PMAC2 CPU board creates a UMAC Turbo a full PMAC controller completely capable of standalone operation The MACRO Station CPU board creates a UMAC MACRO It is a remote slave node on a MACRO ring requiring a PMAC2 controller to command it over the ring
17. V to 15V Not required on board used on J1 to supply analog inputs 4 12V Input Negative Supply Voltage 12V to 15V Required for Opt 12 ADCs used on J1 to supply analog inputs This terminal block can be used to provide the input for the power supply for the circuits on the Turbo PMAC2 3U board when it is not in a bus configuration When the Turbo PMAC2 3U is in a bus configuration these supplies automatically come through the bus connector from the bus power supply in this case this terminal block should not be used 20 Board Connector Pinouts Ic 8214085222 X01 88T 09 00 cco1do nO UI CI HSI 99V XOI CLY 09 00 O I 8r Ht 1 99V XOI LLZE0N9 OVE preog MO TOMOd TH VT UI 7T pare osp 3c 1 99 V XOI L0 09 00 peog 3nO pc u yc perejosp AT 1 99 V X01 66c 09 00 prvog 1ndino gr poxejos g01 22V X0I 8c 09 00 UI 8f H6 99V X0T 66 09 00 O I Pr1 96 8r THE 9OV O I Sp1eog A10ssa99 V e qejuno q ouejdxpeg O vIA XOT TFF 09 00 J9dd9 S sixy p ScHpC oov X0I 86 09 TV S3o tUV SIXV euonIppy WI uondo WZAPZ 90V V SIXV SD IBOq J0SsS320 V X01 86 09 XOI L6 09 IG INA Id SIXV X01 L6t 09 00 So puy SIXV VcCHvC 99V euonmppy AI uondo carc o v 00 INA 18 13Iq SIXV CHrc o9v Smejunojpq auejdxpeg O VIA XOT L9PC09 00
18. W bS deb KRE Re h G z 15 E12 Digital Analog Reference Connect n ek keka attt ettn ka KE KE KA KAKA ka Ka KE KA KRA AH Ku Ku KE KA KK KA A 15 EJ ELS Serial Port Select u uu War dil n ka h den n V W S d h p qa KDE b ne GEb e A ae E aea ao a ia aE e DA den 15 BIO Watchdog Disable Jumper a dieere tette ees bas d r b e Q be ye du sue tse tae WE a H b h pe v V W DA bi BK e d d i b e GEF 15 E20 E22 Power Up Reset Load Sourc suret aaa k k kek K e i WR Eb s ani e nennen b ke bir kun BUK n a GH Bek e 16 E23 Firmware Reload Enable L L I kelay kk baba Du s sk kak ki he ea n eh tesoro ER see x de kab b k bel n ed reote naei 16 DIP Switch Block S1 PC Bus Base Address EEEE erkeke eke keke kek ke keke k ke kre kra KK Karek entente nnne KRA HA 16 BOARD CONNECTOR SUMMAFRY 17 BOARD CONNECTOR PINOUITS 19 JJ RS 232 422 Serial Port Connector ere D vases eve VEQE UK Hek REB E K Q hec WER SK E H Perte ve E b e nk RAN KON KERE 19 Table of Contents i 3U Turbo CPU Board for UMAC Turbo and Turbo Stack
19. ayout Location Description Default 2 1 A 1 Jump pin 1 to 2 to disable Watchdog timer for test purposes only Remove jumper to enable Watchdog timer No jumper installed Turbo CPU Board Jumpers and Pinouts 15 E20 E22 Power Up Reset Load Source 3U Turbo CPU Board for UMAC Turbo and Turbo Stack E Point and Location Description Default Physical Layout E20 C 3 To load active memory from flash IC on power up reset No E20 jumper 2 Remove jumper E20 installed E Jump E21 pin 1 to 2 E21 and E22 jump 1 Jump E22 pin 1 to 2 pin 1 to 2 Other combinations are for factory use only the board will not operate in any other configuration E23 Firmware Reload Enable E Point and Location Description Default Physical Layout 2 C 3 Jump pin 1 to reload firmware through serial or bus port No jumper M Remove jumper for normal operations installed DIP Switch Block S1 PC Bus Base Address S1B S1A 4 3 2 1 8 7 6 5 4 3 2 1 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF f ft ft ft ft ft ft ft f f f f U U j U U U j y U U U y ON ON ON ON ON ON ON ON ON ON ON ON The 12 DIP switches on block S1 location B 3 set the base address of the Turbo PMAC2 3U on the PC 104 bus Together they form a binary number Each switch i
