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Delta Tau TURBO PMAC PCI LITE User's Manual

1. 46 Connector Pinouts Turbo PMAC PCI Lite J9 JEQU Position Compare Connector J9 JEQU 10 Pin Connector 9 0000O09j 1 10 DO OO O 2 Front View Pin Symbol Function Description Notes 1 EQUI Output Encoder 1 comp EQ Low is true 2 EQU2 Output Encoder 2 comp EQ Low is true 3 EQU3 Output Encoder 3 comp EQ Low is true 4 EQU4 Output Encoder 4 comp EQ Low is true 5 EQUS Output Amp enable 1 Low is true 6 EQU6 Output Amp enable 2 Low is true 7 EQU7 Output Amp enable 3 Low is true 8 EQU8 Output Amp enable 4 Low is true 9 A V Supply Positive supply 5v to 424v 10 AGND Common Analog ground This connector provides the position compare outputs and the amplifier enable outputs for the four servo interface channels The board is shipped by default with a ULN2803A or equivalent open collector driver IC on U37 It may be replaced with UDN2891A or equivalent open emitter driver E101 E102 must be changed or a 74ACT563 or equivalent 5V CMOS driver J30 JANA Analog Input Port Connector Optional Pin Symbol Function Description Notes 1 ANAIO0 Input Analog input 0 0 5v or 2 5v range 2 ANAIOI Input Analog input 1 0 5v or 2 5v range 3 ANAIO2 Input Analog input 2 0 5v or 2 5v range 4 ANAIO3 Input Analog input 3 0 5v or 2 5v range 5 ANAI04 Input Analog input 4 0 5v or 2
2. E85 Host Supplied Analog Power Source Enable PC bus ties amplifier and PMAC power supply together Defeats OPTO coupling E Point and wer Physical Layout Location Description Default E85 B5 Jump pin to pin 2 to allow A 14V to come from No jumper Note If E85 is changed E88 and E87 must also be changed See E90 34 E Point Jumper Descriptions Turbo PMAC PCI Lite E87 E88 Host Supplied Analog Power Source Enable a Location Description Default E87 C5 Jump pin 1 to pin 2 to allow AGND to come from No jumper PC bus ties amplifier and PMAC GND together Defeats OPTO coupling Note that if E87 is changed E85 and E88 must also be changed Also see E90 E88 A2 Jump pin to pin 2 to allow A 14V to come from No jumper PC bus ties amplifier and PMAC power supply together Defeats OPTO coupling 1 Note If E88 is changed E87 and E85 must also be changed See E90 E89 Amplifier Supplied Switch Pull Up Enable P coal Location Description Default E89 B5 Jump pin 1 to 2 to use A 15V on J8 J MACHI Jumper installed pin 59 as supply for input flags Remove jumper to use A 15V OPT V from J9 pin 9 as supply for input flags Note This jumper setting is relevant only if E90 connects pin 1 to 2 E90 Host Supplied Switch Pull Up Enable E Point and Physical Layout E90
3. Front View Pin Symbol Function Description Notes 1 DCLK Output D to A A to D clock DAC and ADC clock for channel 1 2 3 4 2 BDATAI Output D to A data DAC data for Channel 1 2 3 4 3 ASELO Output Channel select bit 0 Select for Channel 1 2 3 4 4 ASEL1 Output Channel select bit 1 Select for Channel 1 2 3 4 3 CNVRTOI Output A to D convert ADC convert sig Channel 1 2 3 4 6 ADCINI Input A to D data ADC data for Channel 1 2 3 4 7 OUTI Output Amp Enable Dir Amp enable dir for Channel 1 8 OUT2 Output Amp Enable Dir Amp enable dir for Channel 2 9 OUT3 Output Amp Enable Dir Amp enable dir for Channel 3 10 OUT4 Output Amp Enable Dir Amp enable dir for Channel 4 11 HF41 Input Amp Fault Amp fault input for Channel 1 12 HF42 Input Amp Fault Amp fault input for Channel 2 13 HF43 Input Amp Fault Amp fault input for Channel 3 14 HF44 Input Amp Fault Amp fault