Delta Tau PMAC2 User's Manual
Contents
1. T EPS OASIS THT MRO 26 919 09 Ga de eas ONO ONO ONO u XT ANA lt OVNd nem D ono h 1 02 GI 4 I z SNK A0 M di oam TINTI zo 5301 ayo aina Gana 2u SW3lSAS VIVO VLIJ ua EOS 14 br fy DOM SA 3 Sz 2 EJ 100435 ano FOTA TST 21 01538 OBI zo Eine 401595 jeeueo erg 9 Pira SVA sod VNOZZPSH 2100 bp ani2. ant 02940551 SVOL 30 Ed dou T GON GGOW xi s sv DU sv w zv s 9 m zv Tu ange sog T EE M TEE Sos UR ov 5158 um sm ZIM pee bio DOL dISMEE 5 Ri I ayo 2108 v anv ape 90090 36 Poro 805 1551 59 22 INS n aameidia an9 50498 CT z999 zos OV avesti 13534 M 1 3 uncos 6121 ayo LIVE 1004 oot 1 Ej T F N NE PON anya vo mu b z P A TEA JA A icu A u TININAIOOX TUN K k Loca bi x m IT A T k AA nuove eros oF T 91105 gt siezisa 6 aes on DOGHOLVM z suavi SSVdAS OL M bros 3 LH3SNI IGOAHONJVUJUNJIXI JATIE n 3004 GUVONVIS 444
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8. Front View Pin Symbol Function Description Notes 1 PHASE In Out Phasing Clock See Notes 1 2 2 DTR Bidirect Data Terminal Ready Tied to DSR 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 Reguest to Send PMAC ready bit 7 DSR Bidirect Data Set Ready Tied to DTR 8 SERVO In Out Servo Clock See Note 2 9 GND Common PMAC Common 10 5V Output 5VDC Supply Power supply out The JRS232 connector provides the PMAC2 PC with the ability to communicate serially with an RS232 port This connector cannot be used for daisy chain communication interconnection of multiple PMACS although it can be used to share servo and phase clocks for synchronicity The JSA RS 422 interface is required for daisy chain communication Jumpers E17 and E18 must connect pins 1 and 2 to use this port for serial communications Note 1 If communicating to 2 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 Connector Pinouts Turbo PMAC2 VME Ultralite J5A RS422 Serial Port Connector J5A JRS422 26 Pin Header 2 OO 2 26
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12. E 6 ON EE 000000 E NI aesn td 62105 on x T 11806618 b ALT 18 TSN TSN 7 BU ano PLLOVEL 1393484 mo SO 13534 157 Ka Tin KN oes ses pini v nar gt 1989999 n t ouis e 91105 302 4 dS 0296 S03 f mo LI 4050 8 T 339001 XVW slo ano 8 NaHS p atga E amp S DES di 6 so i H ha MIS AE 2 inoa HE S MO 0015 s 3n zo H E x 7 1 orld i amp n g 5 TT 8 celo p neder MARRA SCR RN Shu nedet 001193 VOMINQON M8bb uorTado DITA 08 0000508 Mp9 uorado A4444G0 0000G0 MZ CATES USJJTIM ISSN 4190805 0080808 MT USJITIM ISSN AAE0P0 000070 Mp9 444100 000000 WWVud ayo n z 98 nodes sy ayo BON viH3QV3H ISHL T SAT 13538 Or 1 ar SNOISIO OL TIY ONT SKGISAS VIVO
13. 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 Terminal Ready Tied to DSR 12 INIT Input PMAC Reset Low is Reset 13 GND Common PMAC Common wa 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 Control Diff I O low True 18 SCIO Bidirect Special Control Diff I O high True 19 SCK Bidirect Special Clock Diff 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
14. 2 Ultralite CONNECTORS J1 JTAG OnCE for Factory Use Only 10 IDC Header 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 TZB Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 93 JIO Digital I O 1 Two 40 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 95 JRS232 RS 232 Serial Communications 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0K0 TEB Ansley P N 609 1041 2 171 10 TZB 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 JDISPyDisplay 1 Two 14 pin female flat cable connector Delta Tau P N 014 R00F14 0K0 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 J7 JHW Auxiliary Channel 1 Two 20 pin female flat cable connector Delta T
15. HARDWARE REFERENCE MANUAL Turbo 2 VME Ultralite 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 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 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 gualified personnel should be allowed to handle this eguipment 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
