Delta Tau PMAC2 User's Manual
Contents
1. 99 00000000000 0000000000 1 100 1 00000000000 0000000000 2 Pin Symbol Function Description Notes 1 5V Output Input 5V Power For external circuit or from external supply 2 5V Output Input 5V Power For external circuit or from external supply 3 GND Common Reference Voltage 4 GND Common Reference Voltage 5 CHA7 Input Enc 7 Positive A Chan Also pulse input 6 CHA7 Input Enc 7 Negative A Chan Also pulse input 7 CHB7 Input Enc 7 Positive B Chan Also direction input 8 CHB7 Input Enc 7 Negative B Chan Also direction input 9 CHC7 Input Enc 7 Positive C Chan Index channel 10 CHC7 Input Enc 7 Negative C Chan Index channel 11 CHU7 Input Chan 7 U Flag Hall effect fault code or sub count 12 CHV7 Input Chan 7 V Flag Hall effect fault code or sub count 13 CHW7 Input Chan 7 W Flag Hall effect fault code or sub count 14 CHT7 Input Chan 7 T Flag Fault code or sub count 15 USER7 Input General Purpose User Flag Hardware capture flag or sub count 16 PLIM7 Input Positive Overtravel Limit Hardware capture flag 17 MLIM7 Input Negative Overtravel Limit Hardware capture flag 18 HOME7 Input Home Switch Input Hardware capture flag 19 ACCFLT7 Input Accessory Fault Flag For loss of acc supply voltage 20 WDO Output Watchdog Output Low is PMAC watchdog fault 21 SCLK78 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 22 SCLK78 Input Outpu2. Pin Symbol Function Description Notes 1 DOUT7 Output Ring Out Bit 7 Macro ring command 2 DOUT6 Output Ring Out Bit 6 Macro ring transmit 3 DOUTS Output Ring Out Bit 5 Macro ring transmit 4 DOUT4 Output Ring Out Bit 4 Macro ring transmit 5 DOUT3 Output Ring Out Bit 3 Macro ring transmit 6 DOUT2 Output Ring Out Bit 2 Macro ring transmit 7 DOUTI Output Ring Out Bit 1 Macro ring transmit 8 DOUTO Output Ring Out Bit 0 Macro ring transmit 9 CMD_IN Input 10 DIN7 Input Ring In Bit 7 Macro ring receive 11 DIN6 Input Ring In Bit 6 Macro ring receive 12 DIN5 Input Ring In Bit 5 Macro ring receive 13 DIN4 Input Ring In Bit 4 Macro ring receive 14 DIN3 Input Ring In Bit 3 Macro ring receive 15 DIN2 Input Ring In Bit 2 Macro ring receive 16 DIN1 Input Ring In Bit 1 Macro ring receive 17 DINO Input Ring In Bit 0 Macro ring receive 18 CMD_OUT Output 19 TCLK Output Ring Clock 10mHz 20 GND Common Reference Voltage 21 STB_OUT Output Byte Strobe 22 GND Common Reference Voltage 23 DAT_STB Input Data Byte Strobe 24 GND Common Reference Voltage 25 CMD_STB Input CMD Byte Strobe 26 VLTN Input Violation Flag Taxi chip receive error The JMACRO connector provides the interface to the MACRO driver receiver accessory board J5 JRS232 Serial Port Connector Pin Symbol Function Description Notes 1 PHASE Output Phasing Clock 2 DTR Bidirect Data Term Ready Tied to DSR
3. i KEE EEEEEEEEREEEEEE NEEN ASA HEEE S 5 EA E6 Power Up Reset Load Source AEN 5 ET Firmware Reload Enabl cip ai ETA FRS POSI POIROT vecnuarautecsecuasevss 5 BOTTOM BOARD E POINT JUMPER DESCRIPTIONS ccsscssssscsscssssscssencsscsssscsssssessssssessssnessessessosesees 7 El Servo and Phase Clock Direction Control 7 E2 Reserved for Future USe eene 7 E3 Normal Re Initializing Power Up Reset erit eses Krias nenadano ainan n anae siene 7 E4 E6 Reserved for Future Wse rai ne enea e ea aE e ani 7 E7A H E8A H E9A H E10A H P2 Connector B Row Use Select 7 E11 E12 Compare Output Supply Voltage Configure i 8 E13 E14 Encoder Sample Clock Direction Control 8 El7 Serial Connector Seledt inu a i insvscsadbececaacssuneussdeneauecbinesssnnigd onhessayaeevecehansvecsuarsiieseasaniess 8 E20A I DPRAM Byte Ord r Control eerste ee lara rie EE 9 E39 Reset from Bus DEE 9 OPTION 1V PIGGYBACK JUMPER DESCRIPTION srrerrsrrerrere serie reo seo neo zesnen nese see rio sio neo seni neceeenece 11 JP1 1 to JP1 32 P2A Connector B Row Use Select AAA 11 E14 SCLK Directioni Contirol unali A EROI II 11 MATING CONNECTORS noeotrttrttretrrrrere cere ren eeo renze rece nese nen eenecenen een een nen een iene ce sen nen bosson SSS sione zioni neceeenee 13 CRU Board CONMECLOLS eege deed EEN 13 J2 EE 13 J4
4. Turbo PMAC2 VME Hardware Reference J9 JMACH1 Machine Connector Continued 99 00000000000 0000000000 1 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 31 AENAI Output Amplifier Enable High is enable 32 AENAI Output Amplifier Enable Low is enable 33 FAULT1 Input Amplifier Fault Programmable polarity 34 FAULTI Input Amplifier Fault Programmable polarity 35 PWMATOP1 Output Phase A Top CMD or DAC Programmable function control DAC_CLK1 Clock 36 PWMATOPI Output Phase A Top CMD or DAC Programmable function control DAC_CLKI Clock 37 PWMABOT1 Output Phase A Bottom CMD or Programmable function control DACIA DAC A Serial Data 38 PWMABOTI Output Phase A Bottom CMD or Programmable function control DACIA DAC A Serial Data 39 PWMBTOP1 Output Phase B Top CMD or DAC Programmable function control DAC_STBl Strobe 40 PWMBTOPI Output Phase B Top CMD or DAC Programmable function control DAC_STBI Strobe 41 PWMBBOTI1 Output Phase B Bottom CMD or Programmable function control DACIB DAC B Serial Data 42 PWMBBOTI Output Phase B Bottom CMD or Programmable function control DACIB DAC B Serial Data 43 PWMCTOP1 Output Phase B Top CMD or PFM Programmable function control DIR1 Direction 44 PWMCTOPI Output Phase B Top CMD or PFM Programmable function cont
5. 00010 FPB P1 JVME VME Bus Connector P1 JVME 96 Pin Header C32 B32 000000000900000000900000000090000000 B1 EE a32 O0O0000000000000000000000000000000 A1 Front View Pin Row A Row B Row C OI DOO BBSY D08 02 DO BCLR D09 03 D02 ACFAIL D10 04 D03 BOIN D11 05 D04 BGOOUT D12 06 D05 BG1IN D13 07 D06 BG1OUT D14 08 D07 BG2IN D15 09 GND BG2OUT GND 10 SYSCLK BG3IN SYSFAIL 11 GND BG30UT BERR 12 DS1 BRO SYSRESET 13 DSO BRI LWORD 14 WRITE BR2 AMS 15 GND BR3 A23 16 DTACK AMO A22 17 GND AMI A21 18 AS AM2 A20 19 GND AM3 A19 20 IACK GND A18 21 IACKIN SERCLK A17 22 IACKOUT SERDAT A16 23 AM4 GND A15 24 A07 IRQ7 A14 25 A06 IRQ6 A13 26 A05 IRQ5 A12 27 A04 IRQ4 All Base Board Connector Pinouts 27 Turbo PMAC2 VME Hardware Reference P1 JVME 96 Pin Header Continued c32 00000000000000000000000000000000 C1 B32 000000000000900000900000090900000000 B1 a32 OO0O0000000000000000090000000000000 A1 Front View Pin Row A Row B Row C 28 A03 IRQ3 A10 29 A02 IRQ2 A09 30 AO IRQ1 A08 31 12V 5V STDBY 12V 32 5V 5V 5V This is the standard VME connector It is sufficient for 16 bit or 24 bit addressing and for 8 bit or 16 bit data For 32 bit addressing the B row of P2 must be used as well PMAC d
6. HARDWARE REFERENCE MANUAL TURBO PMAC2 VME 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 controller by damaging co
7. 19 1 018 In Out Digital I O 18 Software direction ctrl 20 1 019 In Out Digital I O 19 Software direction ctrl 21 1 020 In Out Digital I O 20 Software direction ctrl 22 1 021 In Out Digital I O 21 Software direction ctrl 23 1 022 In Out Digital I O 22 Software direction ctrl 24 1 023 In Out Digital I O 23 Software direction ctrl 25 1 024 In Out Digital I O 24 Software direction ctrl 26 1 025 In Out Digital I O 25 Software direction ctrl 27 1 026 In Out Digital I O 26 Software direction ctrl 28 1 027 In Out Digital I O 27 Software direction ctrl 29 1 028 In Out Digital I O 28 Software direction ctrl 30 1 029 In Out Digital I O 29 Software direction ctrl 31 1 030 In Out Digital I O 30 Software direction ctrl 32 1 031 In Out Digital I O 31 Software direction ctrl 33 GND Common Reference Voltage 34 GND Common Reference Voltage 35 PHASE Output Phase Clock For latching data 36 SERVO Output Servo Clock For latching data 37 GND Common Reference Voltage 38 GND Common Reference Voltage 39 5V Output Supply Voltage To power external circuitry 40 5V Output Supply Voltage To power external circuitry The JI O connector provides 32 input output pins at TTL levels Direction can be controlled in byte wide groups Base Board Connector Pinouts 17 Turbo PMAC2 VME Hardware Reference J4 JMACRO MACRO Network Ring Interface Connector
8. 5 ANAI04 Input Analog Input 4 0 5V or 2 5V Range 6 ANAIOS Input Analog Input 5 0 5V or 2 5V Range 7 ANAI06 Input Analog Input 6 0 5V or 2 5V Range 8 AN AIO Input Analog Input 7 0 5V or 2 5V Range 9 AN AIOS Input Analog Input 8 0 5V or 2 5V Range 10 ANAIO9 Input Analog Input 9 0 5V or 2 5V Range 11 ANATIO Input Analog Input 10 0 5V or 2 5V Range 12 ANAII1 Input Analog Input 11 0 5V or 2 5V Range 13 ANATI2 Input Analog Input 12 0 5V or 2 5V Range 14 ANAI13 Input Analog Input 13 0 5V or 2 5V Range 15 ANAIl4 Input Analog Input 14 0 5V or 2 5V Range 16 ANAIIS Input Analog Input 15 0 5V or 2 5V Range 17 GND Common PMAC Common Not isolated from digital 18 12V Output Positive Supply Voltage To power external circuitry 19 GND Common PMAC Common Not isolated from digital 20 12V Output Negative Supply Voltage To power external circuitry The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2 Base Board Connector Pinouts 15 Turbo PMAC2 VME Hardware Reference J2 JTHW Multiplexer Port Connector Pin Symbol Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DATO Input Data 0 Input Data input from MUX port accessories 4 SELO Output Select 0 Output Address data output for MUX port accessories 5 DATI Input Data 1 Input Data input from MUX port