20. c identification number and possibly a real time clock calendar e Option 18A provides an electronic identification number module e Option 18B provides an electronic identification number module with a battery backed real time clock and calendar The year representation in the calendar is a 4 digit value so there are no Y2K problems 3U Turbo CPU Board Configuration 3U Turbo CPU Board for UMAC Turbo and Turbo Stack Board Configuration 3U Turbo CPU Board for UMAC Turbo and Turbo Stack HARDWARE SETUP Clock Source Jumpers In order to operate the Turbo CPU board must receive servo and phase clock signals from a source external to the board These clock signals can be brought into the board from one of three possible ports the stack connector the UBUS backplane connector or the front side main serial port connector Jumpers E1A and E1B must be configured properly for the clock source used To receive the clock signals over the UBUS backplane usually from an Acc 24E2x axis interface board or an Acc SE MACRO interface board E1A must connect pins 1 and 2 and E1B must connect pins 2 and 3 This configuration is typical fora UMAC Turbo pack system The clock signals are output on the main serial port To receive the clock signals through the stack connectors usually from an Acc 2E axis interface board E1A must connect pins 1 and 2 and the E1B jumper must be removed This configuration is typical for a Turbo Stac
21. ccessory boards in 3U format plugged to it in a stack configuration The Turbo stack configuration is less expensive than the UMAC Turbo system but it is limited to eight axes of motion control versus 32 axes on a UMAC Turbo system The Turbo Stack is selected over a UMAC Turbo system because is more compact allowing its installation inside already existing cabinets with some space limitations MACRO Stack The MACRO stack is composed of a MACRO Interface CPU board and a set of accessory boards in 3U format plugged to it in a stack configuration The UMAC MACRO must receive commands from an external MACRO compatible device like a PMAC2 Ultralite or a UMAC Turbo system The MACRO Stack is selected over a UMAC MACRO system because it is more compact allowing its installation inside already existing cabinets with some space limitations Physical Specifications Size Weight Temperature Operating Storage Humidity 0 C to 60 C 32 F to 140 F 12 C to 82 C 10 F to 180 F 10 to 95 non condensing Electrical Specifications Power Battery 1 00 can Expected battery life 10 years standard 6 9 months Opt 5 1A 5V 5 3 0V Lithium Cell 1200mAh 2 3A size no tabs or 3 6V Lithium Cell 1000 mAh 16cm x 9 9cm x 3 8cm 6 3 x 3 9 x 1 4 1 4 lb Recommended replacement 24 months standard 3 6 months Opt 5 Introduction 3U Turbo CPU Board for UMAC Turbo and Turbo S
22. f in the ON closed position sets its bit to 0 if in the OFF open position sets its bit to 1 The possible base addresses are all multiples of 16 so switch 1 sets a bit value of 16 switch 2 sets a bit value of 32 and so on S1A Switch Bit Value Default Default Value Your Value 1 16 10h OFF x1 16 10h 2 32 20h ON x0 0 3 64 40h ON x0 0 4 128 80h ON x0 0 5 256 100h ON x0 0 6 512 200h OFF x1 512 200h 7 1024 400h ON x0 0 8 2048 800h ON x0 0 S1B Switch 1 4096 1000h ON x0 0 2 8192 2000h ON x0 0 3 16384 4000h ON x0 0 4 32768 8000h ON x0 0 Total Value 528 210h To set the board to a different bus address it is best to specify that address in hexadecimal form because each hex digit corresponds to four switches The last hex digit of the base address is always zero For example to set the base address on the PC bus to 992 decimal or 03E0 hex The first 0 corresponds to switches 1 through 4 of SIB All of these should be on to set their bits to 0 The 3 corresponds to switches 5 through 8 of SIA Switches 8 and 7 should be on and switches 6 and 5 should be off to define the 3 The E corresponds to switches 1 through 4 Switches 4 3 and 2 should be off and switch 1 should be on to define the E 16 Board Jumpers and Pinouts 3U Turbo CPU Board for UMAC Turbo and Turbo Stack
23. its servo and phase clock signals on the J7 serial port connector on the Turbo CPU board E1B should also connect pins 1 and 2 Pins 1 2 jumpered E1B Servo Phase Clock Source Control E Point and Location Description Physical Layout Default B 1 Jump pin to 2 to get phase and servo clocks from J7 RS422 connector from an external source such as another PMAC Jump pin 2 to 3 to get phase and servo clocks from P1 backplane connector from an Acc 24E2x or equivalent board Remove jumper to get phase and servo clocks from J2 Stack connector from an Acc 2E or equivalent board Off default for Stack configuration 2 3 default for Pack configuration E2 Reserved for Future Use E3 Re Initialization on Reset Control E Point and Location Description Default Physical Layout 2 C 3 Remove jumper for normal reset mode default No jumper installed Jump pins 1 to 2 for re initialization on reset 1 E4 Reserved for Future Use E Board Jumpers and Pinouts 3U Turbo CPU Board for UMAC Turbo and Turbo Stack E7 E10 IRQ PC Interrupt Select E Point and Location Description Default Physical Layout E7 C 1 Jump E7 pin 1 to 2 to permit UMAC to interrupt PC on No jumper 211 PC 104 bus interrupt line IRQ10 in