input for Channel 4 15 5V Output 5V supply Power supply out 16 GND Common PMAC common Acc 28A B connection digital amplifier connection TB1 JPWR 123 4 Edge of Board Top View Pin Symbol Function Description Notes 1 GND Common Digital ground 2 5V Input 5V supply Refer to digital ground 3 12V Input 12V to 15V supply Refer to digital ground 4 12V Input 12V to 15V supply Refer to digital ground This terminal block may be used as an alternative power supply connector 1f PMAC is not installed in a PCI bus The 5V powers the digital electronics The 12V a
4. 2 Introduction Turbo PMAC PCI Lite e Option 12 provides an 8 channel 12 bit A D converter The key components on the board are U20 and connector J30 e Option 12A provides an additional 8 channel 12 bit A D converter The key component on the board is U22 Option 15 V to F Converter for Analog Input The JPAN control panel port on the Turbo PMAC PCI Lite has an optional analog input called Wiper because it is often tied to a potentiometer s wiper pin Turbo PM AC PCI Lite can digitize this signal by passing it through an optional voltage to frequency converter using E point jumpers to feed this into the Encoder 4 circuitry no other use is then permitted and executing frequency calculations using the time base feature of the encoder conversion table e Option 15 provides a voltage to frequency converter in component U18 that permits the use of the Wiper input on the control panel port 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 U142 U145 and U149 fitting in the smaller footprint for those locatio
5. command It is hard wired so it retains its function even if I2 is set to 1 Handwheel Inputs The handwheel inputs HWCA and HWCB can be connected to the second encoder counter on PMAC with jumpers E22 and E23 If these jumpers are on nothing else should be connected to the Encoder 2 inputs The signal can be interpreted either as quadrature or as pulse HWCA and direction HWCB depending on the value of I905 1905 also controls the direction sense of this input Make sure that the Encoder 2 jumper E26 is set for single ended signals connecting pins 1 and 2 Optional Voltage to Frequency Converter The WIPER analog input 0 to 10V on PMAC referenced to digital ground provides an input to a voltage to frequency converter V F with a gain of 25 kHz Volt providing a range of 0 250 kHz The output of the V F can be connected to the Encoder 4 counter using jumpers E72 and E73 If these jumpers are on nothing else should be connected to the Encoder 4 inputs Make sure that the Encoder 4 jumper E24 is set for single ended signals connecting pins 1 and 2 This feature requires the ordering of Option 15 Machine Connections 15 Turbo PMAC PCI Lite Frequency Decode When used in this fashion Encoder 4 must be set up for pulse and direction decode by setting I915 to 0 or 4 Usually a value of 4 is used because with CHB4 direction unconnected a positive voltage causes the counter to count up The encoder conversion table can then t