9. ADC_CLK1234 PWMCTOP3 DIR 16 PWMCBOTI PULSE1 VD18 ADC_STB1234 PWMCBOT3 PULSE3 17 CHA2 VD19 SCLK1234 CHA4 18 CHB2 VD20 WDO CHB4 19 CHC2 VD21 CHU2 CHC4 20 PLIM2 VD22 CHU4 PLIM4 21 MLIM2 VD23 CHV2 MLIM4 22 HOME2 GND CHV4 HOME4 23 AENA2 VD24 CHW2 AENA4 24 FAULT2 VD25 CHW4 FAULT4 25 PWMATOP2 DAC_CLK2 VD26 CHT2 PWMATOP4 DAC_CLK4 28 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference P2 JMACHA 96 Pin cs2 0 0000000000000 00000 0000000000004 CI B32 00000000000000000000000000000000 BI Header Continued n32 00000000000000000000000000000000 a1 Front View Pin Row A Row B Row B Row C Format A Format B 26 PWMABOT2 DAC2A VD27 CHT4 PWMABOT4 DAC4A 27 PWMBTOP2 DAC_STB2 VD28 USER2 PWMBTOP4 DAC_STB4 28 PWMBBOT2 DAC2B VD29 USER4 PWMBBOT4 DAC4B 29 PWMCTOP2 DIR2 VD30 ADC_DAA2 PWMCTOP4 DIR4 30 PWMCBOT 2 PULSE2 VD31 ADC_DAA4 PWMCBOT4 PULSE4 31 GND GND ADC_DAB2 GND 32 5V 5V ADC_DAB4 5V Note Format A for the B row will be used if E7A H E8A H E9A H and E10A H connect pins 2 and 3 This format must be used for a 32 bit VME system Format B for the B row will be used if these jumpers connect pins 1 and 2 This format is not compatible with 32 bit VME systems Not used TB1 2 4 Pin Terminal Block This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2 board wh
10. DAC A Serial Data Axis Piggyback Board Connector Descriptions 31 Turbo PMAC2 VME Hardware Reference J11 JMACH83 Machine Connector 99 00000000000 0000000000 1 Continued 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 38 PWMABOTS Output Phase A Bottom CMD or Programmable function control DACSA DAC A Serial Data 39 PWMBTOP5 Output Phase B Top CMD or DAC Programmable function control DAC_STB5 Strobe 40 PWMBTOP5 Output Phase B Top CMD or DAC Programmable function control DAC_STB5 Strobe 41 PWMBBOT5 Output Phase B Bottom CMD or Programmable function control DACS5B DAC B Serial Data 42 PWMBBOTS Output Phase B Bottom CMD or Programmable function control DACSB DAC B Serial Data 43 PWMCTOP5 Output Phase B Top CMD or PFM Programmable function control DIRS Direction 44 PWMCTOPS Output Phase B Top CMD or PFM Programmable function control DIRS Direction 45 PWMCBOT5 Output Phase B Bottom CMD or Programmable function control PULSES PFM Pulse 46 PWMCBOTS Output Phase B Bottom CMD or Programmable function control PULSES PFM Pulse 47 GND Common Reference Voltage 48 GND Common Reference Voltage 49 5V Output Input 5v Power For external circuit or from external supply 50 5V Output Input 5v Power For external circuit
11. JDPRAMY Dual Ported RAM iii 13 Base Board Ee 13 JI JANAV Analog Option 12 v ccecccecscceseceessecssnceensecesceeescecseneeessecseceeesaecseneeesaecseaeeesaecseneeenaecseaeeesaeceeeeeeaaeceeeeeesaeeeee 13 J2 JTHW Multiplexer Port 13 JTI JIOVDigital O cara teal EEE EEA ERE EEEN EAE RE 13 J4 IMACRO Macro Digital Date 13 J5 JRS232 RS 232 Serial Communications iii 13 JSA JRS422 RS 422 Serial Communications iii 13 BERT 13 J7 JAW Auxiliary Channel as siasi ci cl tented alari irene cr crinale 14 JE JEOUYPosition Compare succo intero ciente Ro FTA ORSI ENEE cranio 14 J9 JIMACHI1 Machine Port I uri Sie 14 J10 JMACH2 Machine Port 2 iii 14 PI PVME Main VME Bus Connector iii 14 P2 PMACH Alternate Machine Port Extended VE 14 Table of Contents Turbo PMAC VME Hardware Reference Option TV Akis Piggyback Connectors iii rain iii 14 JII JMACH3Y Machine Port 3 E 14 JI2 JIMACH4 Machine Port 4 ncis a a a E P EEE a 14 P2A PMACHA Alternate Machine Pont 14 BASE BOARD CONNECTOR PINOUTS cscssscssscsssssscscscssccsscssscsssssssssesssessscssscssesscesscssecesessscssssssssseseesoeeee 15 J1 JANA Analog Input Port Connector ii 15 J2 JTHW Multiplexer Port Connector iii 16 J3 JY O General Input Output Connector ii 17 J4 MACRO MACRO Network Ring Interface Connector i 18
12. JIS IRS232 Serial Port Connector ae Ra a ai 18 JS A RS422 Serial Port Connector iaia 19 J6 JDISP Display Connector igiene rar 20 J7 JHW Handwheel Encoder Connector i 20 J8 JEQU Position Compare Output Connector ii 21 J9 JMACHI Machine Connector ii 21 HO IMACH2 Machine Connector cca ceiceeccccecucrtenacaccscuarecsaanascageavaseede suncearsstanesenisevssunodeveenaseossudlevenguccecaavecdedeesleee doe 24 PI JVME VME EC e AA Ai 27 P2 JMACHA Alternate Machine Connector ii 28 TBI1 2 4 Pin Terminal Block 29 TB2 4 Pin Terminal BIOCK eene 29 AXIS PIGGYBACK BOARD CONNECTOR DESCRIPTIONS eorrerrrerrresrresrse sese eree sione senese seco nsenecenecene 31 J11 JMACH3 Machine Connector iii 31 J12 JMACH4 Machine Connector enee 34 P2A JMACHB Alternate Machine Connector i 37 ii Table of Contents Turbo PMAC2 VME Hardware Reference INTRODUCTION The Turbo PMAC2 VME is a member of the Turbo PMAC family of boards optimized for interface to sinewave or direct PWM servo drives and to pulse and direction stepper drives Its software is capable of 32 axes of control It can have up to eight channels of on board axis interface circuitry It can also support up to 32 channels of off board axis interface circuitry through its
13. 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J9 JMACH1 Machine Port 1 1 Two 100 pin high density flat cable connector 2 High density flat cable stranded 100 wire J10 JMACH2 Machine Port 2 1 Two 100 pin high density flat cable connector 2 High density flat cable stranded 100 wire P1 PVME Main VME Bus Connector 1 96 pin VME DIN connector AMLAN P N C96F3LA B C P2 PMACH Alternate Machine Port Extended VME 1 96 pin VME DIN connector AMLAN P N C96F3LA B C Option 1V Axis Piggyback Connectors J11 JMACHS3 Machine Port 3 1 Two 100 pin high density flat cable connector 2 High density flat cable stranded 100 wire J12 JMACH4 Machine Port 4 1 Two 100 pin high density flat cable connector 2 High density flat cable stranded 100 wire P2A PMACHA Alternate Machine Port 1 96 pin VME DIN connector AMLAN P N C96F3LA B C 14 Mating Connectors Turbo PMAC2 VME Hardware Reference BASE BOARD CONNECTOR PINOUTS J1 JANA Analog Input Port Connector Present only if Option 12 ordered Pin Symbol Function Description Notes 1 ANAI00 Input Analog Input 0 0 5V or 2 5V Range 2 ANAIO1 Input Analog Input 1 0 5Vor 2 5V Range 3 ANAIO2 Input Analog Input 2 0 5V or 2 5V Range 4 ANAI03 Input Analog Input 3 0 5V or 2 5V Range
14. 3 TXD Input Receive Data Host transmit data 4 CTS Input Clear to Send Host ready bit 5 RXD Output Send Data Host receive data 6 RTS Output Request to Send PMAC ready bit 7 DSR Bidirect Data Set Ready Tied to DTR 8 SERVO Output Servo Clock 9 GND Common PMAC Common 10 5V Output 5Vdc Supply Power supply out The JRS232 connector provides the Turbo PMAC2 VME with the ability to communicate serially with an RS232 port Jumpers E17 and E18 must both connect pins 1 and 2 to use this port This connector cannot be used for daisy chain interconnection of multiple PMACs The J5A RS 422 port is required for daisy chaining 18 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference J5A RS422 Serial Port Connector JRS422 26 Pin Connector 0000000000000 E 26 0000000000000 2 Front View Pin Symbol Function Description Notes 1 CHASSI Common PMAC Common 2 S 5V Output 5Vdc Supply Deactivated by E8 3 RD Input Receive Data Diff I O low true 4 RD Input Receive Data Diff I O high true 5 SD Output Send Data Diff I O low true 6 SD Output Send Data Diff I O high true 7 CS Input Clear to Send Diff I O high true 8 CS Input Clear to Send Diff I O low true 9 RS Output Request to Send Diff I O high true 10 RS Output Request to Send Diff I O low true 11 DTR Bidirect Data Te