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18. Input HW Pos B Chan Also direction input 6 HWBI 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 Pos Pulse Also output 12 PULI Output PFM Neg Pulse Also PFM output 13 DIR1 Output PFM Pos Dir Out Also output 14 DIRI Output PFM Neg Dir Out Also output 15 PUL2 Output PFM Pos Pulse Also PFM output 16 PUL2 Output PFM Neg Pulse Also PFM output 17 DIR2 Output PFM Pos Dir Out Also output 18 DIR2 Output PFM Neg Drr Out Also output 19 GND Common Reference Voltage 20 5V Output Supply Voltage To power external circuitry This connector provides the interface for two guadrature encoders typically to be used as handwheel or time base master encoders It also provides two channels of pulse and direction or PWM top and bottom pair outputs TB1 2 4 Pin Terminal Block Connector Pinouts 17 Turbo PMAC2 VME Ultralite Pin Symbol Function Description Notes 1 GND Common Reference Voltage 2 5V Input Positive Supply Voltage Supplies all PMAC digital circuits This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2 board when it is not in a bus configuration When the PMAC2 is in a bus config
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20. operation Jumpers E17 and E18 must connect pins 2 and 3 to use this port for serial communications 16 Connector Pinouts Turbo 2 Ultralite J6 JDISP Display Connector J6 JDISP 14 Pin Header 14 Front View 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 5 VDC 5 Display Enable High is Enable 6 R W Output Read or Write TTL signal out 7 DBI Output Display Datal 8 DBO Output Display Data 9 DB3 Output Display Data3 10 082 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 J7 JHW 20 Pin Header 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
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22. 503 gt sa SON velo am v 008 GSI SNODU m vadi TON SE V 5008 s VIVO sv 96 800A zzo Y 2008 a B 201 3190 201 o UM ZON 1t 5y ZOGA v 1004 W Snivisu 1d iv id TOW san JE ano ano V 0008 2 0031 INOG NOD odi UON no mE m ov vv a Sod nSt raw JA POCA 8091771293 gt lev eg ao sul n er lav za z osvou 5 AS o ono ir ONO 869 50A viva EZ i 97 d 1001 8 8 09 idio wa 000A ABL 3ONVL 390V SSINDIONI SIHI NOISS3SSOA i 333955 k ZONA sd gt Buum DNI 1 VIVO NVI VIT3O SNOTINSAN 8 did OL ONY SNDISO OL SIHOIN TIV ONT SWSISAS VIVO DI VITRO 30 153131001 ant SNOTIONNISNI JSNIOIT 11 OL INVNSMNA OL SI 1 200 STAL NOSVAM ANY NO 137008 nes o dL en MO ATOS W3ASN SI INAKNOOG STAI OL SILIL 8 did NOAN NHDISN OI 199 805 CINVOT SI ONY ONT SHSISAS ONI 30 SRI SI INGANOOG STAL cc 210111 AWA CIVWd 99411
23. 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 U45 This IC forms the non volatile memory for the boar s firmware the user setup variables and for user programs tables and buffers It can be 1M x 8 2M x 8 or AM x 8 in capacity e Option SCO Default CPU speed and memory configuration S0MHz DSP56303 CPU 8Kx24 internal memory 128Kx24 SRAM compiled assembled program memory 128Kx24 SRAM user data memory 1Mx8 flash memory e Option 5C3 80MHz DSP56303 CPU 8Kx24 internal memory expanded 512Kx24 SRAM compiled assembled program memory expanded 512Kx24 RAM user data memory 4Mx8 flash memory e Option 500 100MHz DSP56309 CPU 34Kx24 internal memory 128Kx24 SRAM compiled assembled program memory 128Kx24 SRAM user data memory 1Mx8 flash memory 2 Introduction Turbo 2 Ultralite e Option 503 100MHz DSP56309 CPU 34Kx24 internal memory expanded 512Kx24 SRAM compiled assembled program memory expanded 512Kx24 SRAM user data memory 4Mx8 flash memory e Option SEO 160MHz DSP56311 CPU 128Kx24 internal memory 128Kx24 SRAM compiled assembled program memory 128Kx24 SRAM user data memory 1Mx8 flash memory e Option 5E3 160MHz DSP56311 CPU 128Kx24 internal memory expa