24. k system The clock signals are output on the main serial port To receive the clock signals through the main serial port usually from another PMAC system or a reference signal generator E1A must connect pins 2 and 3 and E1B must connect pins 1 and 2 This configuration is rarely used but permits complete synchronization to the system that is generating the clock signals Watchdog Timer Jumper Jumper E19 should be OFF for normal operation leaving the watchdog timer circuit active and prepared to shut down the card in case of a severe problem Putting jumper E19 ON disables the watchdog timer circuit This should only be used for test purposes in trying to track down the source of watchdog timer trips Normal operation of a system with this jumper ON should never be attempted as an important safety feature is disabled Operation Mode Jumpers Jumpers E20 E21 and E22 control the operational mode of the 3U Turbo CPU For normal operation E20 must be OFF E21 must be ON and E22 must be ON Other settings of these jumpers are for factory use only Firmware Reload Jumper Jumper E23 should be OFF for normal operation If you want to load new firmware into the flash memory IC on the CPU E23 should be ON when the card is powered up This puts the card in bootstrap mode ready to accept new firmware If you then try to establish communications to the card with the Executive program over either the main serial port or the PC 104 bus
25. most one of these jumpers should be ON in any configuration E7 ON selects interrupt line IRQ10 E8 ON selects interrupt line IRQ11 E9 ON selects interrupt line IRQ12 E10 ON selects interrupt line IRQ15 Serial Port Level Select Jumpers The standard J7 serial port can be used for either RS 232 or RS 422 serial communications To use RS 232 jumpers E17 and E18 should connect pins 1 and 2 to use RS 422 jumpers E17 and E18 should connect pins 2 and 3 Re Initialization Jumper If jumper E3 is installed when the board is powered up or reset the board firmware will go through a re initialization process returning most I variables to factory default values It will also go through an system auto detection process selecting which of the Servo ICs and MACRO ICs that it finds will be the source of the servo and phase clock signals for the system 10 Hardware Setup 3U Turbo CPU Board for UMAC Turbo and Turbo Stack CONNECTIONS Stack Connections If the 3U Turbo CPU board is used in a Turbo Stack configuration the stack accessory boards Acc 2E 3E 4E and 6E are mounted on top component side of the CPU board The solder side prong connectors of these stack boards insert into the mating component side sockets of the board below it All four corners of these boards provide mounting holes for standoff connections between boards The stacking connectors provide for the Eurocard 4T standard of 20mm 0 8 spacing bet
26. oards in UMAC for compact cost sensitive embedded applications Configuration Note The Stack boards and related breakout boards can be installed in a Euro card rack creating a hybrid stack pack configuration Because the Stack boards were developed first this originally was the only way of creating a pack configuration and pulling boards for service was an awkward chore This configuration should now be used for existing legacy systems only Two Boards in Stack Configuration Introduction 1 3U Turbo CPU Board for UMAC Turbo and Turbo Stack The following two photos show typical UMAC and Stack configurations They are intended only to show what a completed system may look like not to be instructions on how to put a particular system together Sample UMAC Configuration TEZE Te Te cE F TT Turbo PMAC2 CPU and PC 104 Acc 24E2 4 Axis Interface Acc 10E 48 Out Acc 9E 48 In Acc 11E 24 In 24 Out Low Power Accessory E Power Supply Sample Stack Configuration PC 104 Computer Turbo PMAC2 CPU Two Acc 2E 4 Axis Interface Boards 3U Product Configurations General Description Assemblies of 3U format boards can be made with either of two CPU processor boards a 3U MACRO CPU board or a 3U Turbo PMAC2 CPU board Most other 3U format boards labeled Accessory boards can be used with either CPU board e When the 3U MACRO CPU board is used the resulting assemblies are called UMAC MACRO or 3U MACRO Stack e When