15. 96 PWMCBOTS8 Output Phase B Bottom CMD or Programmable function control PULSE8 PFM Pulse 97 GND Common Reference Voltage 98 GND Common Reference Voltage 99 5V Output Input 5V Power For external circuit or from external supply 100 5V Output Input 5V Power For external circuit or from external supply The JMACH4 connector provides the interface pins for channels 7 and 8 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board 36 Axis Piggyback Board Connector Descriptions Turbo PMAC2 VME Hardware Reference P2A JMACHB Alternate Machine Connector The P2A connector provides an alternate path to J11 and J12 for the machine interface connections for Channels 5 8 Only the positive signals of complementary pairs are brought out on this connector For the inputs the complementary lines are tied to 2 5V on PMAC2 Refer to the J11 and J12 pin descriptions for more detailed information on each pin 96 Pin Heade REA i B32 00000000000000000000000000000000 BI1 96 Pin Header a32 00000000000000000000000000000000 a1 Front View Pin Row A Row B Row B Row C Format A Format B 01 5V No Connect CHU5 5V 02 GND No Connect CHU7 GND 03 CHAS No Connect CHV5 CHA7 04 CHBS5 No Connect CHV7 CHB7 05 CHC5 No Conne
16. CMD or DAC Programmable function control DAC_STB4 Strobe 91 PWMBBOT4 Output Phase B Bottom CMD or Programmable function control DAC4B DAC B Serial Data 92 PWMBBOT4 Output Phase B Bottom CMD or Programmable function control DAC4B DAC B Serial Data 93 PWMCTOP4 Output Phase B Top CMD or PPM Programmable function control DIR4 Direction 94 PWMCTOP4 Output Phase B Top CMD or PFM Programmable function control DIR4 Direction 26 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference J10 JMACH2 Machine Connector S 99 00000000000 0000000000 1 Continued 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 95 PWMCBOT4 Output Phase B Bottom CMD or Programmable function control PULSE4 PFM Pulse 96 PWMCBOT4 Output Phase B Bottom CMD or Programmable function control PULSE4 PFM Pulse 97 GND Common Reference Voltage 98 GND Common Reference Voltage 99 5V Output Input 5V Power For external circuit or from external supply 100 5V Output Input 5V Power For external circuit or from external supply The JMACH2 connector provides the interface pins for channels 3 and 4 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board Connector 100 pin male box header with center key 0050 pitch AMP part 1 04068 7 Delta Tau part 014
17. Function Description Notes 39 PWMBTOP7 Output Phase B Top CMD or DAC Programmable function control DAC_STB7 Strobe 40 PWMBTOP3 Output Phase B Top CMD or DAC Programmable function control DAC_STB7 Strobe 41 PWMBBOT7 Output Phase B Bottom CMD or Programmable function control DAC7B DAC B Serial Data 42 PWMBBOT7 Output Phase B Bottom CMD or Programmable function control DAC7B DAC B Serial Data 43 PWMCTOP7 Output Phase B Top CMD or PFM Programmable function control DIR7 Direction 44 PWMCTOP7 Output Phase B Top CMD or PFM Programmable function control DIR7 Direction 45 PWMCBOT7 Output Phase B Bottom CMD or Programmable function control PULSE7 PFM Pulse 46 PWMCBOT7 Output Phase B Bottom CMD or Programmable function control PULSE7 PFM Pulse 47 GND Common Reference Voltage 48 GND Common Reference Voltage 49 5V Output Input 5V Power For external circuit or from external supply 50 5V Output Input 5V Power For external circuit or from external supply SI 5V Output Input 5V Power For external circuit or from external supply 52 5V Output Input 5V Power For external circuit or from external supply 53 GND Common Reference Voltage 54 GND Common Reference Voltage 55 CHA8 Input Enc 8 Positive A Chan Also pulse input 56 CHA8 Input Enc 8 Negative A Chan Also pulse input 57 CHB8 Input Enc 8 Positive B Chan Also direction input 58 CHB8 Input Enc 8 Negative B Chan Also direction input 59 CHC8 Input Enc 8 Positive
18. Neg Dir Out Also PWM output 19 GND Common Reference Voltage 20 5V Output Supply Voltage To power external circuitry 20 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference J8 JEQU Position Compare Output Connector Pin Symbol Function Description Notes 1 EQUI Output Enc 1 Comp Eq Low is true 2 EQU2 Output Enc 2 Comp Eq Low is true 3 EQU3 Output Enc 3 Comp Eq Low is true 4 EQU4 Output Enc 4 Comp Eq Low is true 5 EQUS Output Enc 5 Comp Eq Low is true 6 EQU6 Output Enc 6 Comp Eq Low is true 7 EQU7 Output Enc 7 Comp Eq Low is true 8 EQU8 Output Enc 8 Comp Eq Low is true 9 V Supply Positive Supply 5V to 24V 10 GND Common Digital Ground This connector provides the position compare outputs for the eight encoder channels J9 JMACH1 Machine Connector J9 JMACH1 Machine Connector 99 00000000000 0000000000 1 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 1 5V Output Input 5V Power For external circuit or from external supply 2 5V Output Input _ 5V Power 3 GND Common Reference Voltage 4 GND Common Reference Voltage 5 CHA1 Input Enc 1 Positive A Chan Also pulse input 6 CHAI Input Enc 1 Negative A Chan da 7 CHB1 Input Enc 1 Positive B Chan Also d
19. One output command signal set configurable as pulse and direction or PWM top and bottom pair Display MACRO muxed I O direct I O interface ports PID notch feedforward servo algorithms Extended pole placement servo algorithms 1 year warranty from date of shipment One manual per set of one to four PMACs in shipment Cables mounting plates mating connectors not included Option 1 Additional Four Channels Axis Interface Circuitry e Option 1V provides an additional four channels of axis interface circuitry on a small piggyback board identical to the standard first four channels on the base board Introduction 1 Turbo PMAC2 VME Hardware Reference Option 2 Dual Ported RAM Dual ported RAM provides a high speed communications path for bus communications with the host computer through a bank of shared memory DPRAM is advised if more than about 100 data items per second are to be passed between the controller and the host computer in either direction Option 2V provides an 8k x 16 bank of dual ported RAM The key component on the board is U87 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 Currently it is available only as an 80 MHz device with computational power equivalent to a 120 MHz non Turbo PMAC but higher speed versions
20. accessories 6 SELI Output Select 1 Output Address data output for MUX port accessories 7 DAT Input Data 2 Input Data input from MUX port accessories 8 SEL2 Output Select 2 Output Address data output for MUX port accessories 9 DAT3 Input Data 3 Input Data input from MUX port accessories 10 SEL3 Output Select 3 Output Address data output for MUX port accessories 11 DAT4 Input Data 4 Input Data input from MUX port accessories 12 SEL4 Output Select 4 Output Address data output for MUX port accessories 13 DATS Input Data 5 Input Data input from MUX port accessories 14 SELS Output Select 5 Output Address data output for MUX port accessories 15 DAT6 Input Data 6 Input Data input from MUX port accessories 16 SEL6 Output Select 6 Output Address data output for MUX port accessories 17 DAT7 Input Data 7 Input Data input from MUX port accessories 18 SEL7 Output Select 7 Output Address data output for MUX port accessories 19 N C N C No Connection 20 GND Common PMAC Common 21 BRLD Output Buffer Request Low is Buffer Request 22 GND Common PMAC Common 23 IPLD Output In Position Low is In Position 24 GND Common PMAC Common 25 5V Output 5Vdc Supply Power supply out 26 INIT Input PMAC Reset Low is Reset The JTHW connector provides eight inputs and eight outputs at TTL levels these are dedicated to reading BCD thumbwheel switches Two thumbwheels may be read by direct connection to J3 more thumbwheels up to 512
21. 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 real time clock and calendar The year representation in the calendar is a 4 digit value so there are no Year 2000 problems Introduction 3 Turbo PMAC2 VME Hardware Reference Introduction Turbo PMAC2 VME Hardware Reference CPU BOARD E POINT DESCRIPTIONS E1 Watchdog Disable Jumper E Point and Description Default Physical Layout El Jump pin 1 to 2 to disable Watchdog timer for test purposes only Remove jumper to enable Watchdog timer No jumper installed E2 E3 Expansion Port Configure Prototype boards 104 and earlier only E Point and Description Default Physical Layout E2 Jump pin 1 to 2 to permit use of Acc 24 expansion boards Jumper installed Remove jumper to permit use of unmodified pin 41 intact Option 2 DPRAM board E3 Jump pin 1 to 2 to permit use of Acc 24 expansion boards Remove jumper to permit use of unmodified pin 42 intact Option 2 DPRAM board Jumper installed Note Production versions of the Turbo CPU board are built with circuit traces providing the equivalent of E2 and E3 ON To use with an Option 2 DPRAM board pins 41 and 42 on the 50 pin connector of the Option 2 board must be clipped in ord