6. E10C E17A D Amplifier Enable Direction Polarity Control E Point and 9 Mr Physical Layout Location Description Default E17A AS Jump 1 2 for high true AENA1 No jumper installed S Remove jumper for low true AENA1 E17B A8 Jump 1 2 for high true AENA2 No jumper installed 7 Remove jumper for low true AENA2 E17C AR Jump 1 2 for high true AENA3 No jumper installed S Remove jumper for low true AENA3 E17D A7 Jump 1 2 for high true AENA4 No jumper installed 90 Remove jumper for low true AENA4 Note Low true enable is the fail safe option because of the sinking open collector ULN2803A output driver IC 30 E Point Jumper Descriptions Turbo PMAC PCI Lite E18 E20 Power Up Reset Load Source E Point and er Physical Layout Location Description Default E18 B4 To read flash IC on power up reset remove jumper No E18 jumper E18 Jump E19 Jump E20 installed DO Si E20 Other combinations are for factory use only The board will not operate in any other configuration Jump E19 and E20 E21 Power Up Reset Load Source E Point and m Physical Layout Location Description Default E21 B4 Jump pin 1 to 2 to reload firmware through serial or No jumper bus port Remove jumper for normal operation E22 E23 Control Panel Handwheel Enable E Point and Physical Layout Location Description Def
7. 1 1 1 1 Remove jumper from any E point for card to receive external Phase and Servo clock signals on RS422 connector 32 E Point Jumper Descriptions Turbo PMAC PCI Lite E44 E50 Reserved for Future Use E Point and Physical Layout Location Description Default E44 E45 etc C5 Reserved for future use No jumper E51 Normal Re Initializing Power Up E Point and ae Physical Layout Location Description Default E51 B6 Jump pin 1 to 2 to re initialize ON power up reset No jumper installed Remove jumper for normal power up reset 2 Q E55 E65 Host Interrupt Signal Select E Point and Physical Layout Location Description Default E55 B7 Jump pin 1 to 2 to allow EQUA to interrupt host PC at PMAC interrupt level IR7 5 No jumper installed E57 B7 Jump pin 1 to 2 to allow EQU3 to interrupt host PC at PMAC interrupt level IR7 5 No jumper installed E58 B7 Jump pin to 2 to allow MD to interrupt host PC at PMAC interrupt level IR6 S No jumper installed E59 B7 Jump pin 1 to 2 to allow Axis Expansion INT 0 to interrupt host PC at PMAC interrupt level IR6 No jumper installed E61 B7 Jump pin 1 to 2 to allow EQU2 to interrupt host PC at PMAC interrupt level IR6 S No jumper installed E62 B7 Jump pin 1 to 2 to allow MII to interrupt host PC at PMAC in
8. HARDWARE REFERENCE MANUAL Turbo PMAC PCI Lite DELTA TAU Ny 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
9. o 2 Location B5 Description Jump pin 1 to 2 to use A 15V from J8 pin 59 as supply for input flags E89 ON flags should be tied to AGND or A 15V OPT V from J8 pin 11 as supply for input flags E89 OFF flags should be tied to separate OV reference Jump pin 2 to 3 to use 12V from PC bus connector P1 pin BO9 as supply for input flags flags should be tied to GND Default 1 2 Jumper installed See also E85 E87 E88 and PMAC Opto isolation diagram E Point Jumper Descriptions 35 Turbo PMAC PCI Lite E98 DAC ADC Clock Frequency Control E Point and n Physical Layout Location Description Default E98 A4 Jump pin 1 to 2 to provide a 2 45 MHz DCLK 1 2 Jumper installed 3 2 e signal to DACs and ADCs Jump pin 2 to 3 to provide a 1 22 MHz DCLK signal to DACs and ADCs Important for high accuracy A D conversion on Acc 28 Note This also divides the phase and servo clock frequencies in half See E29 E33 E3 E6 I10 E100 Output Flag Supply Select E Point and e Physical Layout Location Description Default E100 A3 Jump pin 1 to 2 to apply analog supply voltage 1 2 Jumper installed De A 15V to U37 flag output driver IC Jump pin 2 to 3 to apply flag supply voltage OPT V to U37 flag output driver IC E101 E102 Motors 1 4 Amplifier Enable Output Configur