27. oller 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 exposed to hazardous or conductive materials and or environments we cannot guarantee their operation 3U Turbo CPU Board for UMAC Turbo amp Turbo Stack Table of Contents INTRODUCTION E 1 UMAC CPU Boards PO EE 1 Associated Manl S LLL ek edaya aaa Kewek kbk k a hela n ke kak kek H e h REE ebu h k ke bk na ik Dd bk ya bu k h n Hed u e k duak 1 3U Board sn nana D di kt p yJ emlaanmmllmrnrmmhrmmrhrrnrnrmmm bbmme 1 3U Product Configurations General Description n r kek keke kk xe kek rk nene trennen nne 2 UMAC CPU Basic Specifications eese esee eene tete keka nek c ka ba A Ree K k uk h da e En Esa Ese ki Ku Sk u Bu wed e H nik a k kare S H RA 3 Physical Specifications aossen h l aka ansa nahe av a Sa D LA Sao ha b o h n zoran eka Ba nea he v DB AEE Sw n asawa asa hed enne nnne nen 2 ElectricdlSpecifiCatlOns e es ues etes ener mm mh beasn diaeteswseusassusa swage n aine Pe ERR RR NE aee SERRE SM Re R HR 3
28. ow TRUE low TRUE 6 SD Output Send Data Diff high TRUE 7 CS CTS Input Clear to Send Diff high TRUE high TRUE 8 CS Input Clear to Send Diff low TRUE 9 RS RTS Output Request to Send Diff high TRUE high TRUE 10 RS Output Request to Send Diff low TRUE 11 DTR Bidirect Data Terminal Ready Shorted to DSR 12 INIT Input Turbo PMAC2 3U Reset Low is RESET 13 GND Common Turbo PMAC2 3U Common 14 DSR Bidirect Data Set Ready Shorted to DTR 15 SDIO Bidirect Special Data Diff I O low TRUE 16 SDIO Bidirect Special Data Diff I O high TRUE 17 SCIO Bidirect Special CTRL Diff I O low TRUE 18 SCIO Bidirect Special CTRL Diff I O high TRUE 19 SCK Bidirect Special Clock Diff I O low TRUE 20 SCK Bidirect Special Clock Diff I O high TRUE 21 SERVO Bidirect Servo Clock Diff I O low TRUE 22 SERVO Bidirect Servo Clock Diff I O high TRUE 23 PHASE Bidirect Phase Clock Diff I O low TRUE 24 PHASE Bidirect Phase Clock Diff I O high TRUE 25 GND Common Turbo PMAC2 3U Common 26 5V Output 5VDC Supply Power Supply Out The RS 232 422 connector provides the Turbo PMAC2 3U with the ability to communicate both in RS422 and RS232 In addition this connector is used to daisy chain interconnect multiple Turbo PMAC2 3Us for synchronized operation The connector is arranged so a flat cable can connect directly to a DB 25 serial connector on the other end Jumpers E17 and E18 should connect pins 1 and 2 to use this port for RS
29. stalled Remove E7 jumper to inhibit interrupt capability on this line E8 C 1 Jump E8 pin 1 to 2 to permit UMAC to interrupt PC on No jumper RIT PC 104 bus interrupt line IRQ11 installed Remove E8 jumper to inhibit interrupt capability on this line E9 C 1 Jump E9 pin 1 to 2 to permit UMAC to interrupt PC on No jumper 211 PC 104 bus interrupt line IRQ12 installed Remove E9 jumper to inhibit interrupt capability on this line E10 C 1 Jump E10 pin 1 to 2 to permit UMAC to interrupt PC on No jumper 211 PC 104 bus interrupt line IRQ15 installed Remove E10 jumper to inhibit interrupt capability on this line E12 Digital Analog Reference Connect E Point and Location Description Default Physical Layout B 2 Jump pin 1 to 2 to tie digital GND reference to analog AGND Pins 1 2 jumpered reference when using joint supply e g from TB1 or PC 104 Remove jumper to maintain separate GND and AGND reference voltages to keep isolation when using separate supplies E17 E18 Serial Port Select E Point and Location Description Default Physical Layout E17 A 3 Jump E17 pin 1 to 2 to select RS 232 serial data input from J7 Pins 1 2 jumpered Jump E17 pin 2 to 3 to select RS 422 serial data input from J8 E18 A 3 Jump E18 pin 1 to 2 to select RS 232 serial handshake input Pins 1 2 jumpered from J7 Jump E18 pin 2 to 3 to select RS 422 serial handshake input from J8 E19 Watchdog Disable Jumper E Point and Physical L