22. switches may be read using the Acc 18 Thumbwheel Multiplexer J3 s inputs and outputs may be used as general purpose multiplexed TTL I O if thumbwheels are not used 16 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference J3 JI O General Input Output Connector Pin Symbol Function Description Notes 1 1 000 In Out Digital I O 0 Software direction ctrl 2 I O01 In Out Digital I O 1 Software direction ctrl 3 1 002 In Out Digital I O 2 Software direction ctrl 4 1 003 In Out Digital I O 3 Software direction ctrl 5 1 004 In Out Digital I O 4 Software direction ctrl 6 1 005 In Out Digital I O 5 Software direction ctrl 7 1 006 In Out Digital I O 6 Software direction ctrl 8 1 007 In Out Digital I O 7 Software direction ctrl 9 1 008 In Out Digital I O 8 Software direction ctrl 10 1 009 In Out Digital I O 9 Software direction ctrl 11 1 010 In Out Digital I O 10 Software direction ctrl 12 I O11 In Out Digital I O 11 Software direction ctrl 13 1 012 In Out Digital I O 12 Software direction ctrl 14 1 013 In Out Digital I O 13 Software direction ctrl 15 1 014 In Out Digital I O 14 Software direction ctrl 16 17 015 In Out Digital I O 15 Software direction ctrl 17 1 016 In Out Digital I O 16 Software direction ctrl 18 1 017 In Out Digital I O 17 Software direction ctrl
23. 000 0000000000 1 Continued 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 71 SCLK56 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 72 SCLK56 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 73 ADC_CLK6 Output A D Converter Clock Programmable frequency 74 ADC_CLK6 Output A D Converter Clock Programmable frequency 75 ADC_STB6 Output A D Converter Strobe Programmable sequence 76 ADC_STB6 Output A D Converter Strobe Programmable sequence 71 ADC_DAA6 Input Chan A ADC Serial Data MSB first 78 ADC_DAA6 Input Chan A ADC Serial Data MSB first 79 ADC_DAB6 Input Chan B ADC Serial Data MSB first 80 ADC_DAB6 Input Chan B ADC Serial Data MSB first 81 AENA6 Output Amplifier Enable High is enable 82 AENA6 Output Amplifier Enable Low is enable 83 FAULT6 Input Amplifier Fault Programmable polarity 84 FAULT6 Input Amplifier Fault Programmable polarity 85 PWMATOP6 Output Phase A Top CMD or DAC Programmable function control DAC_CLK6 Clock 86 PWMATOP6 Output Phase A Top CMD or DAC Programmable function control DAC_CLK6 Clock 87 PWMABOT6 Output Phase A Bottom CMD or Programmable function control DAC6A DAC A Serial Data 88 PWMABOTE6 Output Phase A Bottom CMD or Programmable function control DAC6A DAC A Serial Data 89 PWMBTOP6 Output Phase B Top CMD or DAC Programmable function control DAC_STB6 Strobe 90 PWMBTOP6 Output Phase B Top CMD or DAC Programm
24. 32 bit VME Note All jumpers in the E7 to E10 families must be in the same setting Bottom Board E Point Jumper Descriptions Turbo PMAC2 VME Hardware Reference E11 E12 Compare Output Supply Voltage Configure E Point and Location Description Default Physical Layout Ell D3 Jump pin to 2 to apply V 5V to 24V to pin 11 1 2 Jumper installed De of U74 should be ULN2803A for sink output configuration JEQU Compare outputs EQUI EQU8 Jump pin 2 to 3 to apply GND to pin 11 of U74 should be UDN2981A for source output configuration WARNING The jumper setting must match the type of driver IC or damage to the IC will result E12 C3 Jump pin 1 to 2 to apply GND to pin 10 of U74 1 2 Jumper installed OOO should be ULN2803A for sink output configuration Jump pin 2 to 3 to apply V 5V to 24V to pin 10 of U74 should be UDN2981A for source output configuration WARNING The jumper setting must match the type of driver IC or damage to the IC will result E13 E14 Encoder Sample Clock Direction Control E Point and Physical Layout Location Description Default E13 OOO Remove jumper to output SCLK generated in first ASIC on SCLK_12 and SCLK_34 or to control direction by software Jump pins 1 to 2 to input SCLK signal for first ASIC on SCLK_34 and output this signal on SCLK_12 Jump pins 2 t
25. 5V Output Input 5V Power For external circuit or from external supply The JMACHI connector provides the interface pins for channels 1 and 2 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board Connector 100 pin male box header with center key 0050 pitch AMP part 1 04068 7 Delta Tau part 014 00010 FPB J10 JMACH2 Machine Connector J10 JMACH2 Machine Connector 99 00000000000 0000000000 1 100 100000000000 0000000000 2 Pin Symbol Function Description Notes 1 5V Output Input 5V Power For external circuit or from external supply 2 5V Output Input 5V Power For external circuit or from external supply 3 GND Common Reference Voltage 4 GND Common Reference Voltage 5 CHA3 Input Enc 3 Positive A Chan Also pulse input 6 CHA3 Input Enc 3 Negative A Chan Also pulse input 7 CHB3 Input Enc 3 Positive B Chan Also direction input 8 CHB3 Input Enc 3 Negative B Chan Also direction input 9 CHC3 Input Enc 3 Positive C Chan Index channel 10 CHC3 Input Enc 3 Negative C Chan Index channel 11 CHU3 Input Chan 3 U Flag Hall effect fault code or sub count 12 CHV3 Input Chan 3 V Flag Hall effect fault code or sub count 13 CHW3 Input Chan 3 W Flag Hall effect fault code or sub count 14 CHT3 Input Ch
26. C Chan Index channel 60 CHC8 Input Enc 8 Negative C Chan Index channel 61 CHU8 Input Chan 8 U Flag Hall effect fault code or sub count 62 CHV8 Input Chan 8 V Flag Hall effect fault code or sub count 63 CHW8 Input Chan 8 W Flag Hall effect fault code or sub count 64 CHT8 Input Chan 8 T Flag Fault code or sub count 65 USER8 Input General Purpose User Flag Hardware capture flag or sub count 66 PLIM8 Input Positive Overtravel Limit Hardware capture flag 67 MLIM8 Input Negative Overtravel Limit Hardware capture flag 68 HOMES Input Home Switch Input Hardware capture flag 69 ACCFLT8 Input Accessory Fault Flag For loss of acc supply voltage 70 WDO Output Watchdog Output Low is PMAC watchdog fault 71 SCLK78 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 72 SCLK78 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 73 ADC_CLK8 Output A D Converter Clock Programmable frequency 74 ADC_CLK8 Output A D Converter Clock Programmable frequency Axis Piggyback Board Connector Descriptions 35 Turbo PMAC2 VME Hardware Reference J12 JMACH4 Machine Connector 99 00000000000 0000000000 1 Continued 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 75 ADC_STB8 Output A D Converter Strobe Programmable sequence 76 ADC_STB8 Output A D Converter St
27. Hz 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 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 Option 7 Plate Mounting e Option 7 provides a mounting plate connected to the PMAC with standoffs It is used to install the PMAC in standalone applications Option 8 High Accuracy Clock Crystal The Turbo PMAC2 VME 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 Turbo PMAC2 VME comes standard with a single serial port which can be used in either RS 232 or RS 422 format Optionally a second independent serial port may be added 2 Introduction Turbo PMAC2 VME Hardware Reference e Option 9T adds an auxiliary RS 232 port on the CPU piggyback board The key components added are IC U22 and connector J8 on the CPU board Option 10 Firmware Version Specification Normally the Turbo PMAC2 VME is provided with the newest released firmware version A label on the U10 flash memory IC shows the firmware version loaded at the factory e Option 10 provides for a user specified firmware versio
28. ME system Format B for the B row will be used if these jumpers connect pins 1 and 2 This format is not compatible with a 32 bit VME system Axis Piggyback Board Connector Descriptions 37
29. able function control DAC_STB6 Strobe 91 PWMBBOT6 Output Phase B Bottom CMD or Programmable function control DAC6B DAC B Serial Data 92 PWMBBOTE6 Output Phase B Bottom CMD or Programmable function control DAC6B DAC B Serial Data 93 PWMCTOP6 Output Phase B Top CMD or PFM Programmable function control DIR6 Direction 94 PWMCTOP6 Output Phase B Top CMD or PFM Programmable function control DIR6 Direction 95 PWMCBOT6 Output Phase B CMD or PPM Programmable function control PULSE6 Pulse 96 PWMCBOT6 Output Phase B Bottom CMD or Programmable function control PULSE6 PFM Pulse 97 GND Common Reference Voltage 98 GND Common Reference Voltage 99 5V Output Input 5V Power For external circuit or from external supply 100 5V Output Input 5V Power For external circuit or from external supply The JMACH3 connector provides the interface pins for channels 5 and 6 It is usually connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board Connector 100 pin male box header with center key 0050 pitch AMP part 1 04068 7 Delta Tau part 014 00010 FPB Axis Piggyback Board Connector Descriptions 33 Turbo PMAC2 VME Hardware Reference J12 JMACH4 Machine Connector Only present if Option 1 ordered J12 JMACH4 Machine Connector