10. 1 3 GND Common Digital common 4 GND Common Digital common 5 CHC3 Input Encoder C channel positive 2 6 CHC4 Input Encoder C channel positive 2 7 CHC3 Input Encoder C channel negative 2 3 8 CHC4 Input Encoder C channel negative 2 3 9 CHB3 Input Encoder B channel positive 2 10 CHB4 Input Encoder B channel positive 2 11 CHB3 Input Encoder B channel negative 2 3 12 CHB4 Input Encoder B channel negative 2 3 13 CHA3 Input Encoder A channel positive 2 14 CHA4 Input Encoder A channel positive 2 15 CHA3 Input Encoder A channel negative 2 3 16 CHA4 Input Encoder A channel negative 2 3 17 CHC1 Input Encoder C channel positive 2 18 CHC2 Input Encoder C channel positive 2 19 CHC1 Input Encoder C channel negative 2 3 20 CHC2 Input Encoder C channel negative 2 3 21 CHB1 Input Encoder B channel positive 2 22 CHB2 Input Encoder B channel positive 2 23 CHB1 Input Encoder B channel negative 2 3 24 CHB2 Input Encoder B channel negative 2 3 25 CHA Input Encoder A channel positive 2 26 CHA2 Input Encoder A channel positive 2 27 CHA1 Input Encoder A channel negative 2 3 28 CHA2 Input Encoder A channel negative 2 3 29 DAC3 Output Analog out positive 3 4 30 DAC4 Output Analog out positive 4 4 31 DAC3 Output Analog out negative 3 4 5 32 DAC4 Output Analog out negative 4 4 5 33 AENA3 DIR3 Output AMP ENA DIR 3 6 34 AENA4 DIR4 Output AMP ENA DIR 4 6 35 FAULT3 Input AMP Fault 3 l 36 FAULT4 Input AMP Fault 4 7 37 LIM3 Input Negative end limit 3 8 9
11. 38 LIM4 Input Negative end limit 4 8 9 39 LIM3 Input Positive end limit 3 8 9 40 LIM4 Input Pos end limit 4 8 9 41 HMFL3 Input Home flag 3 10 Connector Pinouts 45 Turbo PMAC PCI Lite J8 Machine Port 1 Connector Continued J8 JMACH1 s 9000000000000000000000000000000 60 Pin Header s009000000000000000000000000000000 2 Front View Pin Symbol Function Description Notes 42 HMFL4 Input Home flag 4 10 43 DACI Output Analog out positive 1 4 44 DAC2 Output Analog out positive 2 4 45 DACI Output Analog out negative 1 4 5 46 DAC2 Output Analog out negative 2 4 5 47 AENAI DIR1 Output Amp Ena dir 1 6 48 AENA2 DIR2 Output Amp Ena dir 2 6 49 FAULTI Input Amp fault 1 7 50 FAULT2 Input Amp fault 2 7 51 LIM1 Input Negative end limit 1 8 9 52 LIM2 Input Negative end limit 2 8 9 53 LIM1 Input Positive end limit 1 8 9 54 LIM2 Input Positive end limit 2 8 9 55 HMFL1 Input Home flag 1 10 56 HMFL2 Input Home flag 2 10 57 FEFCO Output FE watchdog out Indicator Driver 58 AGND Input Analog common 59 A 15V OPT V Input Analog 15v supply 60 A 15V Input Analog 15v supply The J8 connector is used to connect PMAC to the first four channels Channels 1 2 3 and 4 of servo amps flags and encoders Note 1 In standalone applications these lines can be used as 5V power supply inputs to power PMAC s digital
12. OFF OFF 2 26 kHz 1 13 kHz NO wag A8 OFF ON OFF OFF OFF 4 52 kHz 2 26 kHz OO pad A8 OFF OFF ON OFF OFF 9 04 kHz 4 52 kHz x A8 OFF OFF OFF ON OFF 18 07 kHz 9 04 kHz NO 135 A8 OFF OFF OFF OFF ON 36 14 kHz 18 07 kHz OO S A8 Note If E40 E43 are not all ON the phase clock is received from an external source through the J4 serial port connector and the settings of E29 E33 are not relevant E34A E38 Encoder Sampling Clock Frequency Control Jumpers E34A E38 control the encoder sampling clock SCLK used by the gate array ICs No more than one of these six jumpers may be on at a time SCLK Clock Frequency Default and Physical Layout E 4A E E34A E34 E35 E36 E37 E38 3 34 E35 E36 E37 E38 000000 09900909 A8 AS AR AS AS AS ON OFF OFF OFF OFF OFF 19 6608 MHz OFF ON OFF OFF OFF OFF 9 8304 MHz E34 ON OFF OFF ON OFF OFF OFF 4 9152 MHz OFF OFF OFF ON OFF OFF 2 4576 MHz OFF OFF OFF OFF ON OFF 1 2288 MHz OFF OFF OFF OFF OFF ON External clock 1 to 30 MHz maximum input on CHC4 and CHC4 E40 E43 Phase Servo Clock Direction Control E Point and ae Physical Layout Location Description Default E40 E43 B5 Jump pins 1 to 2 on all four E points for card to All jumpers 2 2 2 2 generate its own Phase and Servo clocks and output them on RS422 connector