24. 1 to 2 to reload firmware through No jumper installed E40 Electrical Optical MACRO Input Select from fiber optic receiver Remove E16 jumper to select MACRO input from electrical RJ45 receiver E Point and Location Description Default Physical Layout E16 A 2 Jump E16 pin 1 to 2 to select MACRO input Jumper installed Option A No jumper installed Option C Jumper Description Turbo PMAC2 VME Ultralite Jumper Description Turbo 2 Ultralite SOFTWARE SETUP PMAC I Variables has a large set of Initialization parameters I variables that determine the personality of card for a specific application Many of these are used to configure a motor properly Once set up these variables may be stored in non volatile EAROM memory using the SAVE command so the card is always configured properly PMAC loads the EAROM I variable values into RAM on power up The easiest way to program set up and troubleshoot PMAC is by using the PMAC Executive Program Pewin 32 and its related add on packages Turbo Setup 32 and PMAC Plot 32 These software packages are available from Delta Tau ordered through Acc 9WN The programming features and configuration variables for PMAC VME are fully described in the PMAC User and Software manuals Software Setup Turbo PMAC2 VME Ultralite 10 Software Setup Turbo
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31. as non multiplexed I O Connector Pinouts 13 Turbo PMAC2 VME Ultralite J3 JI O General Input Output Connector J3 JIO 40 Pin Header 00 0 000000 1 OOOOOO OO0OO0O000 Pin Symbol Function Description Notes 1 1000 In Out Digital I O 0 Software Direction Control 2 I O01 In Out Digital I O 1 Software Direction Control 3 I O02 In Out Digital I O 2 Software Direction Control 4 I O03 In Out Digital I O 3 Software Direction Control 5 1 004 In Out Digital I O 4 Software Direction Control 6 1005 In Out Digital O 5 Software Direction Control 7 I O06 In Out Digital I O 6 Software Direction Control 8 I O07 In Out Digital I O 7 Software Direction Control 9 1 008 In Out Digital I O 8 Software Direction Control 10 1 009 In Out Digital I O 9 Software Direction Control 11 I O10 In Out Digital O 10 Software Direction Control 12 I O11 In Out Digital I O 11 Software Direction Control 13 I O12 In Out Digital I O 12 Software Direction Control 14 I O13 In Out Digital I O 13 Software Direction Control 15 I O14 In Out Digital O 14 Software Direction Control 16 I O15 In Out Digital I O 15 Software Direction Control 17 I O16 In Out Digital O 16 Software Direction Control 18 I O17 In Out Digital I O 17 Software Direction Control 19 I O18 In Out Digital I O 18 Software Directio
32. au P N 014 R00F20 0K0 Ansley P N 609 2041 2 171 20 TZB Ansley standard flat cable stranded 20 wire 3 Phoenix varioface modules type FLKM20 male pins J9 JISP for Factory Use Only 8 pin SIP Connector J11 JEXP Expansion 1 Two 50 pin female flat cable connector Delta Tau P N 014 R00F50 0K0 Ansley P N 609 5041 2 171 50 TZB Ansley standard flat cable stranded 50 wire 3 Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 J14 MACRO Electrical Input Connector 8 pin RJ 45 Socket J17 MACRO Electrical Output Connector 8 pin RJ 45 Socket P1 VME Bus 3U Connector P2 VME Bus 3U Connector TB1 JPWR Power Supply Connector 2 point Terminal Block TB2 WD Watchdog Output Connector 4 point Terminal Block U4 MACRO Fiber Optic Transceiver Double SC Fiber Optic Socket Mating Connectors 11 Turbo PMAC2 VME Ultralite 12 Mating Connectors Turbo 2 Ultralite CONNECTOR PINOUTS J2 JTHW Multiplexer Port Connector 112339 00 26 2 Front View 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 accessories 6 SELI Ou
33. boards optimized for interface to the system through the MACRO ring and therefore does not contain on board axis interface circuitry which is what makes it Ultralite It can command up to 32 axes through the MACRO ring It can also support up to 32 channels of off board axis interface circuitry through its expansion port connected to 24 or 24 2 boards The Turbo PMAC2 VME Ultralite is a VME bus card This card is capable of VME bus communications with or without the optional dual ported RAM Standalone operation is also possible and communications can be done through RS 232 or RS 422 Board Configuration Base Version The base version of the Turbo PMAC2 VME Ultralite provides 80 MHz DSP56303 CPU 120 MHz PMAC eguivalent 128k x 24 SRAM compiled assembled program memory 5 0 128k x 24 SRAM user data memory 5 0 1M x 8 flash memory for user backup amp firmware 5 0 Latest released firmware version RS 232 422 serial interface PCT bus interface One 16 node MACRO interface IC MACRO ring circuitry without connectors see Opts A and C No on board axis interface circuitry Two channels supplemental interface circuitry each including e 2 channel differential single ended encoder input e 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 placemen