30. an 3 T Flag Fault code or sub count 15 USER3 Input General Purpose User Flag Hardware capture flag or sub count 16 PLIM3 Input Positive Overtravel Limit Hardware capture flag 17 MLIM3 Input Negative Overtravel Limit Hardware capture flag 18 HOME3 Input Home Switch Input Hardware capture flag 19 ACCFLT3 Input Accessory Fault Flag For loss of acc supply voltage 20 WDO Output Watchdog Output Low is PMAC watchdog fault 21 SCLK34 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 22 SCLK34 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 23 ADC_CLK3 Output A D Converter Clock Programmable frequency 24 ADC_CLK3 Output A D Converter Clock Programmable frequency 25 ADC_STB3 Output AID Converter Strobe Programmable sequence 26 ADC_STB3 Output A D Converter Strobe Programmable sequence 27 ADC_DAA3 Input Chan A ADC Serial Data MSB first 24 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference J10 JMACH2 Machine Connector S 99 00000000000 0000000000 1 Continued 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 28 ADC_DAA3 Input Chan A ADC Serial Data MSB first 29 ADC_DAB3 Input Chan B ADC Serial Data MSB first 30 ADC_DAB3 Input Chan B ADC Serial Data MSB first 31 AENA3 Output Amplifier Enable High is
31. apture flag 69 ACCFLT4 Input Accessory Fault Flag For loss of acc supply voltage 70 WDO Output Watchdog Output Low is PMAC watchdog fault 71 SCLK34 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 72 SCLK34 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 73 ADC_CLK4 Output A D Converter Clock Programmable frequency 74 ADC_CLK4 Output A D Converter Clock Programmable frequency 75 ADC_STB4 Output A D Converter Strobe Programmable sequence 76 ADC_STB4 Output A D Converter Strobe Programmable sequence 71 ADC_DAA4 Input Chan A ADC Serial Data MSB first 78 ADC_DAA4 Input Chan A ADC Serial Data MSB first 79 ADC_DAB4 Input Chan B ADC Serial Data MSB first 80 ADC_DAB4 Input Chan B ADC Serial Data MSB first 81 AENA4 Output Amplifier Enable High is enable 82 AENA4 Output Amplifier Enable Low is enable 83 FAULT4 Input Amplifier Fault Programmable polarity 84 FAULT4 Input Amplifier Fault Programmable polarity 85 PWMATOP4 Output Phase A Top CMD or DAC Programmable function control DAC_CLK4 Clock 86 PWMATOP4 Output Phase A Top CMD or DAC Programmable function control DAC_CLK4 Clock 87 PWMABOT4 Output Phase A Bottom CMD or Programmable function control DAC4A DAC A Serial Data 88 PWMABOT4 Output Phase A Bottom CMD or Programmable function control DAC4A DAC A Serial Data 89 PWMBTOP4 Output Phase B Top CMD or DAC Programmable function control DAC_STB4 Strobe 90 PWMBTOP4 Output Phase B Top
32. are Reference MATING CONNECTORS CPU Board Connectors J2 JEXP Expansion 1 Two 50 pin female flat cable connector Delta Tau P N 014 R00F50 0K0 T amp B Ansley P N 609 5041 2 171 50 T amp B Ansley standard flat cable stranded 50 wire 3 Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 used for daisy chaining Acc 14 T O 23 A and D connectors 24 expansion J4 JDPRAM Dual Ported RAM 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0K0 T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 Base Board Connectors J1 JANA Analog Option 12 1 Two 14 pin female flat cable connector Delta Tau P N 014 R00F14 0K0 T amp B Ansley P N 609 1441 2 171 14 T amp B Ansley standard flat cable stranded 14 wire 3 Phoenix varioface modules type FLKM14 male pins P N 22 81 02 1 J2 JTHW Multiplexer Port 1 Two 26 pin female flat cable connector Delta Tau P N 014 R00F26 0K0 T amp B Ansley P N 609 2641 2 171 26 T amp B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J3 JIO Digital I O 1 Two 40 pin female flat cable connector Delta Tau P N 014 R00F40 0K0 T amp B Ansley P N 609 4041 2 171 40 T amp B Ansley standard flat cable stranded 40 wire 3 Phoenix varioface module type FLKM 40 male pins J4 JMACRO Macro Digital Da
33. ase A Top CMD or DAC Programmable function control DAC_CLK2 Clock 87 PWMABOT2 Output Phase A Bottom CMD or Programmable function control DAC2A DAC A Serial Data 88 PWMABOT2 Output Phase A Bottom CMD or Programmable function control DAC2A DAC A Serial Data 89 PWMBTOP2 Output Phase B Top CMD or DAC Programmable function control DAC_STB2 Strobe 90 PWMBTOP2 Output Phase B Top CMD or DAC Programmable function control DAC_STB2 Strobe 91 PWMBBOT2 Output Phase B Bottom CMD or Programmable function control DAC2B DAC B Serial Data 92 PWMBBOT 2 Output Phase B Bottom CMD or Programmable function control DAC2B DAC B Serial Data 93 PWMCTOP2 Output Phase B Top CMD or PFM Programmable function control DIR2 Direction 94 PWMCTOP2 Output Phase B Top CMD or PFM Programmable function control DIR2 Direction 95 PWMCBOT2 Output Phase B Bottom CMD or Programmable function control PULSE2 PFM Pulse 96 PWMCBOT 2 Output Phase B Bottom CMD or Programmable function control PULSE2 PFM Pulse Base Board Connector Pinouts 23 Turbo PMAC2 VME Hardware Reference J9 JMACH1 Machine Connector Continued 99 100 00000000000 0000000000 1 00000000000 0000000000 2 Pin Symbol Function Description Notes 97 GND Common Reference Voltage 98 GND Common Reference Voltage 99 5V Output Input 5V Power For external circuit or from external supply 100
34. cal Layout E39 B5 Jump pin 1 to 2 to permit VMEbus reset line to reset 1 2 Jumper installed PMAC2 Remove jumper so VMEbus reset line does not reset PMAC2 Bottom Board E Point Jumper Descriptions Turbo PMAC2 VME Hardware Reference 10 Bottom Board E Point Jumper Descriptions Turbo PMAC2 VME Hardware Reference OPTION 1V PIGGYBACK JUMPER DESCRIPTION JP1 1 to JP1 32 P2A Connector B Row Use Select Option 1V only E Point and Location Description Default Physical Layout JP1 1 to JP1 32 Jump pins 1 to 2 to use B row of P2A connector for 1 2 Jumpers JMACH pins not compatible with 32 bit VME installed Remove jumpers to leave B row of P2A unconnected to prevent contention with 32 bit VMEbus E14 SCLK Direction Control Option 1V only E Point and Location Description Default Physical Layout E14 LOO Remove jumper to output SCLK generated in second ASIC on SCLK_56 and SCLK_78 or to control direction by software Jump pins 1 to 2 to input SCLK signal for second ASIC on SCLK_78 and output this signal on SCLK_56 Jump pins 2 to 3 to input SCLK signal for second ASIC on SCLK_56 and output this signal on SCLK_78 No jumper installed Option 1V Piggyback Jumper Description 11 Turbo PMAC2 VME Hardware Reference 12 Option 1V Piggyback Jumper Description Turbo PMAC2 VME Hardw
35. ct CHWS5 CHC7 06 PLIMS No Connect CHW7 PLIM7 07 MLIM5 No Connect CHT5 MLIM7 08 HOMES No Connect CHT7 HOME 09 AENAS No Connect USERS AENA7 10 FAULT5 No Connect USER7 FAULT7 11 PWMATOPS No Connect ADC_DAA5 PWMATOP7 DAC_CLK7 DAC_CLK5 12 PWMABOTS DACSA No Connect ADC_DAA7 PWMABOT7 DAC7A 13 PWMBTOP5 DAC_STB5 No Connect ADC_DAB5 PWMBTOP7 DAC_STB7 14 PWMBBOTS DAC5B No Connect ADC_DAB7 PWMBBOT7 DAC7B 15 PWMCTOPS DIRS No Connect ADC_CLK5678 PWMCTOP7 DIR7 16 PWMCBOTS PULSES No Connect ADC_STB5678 PWMCBOT7 PULSE7 17 CHA6 No Connect SCLK5678 CHA8 18 CHB6 No Connect WDO CHB8 19 CHC6 No Connect CHU6 CHC8 20 PLIM6 No Connect CHU8 PLIM8 21 MLIM6 No Connect CHV6 MLIM8 22 HOME6 No Connect CHV8 HOME8 23 AENA6 No Connect CHW6 AENA8 24 FAULT6 No Connect CHW8 FAULT8 25 PWMATOP6 No Connect CHT6 PWMATOP8 DAC_CLK8 DAC_CLK6 26 PWMABOT6 DAC6A No Connect CHT8 PWMABOT8 DAC8A 27 PWMBTOP6 DAC_STB6 No Connect USER6 PWMBTOP8 DAC_STB8 amp 28 PWMBBOT6 DAC6B No Connect USERS PWMBBOT8 DAC8B 29 PWMCTOP6 DIR6 No Connect ADC_DAA6 PWMCTOPS 8 DIR8 30 PWMCBOT6 PULSE6 No Connect ADC_DAA8 PWMCBOTS8 PULSE8 amp 31 GND No Connect ADC_DAB6 GND 32 5V No Connect ADC_DAB8 5V Detailed pin descriptions for the pins on this connector are given on the J11 and J12 connectors The P2A connector is just an alternate path for these signals Note Format A for the B row will be used if jumpers JP1 1 to JP1 32 are removed This format should be used in a 32 bit V
36. en it is not in a bus configuration When the PMAC2 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 Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 5V Input Positive Supply Voltage Supplies all PMAC digital circuits 3 12V Input Positive Supply Voltage 12V to 15V not required on board used on jl 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 Note Unless Option 12 Analog to Digital Converters is included on the board only pins 1 and 2 may be provided on this terminal block TB2 4 Pin Terminal Block This terminal block provides the output for PMAC2 s watchdog timer relay both normally open and normally closed contacts Pin Symbol Function Description Notes 1 WD_NC Output Watchdog Relay Out Normally closed 2 COM Input Watchdog Return V or OV 3 WD_NO Output Watchdog Relay Out Normally open 4 COM Input Watchdog Return V or OV Note The normally closed relay contact is open while PMAC2 is operating properly it has power and the watchdog timer is not tripped and closed when the PMAC2 is not operating properly either it has lost power or the watchdog timer has tripped The normally open relay contact is clo