30. tack Introduction 3U Turbo CPU Board for UMAC Turbo and Turbo Stack BOARD CONFIGURATION The base version of the 3U Turbo PMAC2 CPU board provides a 1 slot 3U format Eurocard board with 80 MHz DSP56303 CPU 120 MHz PMAC equivalent 128k x 24 SRAM compiled assembled program memory Opt 5C0 128k x 24 SRAM user data memory Opt 5C0 1M x 8 flash memory for user backup amp firmware Opt 5C0 Latest released firmware version RS 232 422 serial interface Inter board stack connectors for piggyback servo and I O accessory boards Backplane UBUS expansion connector for pack servo and I O accessory boards If the 3A0 part prefix for the CPU board is ordered the board comes with a standard Eurocard front plate with top and bottom installation screws Top and bottom plates are provided with the Acc Px pack frame Option 2 Bus Interfaces The 3U Turbo PMAC2 CPU board comes standard only with a serial interface Option 2 provides a faster bus interface for high speed communications The interface is PC 104 bus compatible mechanical electrical and software so it is software compatible with the ISA bus However the board is not PC 104 form factor compliant and it can only be placed on top of a PC 104 stack e Option 2 PC 104 interface stacking connectors from solder side of CPU board e Option 2B 32k x 16 bank of on board dual ported RAM requires Option 2 Option 4 CPU Type The Turbo PMAC2 3U CPU board comes s
31. tandard with a DSP56303 CPU IC as component U1 This CPU has enough internal memory to process the servo and commutation for the first 15 motors entirely from internal memory these algorithms for the last 17 motors must be processed from slower external memory The optional DSP56309 CPU has additional internal memory so the processing of these motors is significantly improved The processor type in the board is reported on receipt of the CPU command e Option 4C 80 MHz DSP56309 CPU IC Recommended for control of more than 16 axes especially with PMAC based commutation Not compatible with any Option 5Dx e Option 4D 100 MHz DSP56309 CPU IC Recommended for control of more than 16 axes especially with PMAC based commutation Not compatible with any option 5Cx Option 5 CPU and Memory Configurations The various versions of Option 5 provide different CPU speeds and main memory sizes on the piggyback CPU board Only one Option 5xx may be selected for the board The CPU is a DSP5630x IC as component U1 It is currently available only as an 80 MHz or 100 MHz device with computational power equivalent to a 120 MHz or 150 MHz non Turbo PMAC respectively but higher speed versions will be available shortly The compiled assembled program P memory SRAM ICs are located in U14 U15 and U16 These ICs form the active memory for the firmware compiled PLCs and user written phase servo algorithms These can be 128k x 8 ICs for a 128k x 24 bank fit
32. te that the PC 104 connector used on the 3U Turbo CPU board provides for the Eurocard 4T standard of 20mm 0 8 spacing between boards not the PC 104 standard of 15mm 0 6 so standoff lengths must be chosen accordingly Serial Port Connections The standard J7 serial port connector on the front edge of the 3U Turbo CPU board is an IDC 26 pin header The connector is designed so a standard flat cable connection such as a Delta Tau Acc 3D cable to a DB 25 connector can be used From there a standard DB25 to DB9 adapter can be used if necessary The servo and phase clock signals can be either input or output on this connector depending on the setting of jumpers E1A and E1B The auxiliary J8 serial port connector that comes with Option 9T is an IDC 10 pin header The connector is designed so a standard flat cable connection such as a Delta Tau Acc 3L cable to a DB 9 connector can be used From there a standard DB9 to DB25 adapter can be used if necessary Power Supply Connections The TB1 4 point terminal block on the Turbo CPU board can be used to bring in 5V and 15V power to the system particularly in a stack configuration In a UMAC backplane configuration the power is almost always brought in through the UBUS backplane board instead Note that with a single reference voltage on this connector there can be no isolation between the supplies stack configurations have no provisions for isolating analog and digital