34. ct DO 3 232 USB 422 s handshake input from J5 Jump E18 pin 1 to 3 to select RS 422 serial handshake input from J5A Jump E18 pin 1 to 4 for future use of USB E Point and Location Description Default Physical Layout E17 A 5 Jump E17 pin 1 to 2 to select RS 232 serial data Pins 1 2 jumpered 232 input from J5 2 Jump E17 pin 1 to 3 to select RS 422 serial data 422 3 o USB input from J5A Jump E17 pin 1 to 4 for future use of USB A 5 Jump E18 pin 1 to 2 to select RS 232 serial Pins 1 2 jumpered E19 Watchdog Disable Jumper 9 purposes only Remove jumper to enable Watchdog timer E Point and Location Description Default Physical Layout E19 B 2 Jump pin 1 to 2 to disable Watchdog timer for test No jumper installed E20 E22 Power Up Reset Load Source DA DA E22 oble Jump E21 pin 1 to 2 Jump 22 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 Location Description Default Physical Layout E20 C 4 Remove jumper E20 No E20 jumper installed E21 and E22 jump pin 1 to2 E23 Firmware Reload Enable serial or bus port Remove jumper for normal operation E Point and Location Description Default Physical Layout E23 C 4 Jump pin
35. n Control 20 I O19 In Out Digital I O 19 Software Direction Control 21 1 020 In Out Digital I O 20 Software Direction Control 22 In Out Digital I O 21 Software Direction Control 23 1 022 In Out Digital I O 22 Software Direction Control 24 1 023 In Out Digital I O 23 Software Direction Control 25 1 024 In Out Digital I O 24 Software Direction Control 26 I O25 In Out Digital I O 25 Software Direction Control 27 1 026 In Out Digital I O 26 Software Direction Control 28 I O27 In Out Digital I O 27 Software Direction Control 29 1 028 In Out Digital I O 28 Software Direction Control 30 1 029 In Out Digital I O 29 Software Direction Control 31 1 030 In Out Digital I O 30 Software Direction Control 32 I O31 In Out Digital I O 31 Software Direction Control 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 inpu output pins at TTL levels Direction can be controlled in byte wide groups 14 Connector Pinouts Turbo 2 Ultralite 45 9858232 Serial Port Connector J5 JRS232 10 Pin Header 9
36. n on Reset Control 6 E4 E6 Reserved for Future Use hn hl 6 E10A C Flash Memory Bank Select 6 El7 El8 lt Senal PortSelect ui liano ae lele al iaia 7 E19 Watchdog Disable Jumper ariete 7 E20 E22 Power U p Reset Load 50 klope 7 E23 Firmware Reload Enable ree sedeo oa no 7 E40 Electrical Optical MACRO Input Select oo o oe o nn 7 SOFTWARE SETUP seme S 9 PMAC EVanables EC TERME 9 MATING CONNECTORS P asane nana 11 JI JTAG OnCE for Factory Use Only 10 pin IDC 11 I2Z JFHW Mulnplexet POFLE ba a v oo S 11 JO Digital MEE 11 J5 JRS232 RS 232 Serial Communications 11 JSA JRS422 RS 422 Serial Communications ii 11 11 J7 JHW Auxiliary Channel 11 J9 JISP for Factory Use Only 8 pin SIP 11 IPEUID QDummo m 11 MACRO Electrical Input Connector 8 pin RJ 45 11 J17 MACRO Electrical Output Connector 8 RJ 45 5 11 DISVME CONNECCION ee eite a a Ri 11 P2 VME CONNECTION RE 11 TBI JPWR Power Supply Connector 2 point Terminal 11 TB2 WD Watchdog Output Con
37. nded 512Kx24 SRAM compiled assembled program memory expanded 512Kx24 SRAM user data memory 4Mx8 flash memory Option 7 Plate Mounting 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 Ultralite has a clock crystal component 5 of nominal frequency 19 6608 MHz 20 MHz The standard crystal s accuracy specification is 100 ppm Option 8A provides a nominal 19 6608 MHz crystal with a 15 ppm accuracy specification Option 9 Auxiliary Serial Port The Turbo PMAC2 VME Ultralite comes standard with a single serial port configurable as RS 232 or RS 422 Optionally a second serial port can be added Option 9T adds an auxiliary RS 232 port in the CPU section Option 10 Firmware Version Specification Normally the Turbo PMAC2 VME Ultralite is provided with the newest released firmware version A label on the U45 flash memory IC shows the firmware version loaded at the factory Option 10 provides for a user specified firmware version Option 16A Battery Backed Parameter Memory The contents of the standard memory are not retained through power down or reset unless they have been saved to flash memory first Option 16A provides a 32k x 24 bank of battery backed parameter RAM in components U41 U44 and U48 for real time parameter storage This is ideal for holding machine state parameters in case