37. enable 32 AENA3 Output Amplifier Enable Low is enable 33 FAULT3 Input Amplifier Fault Programmable polarity 34 FAULT3 Input Amplifier Fault Programmable polarity 35 PWMATOP3 Output Phase A Top CMD or DAC Programmable function control DAC_CLK3 Clock 36 PWMATOP3 Output Phase A Top CMD or DAC Programmable function control DAC_CLK3 Clock 37 PWMABOT3 Output Phase A Bottom CMD or Programmable function control DAC3A DAC A Serial Data 38 PWMABOT3 Output Phase A Bottom CMD or Programmable function control DAC3A DAC A Serial Data 39 PWMBTOP3 Output Phase B Top CMD or DAC Programmable function control DAC_STB3 Strobe 40 PWMBTOP3 Output Phase B Top CMD or DAC Programmable function control DAC_STB3 Strobe 41 PWMBBOT3 Output Phase B Bottom CMD or Programmable function control DAC3B DAC B Serial Data 42 PWMBBOT3 Output Phase B Bottom CMD or Programmable function control DAC3B DAC B Serial Data 43 PWMCTOP3 Output Phase B Top CMD or PFM Programmable function control DIR3 Direction 44 PWMCTOP3 Output Phase B Top CMD or PFM Programmable function control DIR3 Direction 45 PWMCBOT3 Output Phase B Bottom CMD or Programmable function control PULSE3 PFM Pulse 46 PWMCBOT3 Output Phase B Bottom CMD or Programmable function control PULSE3 PFM Pulse 47 GND Common Reference Voltage 48 GND Common Reference Voltage 49 5V Output Input 5V Power For external circuit or from external supply 50 5V Output Input 5V Power For external circuit o
38. er to be able to operate properly All Option 2 boards built since Turbo PMAC production began have been built with these pins clipped E4 E6 Power Up Reset Load Source E6 jump E6 pin 2 to 3 to read flash IC on power up reset Other combinations are for factory use only the board will not operate in any other configuration E Point and Description Default Physical Layout E4 Remove jumper E4 No E4 jumper jump ES pin 1 to 2 installed ES and E6 jump pin 1to2 E7 Firmware Reload Enable E Point and Physical Layout Description Default E7 Jump pin 1 to 2 to reload firmware through serial or bus port Remove jumper for normal operation No jumper installed CPU Board E Point Descriptions Turbo PMAC2 VME Hardware Reference CPU Board E Point Descriptions Turbo PMAC2 VME Hardware Reference BOTTOM BOARD E POINT JUMPER DESCRIPTIONS E1 Servo and Phase Clock Direction Control E Point and Description Default Physical Layout EI Remove jumper for Turbo PMAC2 VME to use its internally generated servo and phase clock signals and to output these signals on the J5x serial port connector Jump pins 1 and 2 for Turbo PMAC2 VME to expect to receive its servo and phase clock signals on the J5x serial port connector No jumper Note If the El jumper is ON and the ser
39. expansion port connected to Acc 24P or Acc 24P2 boards The Turbo PMAC2 VME is a full sized ISA bus expansion card with a small piggyback board containing the CPU board This piggyback board occupies part of the next slot but 2 sized boards are permitted in this next slot While the Turbo PMAC2 VME is capable of ISA bus communications with or without the optional on board dual ported RAM it does not need to be inserted into an ISA expansion slot Communications can be done through an RS 232 or optional RS 422 serial port standalone operation is possible Board Configuration Base Version The base version of the Turbo PMAC2 VME provides a 2 slot board with 80 MHz DSP56303 CPU 120 MHz PMAC equivalent 128k x 24 SRAM compiled assembled program memory 5C0 128k x 24 SRAM user data memory 5C0 1M x 8 flash memory for user backup amp firmware 5C0 Latest released firmware version RS 232 serial interface VME bus interface 1 16 node MACRO interface IC Four channels axis interface circuitry each including e Three output command signal sets configurable as either Two serial data streams to external DACs 1 pulse and direction Three PWM top and bottom pairs e 3 channel differential single ended encoder input e Nine input flags two output flags e Interface to two external serial ADCs 8 to 18 bits e Two channels supplemental interface circuitry each including e 2 channel differential single ended encoder input e
40. irection input 8 CHBI Input Enc 1 Negative B Chan 9 CHC1 Input Enc 1 Positive C Chan Index channel 10 CHCI Input Enc 1 Negative C Chan 11 CHUI Input Chan 1 U Flag Hall effect fault code or sub count 12 CHVI Input Chan 1 V Flag Hall effect fault code or sub count 13 CHWI Input Chan 1 W Flag Hall effect fault code or sub count 14 CHTI Input Chan 1 T Flag Fault code or sub count 15 USER1 Input General Purpose User Flag Hardware capture flag or sub count 16 PLIMI Input Positive Overtravel Limit Hardware capture flag 17 MLIMI Input Negative Overtravel Limit Hardware capture flag 18 HOMEI Input Home Switch Input Hardware capture flag 19 ACCELTI Input Accessory Fault Flag For loss of acc supply voltage 20 WDO Output Watchdog Output Low is PMAC watchdog fault 21 SCLK12 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 22 SCLK12 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 23 ADC_CLK1 Output A D Converter Clock Programmable frequency 24 ADC_CLKI Output A D Converter Clock Programmable frequency 25 ADC_STBl Output A D Converter Strobe Programmable sequence 26 ADC_STBI Output A D Converter Strobe Programmable sequence 27 ADC_DAAI Input Chan A ADC Serial Data MSB first 28 ADC_DAAI Input Chan A ADC Serial Data MSB first 29 ADC_DAB1 Input Chan B ADC Serial Data MSB first 30 ADC_DABI Input Chan B ADC Serial Data MSB first Base Board Connector Pinouts 21
41. mponents 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 Turbo PMAC2 VME Hardware Reference Table of Contents INTRODUCTION RE 1 Lee Bee e iaia teases 1 Base EE 1 Option 1 Additional Four Channels Axis Interface iren 1 Option 2 Dual Ported RAM agegliddert deed iaia 2 Option 5 CPU and Memory Configurations iii 2 Option 7 Plate MoUtiting cu usri rire iliieianiiriaraieiea aee a ia Ea EE RE eeepc rientrata 2 Option 8 High Accuracy Clock Crystal 2 Option 9 Serial Port Configuration iano 2 Option 10 Firmware Version Specification ccccccccesccesscesecesecsseenseeseeeseesseeseeeeeeeeceseceseeeeesseseseeaececeaeessaseneeeneees 3 Option 12 Analog to Digital Converters iii 3 Option 16 Battery Backed Parameter Memor 3 Option 18 Identification Number and Real Time Clock Calendar Module iii 3 CPU BOARD E POINT DESCRIPTIONS orsrrrrrerrserecece rie reneezen nese eenece eee een neo nen erezioni ee ce ee conous isase ssas 5 El Watchdog Disable Jumper u uao iaia iii aa 5 E2 E3 Expansion Port Configure
42. n Option 12 Analog to Digital Converters Option 12 permits the installation of 8 or 16 channels of on board multiplexed analog to digital converters One or two of these converters are read every phase interrupt The analog inputs are not optically isolated and each can have a 0 5V input range or a 2 5V input range individually selectable e Option 12 provides an 8 channel 12 bit A D converter The key components on the board are U28 and connector J1 e Option 12A provides an additional 8 channel 12 bit A D converter The key component on the board is U29 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 e Option 16A provides a 32k x 24 bank of battery backed parameter RAM in components U17 U18 and U19 on the CPU board 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 on the CPU board 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 electronic
43. o 3 to input SCLK signal for first ASIC on SCLK_12 and output this signal on SCLK_34 No jumper installed E17 E18 Serial Connector Select E17 and E18 control whether the RS 232 or RS 422 serial port is used E Point and Location Description Default Physical Layout E17 Jump pins 1 to 2 to use RS 232 serial interface 1 2 Jumper installed IDO Jump pins 2 to 3 to use RS 422 serial interface E18 OOO Jump pins 1 to 2 to use RS 232 serial interface Jump pins 2 to 3 to use RS 422 serial interface 1 2 Jumper installed Bottom Board E Point Jumper Descriptions Turbo PMAC2 VME Hardware Reference E20A I DPRAM Byte Order Control E Point and Location Description Default Physical Layout E20A I Jump pins 1 to 2 and pins 3 to 4 to tie DPRAM data 1 2 3 4 Jumpers i e 5 e lines 8 15 to VMEbus data lines 8 15 and DPRAM installed Motorola 5 43 21 data lines 0 7 to VMEbus data lines 0 7 Motorola format 5 43 21 big endian format i il o i Jump pins 2 to 3 and pins 4 to 5 to tie DPRAM data 5 43 21 lines 8 15 to VMEbus data lines 0 7 and DPRAM 5 43 21 data lines 0 7 to VMEbus data lines 8 15 Intel little 5 43 2 1 endian format All E20A I jumpers must be in the same setting for DPRAM communications to work E39 Reset from Bus Enable E Point and Location Description Default Physi