33. the 3U Turbo PMAC2 CPU board is used the resulting assemblies are called UMAC Turbo or Turbo Stack Refer to the UMAC and 3U Stack Products Selection Guide for more detailed descriptions of how the rack and stack products are integrated Introduction 3U Turbo CPU Board for UMAC Turbo and Turbo Stack UMAC and 3U Stack Products UMAC Products h LN UMAC Turbo li d d ME eg The UMAC Turbo is composed of a 3U format Turbo PMAC2 CPU board and a set of accessory boards in 3U format all plugged in a common UBUS backplane and installed inside a 3U format rack A PC 104 computer and several optional communication accessories including all of the major FieldBuses MACRO and Ethernet can be installed inside the UMAC system providing convenient flexibility and virtually unlimited expandability UMAC MACRO The UMAC MACRO is composed of a MACRO Interface CPU board and a set of accessory boards in 3U format all plugged in a common UBUS backplane and installed inside a 3U format rack The UMAC MACRO must receive commands from an external MACRO compatible device like a PMAC2 Ultralite or a UMAC Turbo system The UMAC MACRO does not support a PC 104 or communication accessories and it is preferred for distributed control over a MACRO ring connection UMAC CPU Basic Specifications Stack Products Turbo Stack The Turbo stack is composed of a 3U format Turbo PMAC2 CPU board and a set of a
34. ting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint The user data memory x y SRAM ICs are located in U11 U12 and U13 These ICs form the active memory for user motion programs uncompiled PLC programs and user tables and buffers These can be 128k x 8 ICs for a 128k x 24 bank fitting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint 3U Turbo CPU Board Configuration 5 3U Turbo CPU Board for UMAC Turbo and Turbo Stack The flash memory IC is located in U10 This IC forms the non volatile memory for the board s firmware the user setup variables and for user programs tables and buffers It can be 1M x 8 2M x 8 or 4M x 8 in capacity e Option 5C0 is the standard CPU and memory configuration It is provided automatically if no Option 5xx is specified It provides an 80 MHz CPU 120 MHz PMAC equivalent 128k x24 of compiled assembled program memory 128k x 24 of user data memory and a 1M x 8 flash memory e Option 5C1 provides an 80 MHz CPU 120 MHz PMAC equivalent 128k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 2M x 8 flash memory e Option 5C2 provides an 80 MHz CPU 120 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory 128k x 24 of user data memory and a 2M x 8 flash memory e Option 5C3 provides an 80 MHz CPU
35. ween boards so standoff lengths must be chosen accordingly If Delta Tau assembles the stack it will install the proper standoffs Backplane UMAC Connections To connect the 3U Turbo CPU board to the UBUS backplane simply insert the P1 connector into one of the sockets on an Acc Ux UBUS backplane board It does not matter which socket on the UBUS backplane board is used although customarily the CPU board is installed in the leftmost slot Typically the backplane board will already have been installed in a Eurorack frame Acc Px or equivalent so the CPU board is simply slid into one of the slot guides in the frame until mates with the backplane board then the front plate screws are tightened for a firm connection to the rack and backplane If a power supply has been connected to the UBUS backplane board this power will automatically be supplied to the Turbo CPU board The UBUS backplane board is capable of supplying isolated analog and digital supplies but the 3U format power supplies Acc Ex Acc F provided by Delta Tau do not keep these two supplies isolated from each other PC 104 Connections If the Option 2 PC 104 connector is installed the 3U Turbo CPU board may be mounted on the top of a PC 104 stack Because it does not pass the connector through it may only be mounted on the top of such a stack The 3U Turbo CPU board has four mounting holes in the standard PC 104 locations for standoff connections to the PC 104 stack No
Download Pdf Manuals
Related Search