38. nector 4 point Terminal 11 U4 MACRO Fiber Optic Transceiver Double SC Fiber Optic Socket 11 CONNECTOR PINOUTS cosi ssso sisses 13 72 JTHW Multiplexer Port Connector on rn 13 J3 General Input Output Connector i 14 J3 JIO 40 Pin Header 0 PRO 14 15 JRS232 Serial Port 15 J5 IRS232 10 Header o legen 15 Table of Contents Turbo PMAC2 VME Ultralite JSA RS422 Serial Port 16 JSA IRS422 26 Pin Header ai 16 JE JDISP Display 17 J6 JDISP 14 Pin Header iii 17 J7 JHW Handwheel Encoder Connector 17 J7 JHW 20 Pin 17 TB 1 2 4 Pin Terminal Block 17 TB2 4 Pin Terminal Block AA TR ai 18 MACRO Interface Connectors ii 18 Option As Fiber Optic TANS COW CT cs eet ee dp Hired beige ao 18 Option RJ 45 Phone Jack 18 SCHEMA CERERE RATA 19 ii Table of Contents Turbo 2 Ultralite INTRODUCTION The Turbo PMAC2 Ultralite is a member of the Turbo PMAC family of
39. of an unexpected power down The battery is located at component BTI Option 18A Electronic Identification Option 18A provides a module at location U67 that contains an electronic identification feature Introduction Turbo PMAC2 VME Ultralite Introduction Turbo 2 Ultralite JUMPER DESCRIPTION The drawing below is a road map to the E Point locations shown in the tables following 3 s seje 888X88 s 999 8 REV E 5 888 p 8886 je BEBE 8088 8868988 eese 2 eee ai s n 1 I Jumper Description Turbo PMAC2 VME Ultralite Reset Lock Enable E Point and Location Description Default Physical Layout E0 Q B 2 Remove jumper for normal operation Jump pins 1 to 2 to force
40. 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 Turbo 2 Ultralite Table of Contents INTRODUCTION an 1 Board Cora dicm 1 RW I E 1 MACRO Ring Connector Options iesu zii 1 Option 1 Additional MACRO Interface lcs 2 Option 2 Dual Ported 2 Option 5 CPU and Memory Configurations 2 Option 7 Plate Mounting 3 Option 8 High Accuracy Clock Crystal iii 3 Option 9 Auxili ry Serial POTE iss egitto 3 Option 10 Firmware Version Specification 3 Option 16A Battery Backed Parameter Memory 3 Option 18 Electronic Identification 3 JUMPER DESCRIPTION Por osiva kon on ricorra 5 Reset Lock Enable ie RE re eb ere terre EU RR EE be ERE E EXER dey 6 El Card 0 Clock Direction 6 E 2 40 60 MHZ Oper att On Mn 6 E3 Re Initializatio
41. se za zv dana dana I 1 zig zudem zr m zr ASN 8sn HOJ v OL L dwar I lano om ET ENS Sr Tua ev ema sano ZV ZMA vee E ASN zzvSu HOI OL dinnr SA 819 ae 4 ino N N MN L i L ASN 26259 Z OL DI U 1 18 MH Z O ODA 5 p IBdISMEE 02 GI 7 7 Td lt 13534 7 IU v 7 I 418 i ma NE VN TEO Z valo TIMA 13 008 21 ayo OLO I 98 sv 9 I8dISXE EL m ayo 600 4 sa sv 4 vy 02105 9 ZZ 32 0AH3S 9 g 800 i sa ozay st 3 2001 ki 8 PARI ano m WR 208 eros x T i 7001 BE uw ane 1815022 ossea 01 RADE 500 4 Husova 5 sa 5001 se 1 SvzOVvL 160 328 ZMH gt E I ZE ZMH z T pi disse 1 ano 22 ZMH zv EMH 4 so sob 813 ANA 991 e n A TINO gt MH E 19 2515 7 T IMH 5 SIH I as PPP 3 Y Ya ae 18 135 568 dis Au K a_i zi EXE I 135 508 di ETS 184156 E AP A Em sa AG k ws TF 5 20 Zev KG lt rom S S Lilia HE wh
42. t 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 MACRO Ring Connector Options If a MACRO interface is desired which is the usual reason for use of the board at least one of the MACRO connector options must be selected e Option A provides the MACRO ring fiber optic SC style interface connector The key component on the board is U4 e Option C provides the MACRO ring RJ 45 electrical interface connectors The key components on the board are J14 and J17 Introduction 1 Turbo PMAC2 VME Ultralite Option 1 Additional MACRO Interface Ics The basic board has one MACRO interface IC and space for three more Variations of Option 1 fill these spaces