44. oes not support 32 bit data transfers over the bus even with the B row of P2 If P1 is connected to the VME backplane PMAC is connected to the 5V supply and GND automatically In this case no other 5V supply should be connected P2 JMACHA Alternate Machine Connector The P2 connector provides an alternate path to J9 and J10 for the machine interface connections for Channels 1 4 Only the positive signals of complementary pairs are brought out on this connector For the inputs the complementary lines are tied to 2 5V on PMAC2 Refer to the J9 and J10 pin descriptions for more detailed information on each pin P2 JMACHA 96 Pin Header Continued C322TOCOOODODOOODONOOOODOOOOCOOCONOCO000000 A1 B32 0000000000909000000090909000000000000 B1 A32 OOO000000000000000000000000000000 IAI Front View Pin Row A Row B Row B Row C Format A Format B 01 5V 5V CHU1 5V 02 GND GND CHU3 GND 03 CHAT Reserved CHV1 CHA3 04 CHB1 VA24 CHV3 CHB3 05 CHC1 VA25 CHW1 CHC3 06 PLIM1 VA26 CHW3 PLIM3 07 MLIM1 VA27 CHT1 MLIM3 08 HOMEI VA28 CHT3 HOME3 09 AENAI VA29 USERI AENA3 10 FAULTI VA30 USER3 FAULT3 11 PWMATOPI1 DAC_CLKI VA31 ADC_DAAI1 PWMATOP3 DAC_CLK3 12 PWMABOTI DACIA GND ADC_DAA3 PWMABOT3 DAC3A 13 PWMBTOPI DAC_STB1 5V ADC_DABI PWMBTOP3 DAC_STB3 14 PWMBBOTI1 DAC1B VD16 ADC_DAB3 PWMBBOT3 DAC3B 15 PWMCTOPI1 DIRI VD17
45. or from external supply SI 5V Output Input 5v Power For external circuit or from external supply 52 5V Output Input 5v Power For external circuit or from external supply 53 GND Common Reference Voltage 54 GND Common Reference Voltage 55 CHA6 Input Enc 6 Positive A Chan Also pulse input 56 CHA6 Input Enc 6 Negative A Chan Also pulse input 57 CHB6 Input Enc 6 Positive B Chan Also direction input 58 CHB6 Input Enc 6 Negative B Chan Also direction input 59 CHC6 Input Enc 6 Positive C Chan Index channel 60 CHC6 Input Enc 6 Negative C Chan Index channel 61 CHU6 Input Chan 6 U Flag Hall effect fault code or sub count 62 CHV6 Input Chan 6 V Flag Hall effect fault code or sub count 63 CHW6 Input Chan 6 W Flag Hall effect fault code or sub count 64 CHT6 Input Chan 6 T Flag Fault code or sub count 65 USER6 Input General Purpose User Flag Hardware capture flag or sub count 66 PLIM6 Input Positive Overtravel Limit Hardware capture flag 67 MLIM6 Input Negative Overtravel Limit Hardware capture flag 68 HOME6 Input Home Switch Input Hardware capture flag 69 ACCFLT6 Input Accessory Fault Flag For loss of acc supply voltage 70 WDO Output Watchdog Output Low is PMAC watchdog fault 32 Axis Piggyback Board Connector Descriptions Turbo PMAC2 VME Hardware Reference J11 JMACH3 Machine Connector 99 1 00000000
46. r from external supply 51 5V Output Input 5V Power For external circuit or from external supply 52 5V Output Input 5V Power For external circuit or from external supply 53 GND Common Reference Voltage 54 GND Common Reference Voltage 55 CHA4 Input Enc 4 Positive A Chan Also pulse input 56 CHA4 Input Enc 4 Negative A Chan Also pulse input 57 CHB4 Input Enc 4 Positive B Chan Also direction input 58 CHB4 Input Enc 4 Negative B Chan Also direction input 59 CHC4 Input Enc 4 Positive C Chan Index channel Base Board Connector Pinouts 25 Turbo PMAC2 VME Hardware Reference J10 JMACH2 Machine Connector Continued 99 100 00000000000 0000000000 1 00000000000 0000000000 2 Pin Symbol Function Description Notes 60 CHC4 Input Enc 4 Negative C Chan Index channel 61 CHU4 Input Chan 4 U Flag Hall effect fault code or sub count 62 CHV4 Input Chan 4 V Flag Hall effect fault code or sub count 63 CHW4 Input Chan 4 W Flag Hall effect fault code or sub count 64 CHT4 Input Chan 4 T Flag Fault code or sub count 65 USER4 Input General Purpose User Flag Hardware capture flag or sub count 66 PLIM4 Input Positive Overtravel Limit Hardware capture flag 67 MLIM4 Input Negative Overtravel Limit Hardware capture flag 68 HOME4 Input Home Switch Input Hardware c
47. ription Notes 63 CHW2 Input Chan 2 W Flag Hall effect fault code or sub count 64 CHT2 Input Chan 2 T Flag Fault code or sub count 65 USER2 Input General Purpose User Flag Hardware capture flag or sub count 66 PLIM2 Input Positive Overtravel Limit Hardware capture flag 67 MLIM2 Input Negative Overtravel Limit Hardware capture flag 68 HOME2 Input Home Switch Input Hardware capture flag 69 ACCFLT2 Input Accessory Fault Flag For loss of ACC supply voltage 70 WDO Output Watchdog Output Low is PMAC watchdog fault 71 SCLK12 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 72 SCLK12 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 73 ADC_CLK2 Output AID Converter Clock Programmable frequency 74 ADC_CLK2 Output A D Converter Clock Programmable frequency 75 ADC_STB2 Output A D Converter Strobe Programmable sequence 76 ADC_STB2 Output A D Converter Strobe Programmable sequence 71 ADC_DAA2 Input Chan A ADC Serial Data MSB first 78 ADC_DAA2 Input Chan A ADC Serial Data MSB first 79 ADC_DAB2 Input Chan B ADC Serial Data MSB first 80 ADC_DAB2 Input Chan B ADC Serial Data MSB first 81 AENA2 Output Amplifier Enable High is enable 82 AENA2 Output Amplifier Enable Low is enable 83 FAULT2 Input Amplifier Fault Programmable polarity 84 FAULT 2 Input Amplifier Fault Programmable polarity 85 PWMATOP2 Output Phase A Top CMD or DAC Programmable function control DAC_CLK2 Clock 86 PWMATOP2 Output Ph
48. rm Read Tied to DSR 12 INIT Input PMAC Reset Low is Reset 13 GND Common PMAC Common ia 14 DSR Bidirect Data Set Ready Tied 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 PMAC Common 26 5V Output 5Vdc Supply Power supply out The JRS422 connector provides the PMAC with the ability to communicate both in RS422 and RS232 In addition this connector is used to daisy chain interconnect multiple PMACs for synchronized operation Jumpers E17 and E18 must both connect pins 2 and 3 to use this port Base Board Connector Pinouts 19 Turbo PMAC2 VME Hardware Reference J6 JDISP Display Connector Pin Symbol Function Description Notes 1 Vdd Output 5V Power Power supply out 2 Vss Common PMAC Common 3 Rs Output Read Strobe TTL signal out 4 Vee Output Contrast Adjust Vee 0 to 5Vdc 5 E Output Display Enable High is enable 6 R W Output Read or Write TTL signal out 7 DBI Ou
49. robe Programmable sequence 71 ADC_DAA8 Input Chan A ADC Serial Data MSB first 78 ADC_DAA8 Input Chan A ADC Serial Data MSB first 79 ADC_DAB8 Input Chan B ADC Serial Data MSB first 80 ADC_DAB8 Input Chan B ADC Serial Data MSB first 81 AENA8 Output Amplifier Enable High is enable 82 AENA8 Output Amplifier Enable Low is enable 83 FAULT8 Input Amplifier Fault Programmable polarity 84 FAULT8 Input Amplifier Fault Programmable polarity 85 PWMATOP8 Output Phase A Top CMD or DAC Programmable function control DAC_CLK8 Clock 86 PWMATOP8 Output Phase A Top CMD or DAC Programmable function control DAC_CLK8 Clock 87 PWMABOT8 Output Phase A Bottom CMD or Programmable function control DAC8A DAC A Serial Data 88 PWMABOTS8 Output Phase A Bottom CMD or Programmable function control DAC8A DAC A Serial Data 89 PWMBTOP8 Output Phase B Top CMD or DAC Programmable function control DAC_STB8 Strobe 90 PWMBTOP8 Output Phase B Top CMD or DAC Programmable function control DAC_STB8 Strobe 91 PWMBBOT8 Output Phase B Bottom CMD or Programmable function control DAC8B DAC B Serial Data 92 PWMBBOTS8 Output Phase B Bottom CMD or Programmable function control DAC8B DAC B Serial Data 93 PWMCTOP8 Output Phase B Top CMD or PFM Programmable function control DIR8 Direction 94 PWMCTOP8 Output Phase B Top CMD or PFM Programmable function control DIR8 Direction 95 PWMCBOT8 Output Phase B Bottom CMD or Programmable function control PULSE8 PFM Pulse
50. rol DIR1 Direction 45 PWMCBOT1 Output Phase B Bottom CMD or Programmable function control PULSEI1 PFM Pulse 46 PWMCBOTI Output Phase B Bottom CMD or Programmable function control PULSE I PFM Pulse 47 GND Common Reference Voltage 48 GND Common Reference Voltage 49 5V Output Input 5v Power For external circuit or from external supply 50 5V Output Input 5v Power For external circuit or from external supply SI 5V Output Input 5v Power For external circuit or from external supply 52 5V Output Input 5v Power For external circuit or from external supply 53 GND Common Reference Voltage 54 GND Common Reference Voltage 55 CHA2 Input Enc 2 Positive A Chan Also pulse input 56 CHA2 Input Enc 2 Negative A Chan Also pulse input 57 CHB2 Input Enc 2 Positive B Chan Also direction input 58 CHB2 Input Enc 2 Negative B Chan Also direction input 59 CHC2 Input Enc 2 Positive C Chan Index channel 60 CHC2 Input Enc 2 Negative C Chan Index channel 61 CHU2 Input Chan 2 U Flag Hall effect fault code or sub count 62 CHV2 Input Chan 2 V Flag Hall effect fault code or sub count 22 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference J9 JMACH1 Machine Connector Continued 99 100 00000000000 0000000000 1 00000000000 0000000000 2 Pin Symbol Function Desc