as follows e Option 1A provides the first additional MACRO interface IC two total for 16 additional MACRO nodes eight additional servo nodes and eight additional I O nodes 32 nodes total 16 servo and 16 VO The key component on the board is U23 e Option provides the second additional MACRO interface IC three total for 16 additional MACRO nodes eight additional servo nodes and eight additional I O nodes 48 nodes total 24 servo and 24 I O The key component on the board is U24 Option 1A is a pre reguisite e Option IC provides the third additional MACRO interface IC four total for 16 additional MACRO nodes eight additional servo nodes and eight addi
43. the card to stay in the reset state No jumper installed E1 Card 0 Clock Direction Select E Point and Location Description Default Physical Layout E1 C 1 Remove jumper to specify that this PMAC is Card No jumper installed 0 which generates its own phase and servo clock default Jump pins 1 to 2 to specify that this PMAC is not Card 0 but Card 1 to F 15 which reguires external phase and servo clock signals from the serial port to operate E2 40 60 MHz Operation E Point and Location Description Default Physical Layout E2 C 1 Remove jumper for 40MHz operation No jumper installed Jump pins 1 to 2 for 6OMHz operation E3 Re Initialization on Reset Control E Point and Location Description Default Physical Layout E3 1 Remove jumper for normal reset mode default No jumper installed Jump pins 1 to 2 for re initialization on reset E4 E6 Reserved for Future Use E10A B C Flash Memory Bank Select E Point and Location Description Default Physical Layout E10A Remove all three jumpers to select flash memory No jumpers installed bank with factory installed firmware Use other configuration to select one of the seven C 3 other flash memory banks Jumper Description Turbo 2 Ultralite E17 E18 Serial Port Sele
44. tional I O nodes 64 nodes total 32 servo and 32 I O The key component on the board is U25 Options 1A and 1B are pre requisites 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 2 provides a 32k x 16 bank of dual ported RAM The key component on the board is U191 Option 5 CPU and Memory Configurations The various versions of Option 5 provide different CPU speeds and main memory sizes Only one Option Sxx may be selected for the board The CPU is a DSP563xx IC as component 056 The CPU is available in several speed options 80 MHz CPU is a DSP56303 Option 5Cx 100 MHz CPU is a DSP56309 Option 5Dx and 160 MHz CPU is a DSP56311 Option 5 The maximum frequency of operation is indicated with a sticker on the CPU in 056 The compiled assembled program memory SRAM ICs are located in U40 U43 and U47 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 U39 U42 and U46 These ICs form the active memory
45. tput Select 1 Output Address data output for MUX port accessories 7 DAT2 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 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 Req 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 multiplexer port connector provides eight inputs and eight outputs at TTL levels typically these are used to create multiplexed I O with accessory boards such as 18 Thumbwheel and 34 Discrete I O The port I O may also be used directly
46. uration these supplies come through the bus connector from the bus power supply automatically in this case this terminal block should not be used TB 2 4 Pin Terminal Block 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 This terminal block provides the output for PMAC2 s watchdog timer relay both normally open and normally closed contacts 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 closed while PMAC2 is operating properly and open when 2 is not operating properly MACRO Interface Connectors Option A Fiber Optic Transceiver U4 Lower port Transmit Optical Data U4 Upper port Receive Optical Data Option C RJ 45 Phone Jack Connectors J14 Receive Data J17 Transmit Data 18 Connector Pinouts 6I EROT TITTI SE cc 9 L9 09 a ueunsog sas X313 AWA COVWd snu SWALSAS VIVO NVL uonoss NAD
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