51. sed while PMAC2 is operating properly and open when PMAC72 is not operating properly Base Board Connector Pinouts 29 Turbo PMAC2 VME Hardware Reference 30 Base Board Connector Pinouts Turbo PMAC2 VME Hardware Reference AXIS PIGGYBACK BOARD CONNECTOR DESCRIPTIONS J11 JMACH3 Machine Connector Only present if Option 1V ordered J11 JMACH3 Machine Connector 99 00000000000 0000000000 1 100 00000000000 0000000000 2 Pin Symbol Function Description Notes 1 5V Output Input 5V Power For external circuit or from external supply 2 5V Output Input 5V Power For external circuit or from external supply 3 GND Common Reference Voltage 4 GND Common Reference Voltage 5 CHAS Input Enc 5 Pos A Chan Also pulse input 6 CHAS Input Enc 5 Neg A Chan Also pulse input 7 CHB5 Input Enc 5 Pos B Chan Also direction input 8 CHB5 Input Enc 5 Neg B Chan Also direction input 9 CHC5 Input Enc 5 Pos C Chan Index channel 10 CHC5 Input Enc 5 Neg C Chan Index channel 11 CHUS5 Input Chan 5 U Flag Hall effect fault code or sub count 12 CHV5 Input Chan 5 V Flag Hall effect fault code or sub count 13 CHW5 Input Chan 5 W Flag Hall effect fault code or sub count 14 CHT5 Input Chan 5 T Flag Fault code or sub count 15 USERS Inpu
52. t Encoder Sample Clock Direction controlled by PMAC2 jumper 23 ADC_CLK7 Output A D Converter Clock Programmable frequency 24 ADC_CLK7 Output A D Converter Clock Programmable frequency 25 ADC_STB7 Output A D Converter Strobe Programmable sequence 26 ADC_STB7 Output A D Converter Strobe Programmable sequence 27 ADC_DAA7 Input Chan A ADC Serial Data MSB first 28 ADC_DAA7 Input Chan A ADC Serial Data MSB first 29 ADC_DAB7 Input Chan B ADC Serial Data MSB first 30 ADC_DAB7 Input Chan B ADC Serial Data MSB first 31 AENA7 Output Amplifier Enable High is enable 32 AENA7 Output Amplifier Enable Low is enable 33 FAULT7 Input Amplifier Fault Programmable polarity 34 FAULT7 Input Amplifier Fault Programmable polarity 35 PWMATOP7 Output Phase A Top CMD or DAC Programmable function control DAC_CLK7 Clock 36 PWMATOP7 Output Phase A Top CMD or DAC Programmable function control DAC_CLK7 Clock 37 PWMABOT7 Output Phase A Bottom CMD or Programmable function control DAC7A DAC A Serial Data 38 PWMABOT7 Output Phase A Bottom CMD or Programmable function control DACTA DAC A Serial Data 34 Axis Piggyback Board Connector Descriptions Turbo PMAC2 VME Hardware Reference J12 JMACH4 Machine Connector 99 00000000000 0000000000 1 Continued 100 00000000000 0000000000 2 Pin Symbol
53. t General Purpose User Flag Hardware capture flag or sub count 16 PLIMS Input Positive Overtravel Limit Hardware capture flag 17 MLIMS Input Negative Overtravel Limit Hardware capture flag 18 HOMES Input Home Switch Input Hardware capture flag 19 ACCELTS Input Accessory Fault Flag For loss of ACC supply voltage 20 WDO Output Watchdog Output Low is PMAC watchdog fault 21 SCLK56 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 22 SCLK56 Input Output Encoder Sample Clock Direction controlled by PMAC2 jumper 23 ADC_CLK5 Output A D Converter Clock Programmable frequency 24 ADC_CLKS Output A D Converter Clock Programmable frequency 25 ADC_STB5 Output A D Converter Strobe Programmable sequence 26 ADC_STB5 Output A D Converter Strobe Programmable sequence 27 ADC_DAA5 Input Chan A ADC Serial Data MSB first 28 ADC_DAAS Input Chan A ADC Serial Data MSB first 29 ADC_DAB5 Input Chan B ADC Serial Data MSB first 30 ADC_DABS Input Chan B ADC Serial Data MSB first 31 AENAS Output Amplifier Enable High is enable 32 AENAS Output Amplifier Enable Low is enable 33 FAULT5 Input Amplifier Fault Programmable polarity 34 FAULTS Input Amplifier Fault Programmable polarity 35 PWMATOP5 Output Phase A Top CMD or DAC Programmable function control DAC_CLK5 Clock 36 PWMATOPS Output Phase A Top CMD or DAC Programmable function control DAC_CLKS5 Clock 37 PWMABOT5 Output Phase A Bottom CMD or Programmable function control DACSA
54. ta 1 Two 26 pin female flat cable connector Delta Tau P N 014 R00F26 0K0 T amp B Ansley P N 609 2641 2 171 26 T amp B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J5 JRS232 RS 232 Serial Communications 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0K0 T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J5A JRS422 RS 422 Serial Communications 1 Two 26 pin female flat cable connector Delta Tau P N 014 R00F26 0K0 T amp B Ansley P N 609 2641 2 171 26 T amp B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J6 JDISP Display 1 Two 14 pin female flat cable connector Delta Tau P N 014 R00F14 0K0 T amp B Ansley P N 609 1441 2 171 14 T amp B Ansley standard flat cable stranded 14 wire 3 Phoenix varioface modules type FLKM14 male pins P N 22 81 02 1 Mating Connectors 13 Turbo PMAC2 VME Hardware Reference J7 JHW Auxiliary Channel 1 Two 20 pin female flat cable connector Delta Tau P N 014 R00F20 0K0 T amp B Ansley P N 609 2041 2 171 20 T amp B Ansley standard flat cable stranded 20 wire 3 Phoenix varioface modules type FLKM20 male pins J8 JEQU Position Compare 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0K0 T amp B Ansley P N 609 1041 2
55. tput Display Datal 8 DBO Output Display Data0 9 DB3 Output Display Data3 10 DB2 Output Display Data2 11 DB5 Output Display Data5 12 DB4 Output Display Data4 13 DB7 Output Display Data7 14 DB6 Output Display Data6 The JDISP connector is used to drive the 2 line x 24 character Acc 12 2 x 40 Acc 12A LCD or the 2 x 40 vacuum fluorescent Acc 12C display unit The DISPLAY command may be used to send messages and values to the display J7 JHW Handwheel Encoder Connector Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 5V Output Supply Voltage To power external circuitry 3 HWA1 Input HW Pos A Chan Also pulse input 4 HWAI Input HW Neg A Chan Also pulse input 5 HWB1 Input HW Pos B Chan Also direction input 6 HWB1 Input HW Neg B Chan Also direction input 7 HWA2 Input HW Pos A Chan Also pulse input 8 HWA2 Input HW Neg A Chan Also pulse input 9 HWB2 Input HW Pos B Chan Also direction input 10 HWB2 Input HW Neg B Chan Also direction input 11 PUL1 Output PFM Pos Pulse Also PWM output 12 PULI Output PFM Neg Pulse Also PWM output 13 DIR1 Output PFM Pos Dir Out Also PWM output 14 DIR1 Output PFM Neg Dir Out Also PWM output 15 PUL2 Output PFM Pos Pulse Also PWM output 16 PUL2 Output PFM Neg Pulse Also PWM output 17 DIR2 Output PFM Pos Dir Out Also PWM output 18 DIR2 Output PFM
56. vo and phase clocks are not brought in on the J4 serial port the watchdog timer will trip immediately E2 Reserved for Future Use E3 Normal Re Initializing Power Up Reset E Point and Location Description Default Physical Layout E51 A2 Jump pin to 2 to re initialize ON power up reset No jumper installed OW Remove jumper for Normal power up reset E4 E6 Reserved for Future Use E7A H E8A H E9A H E10A H P2 Connector B Row Use Select E Point and Physical Layout Location Description Default E7A H Jump pins 1 to 2 to use B row of P2 connector for JMACH pins not compatible with 32 bit VME Jump pins 2 to 3 to use B row of P2 connector for 32 bit VME bus interface 1 2 Jumpers installed OO Jump pins 1 to 2 to use B row of P2 connector for JMACH pins not compatible with 32 bit VME Jump pins 2 to 3 to use B row of P2 connector for 32 bit VME bus interface 1 2 Jumpers installed kel E D 5 Jump pins 1 to 2 to use B row of P2 connector for JMACH pins not compatible with 32 bit VME Jump pins 2 to 3 to use B row of P2 connector for 32 bit VME bus interface 1 2 Jumpers installed E10A H 5 Jump pins 1 to 2 to use B row of P2 connector for JMACH pins not compatible with 32 bit VME Jump pins 2 to 3 to use B row of P2 connector for 32 bit VME bus interface 1 2 Jumpers installed
57. will be available shortly The compiled assembled program 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 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 The user data memory 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 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 M
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