13. DAC ADC Clock Frequency Control Leave E98 in its default setting of 1 2 which creates a 2 45 MHz DCLK signal unless connecting an Acc 28 A D converter board In this case move the jumper to connect pins 2 and 3 which creates a 1 22 MHz DCLK signal Encoder Configuration Jumpers Encoder Complementary Line Control The selection of the type of encoder used either single ended or differential is made through the resistor packs configuration and not through a jumper configuration as on older controllers E22 E23 Control Panel Handwheel Enable Putting these jumpers ON ties the handwheel encoder inputs on the JPAN control panel port to the Channel 2 encoder circuitry If the handwheel inputs are connected to Channel 2 no encoder should be connected to Channel 2 through the JMACHI connector E72 E73 Control Panel Analog Input Enable Putting these jumpers ON ties the output of the Option 10 voltage to frequency converter that can process the Wiper analog input on the JPAN control panel port to the Channel 4 encoder circuitry If the frequency signal is connected to Channel 4 no encoder should be connected to Channel 4 through the JMACHI connector E74 E75 Encoder Sample Clock Output Putting these jumpers ON ties the encoder sample clock signal to the CHC4 and CHC4 lines on the JMACH1 port This permits the clock signal to be used to synchronize external encoder processing devices like the Acc 8D Option 8 interpolator board
14. Jumper 37 E122 XIN F at re Selec On T 37 MATING CONNECTOR 38 Base Board COMME c PUE 38 ii Table of Contents Turbo PMAC PCI Lite JINIDISP AET E 38 J2 JPAN Control Done 38 J3 JTHWYMUultiplexer Port 38 J4 JRS422 RS232 OR 422 Serial Communications eiae eeeeeeeeeee eene eee eret nnnnncnannnn ne nnns nennen 38 JS JOPTVOPTO T O PC 38 JO JXIO y Expansion Board 38 JS JMACHI Wier ET T nioena N EE E sese e a NET 38 JS VAD Inputs TA AA E LE 38 JEOU POsition Compate EE 39 EII IBAI A AN 39 CONNECTOR KIIRCH 40 Ji Display Port Contnectot E 40 J2 Control Panel Port Connector sss 40 J3 Multiplexer Port Connector sssini rieri nn ran RR ener RR RR en a aa soeka tenerent 41 J4 Serial Port Connector sese eee 42 Ja VO Pott Comm daa 43 J6 Auxiliary I O Port Connector eene nnne nenne nenne nene en nns a a i neret nens na eioi neret enne 44 J8 Machine Port 1 Co nectot ote A EE RUE OA RN ND NUR e UN veu DR RUE YD easet ar 45 J9 JEQU Position Compare Connector eene n nne LEL nnne nenne rien E E nen E nene nnne nnne 47 J30 JANA Analog Input Port Connector Optional nennen nnne nnne nnne nnne 47 J31 JUSB Universal Serial Bus Port Optional ooooonoocccnnonccocononccnnononcnonononcnnonnnnnoconnnnnnnnnnnnnnonannnnronnnn nn i e 48 JST A D Port 1 Connector o HERR HERRERA TERR CER TERR CE ERR sean TEN CHAT ERR REA aed S HAE THE EXER EUR GR 48 TBI IPWR TEES
15. Play feature of 32 bits Windows based computers With Pewin 32 Pro a Turbo PMAC PCI Lite board plugged in a PCI bus slot will be recognized by the operating system when the computer is boot up The available PCI address dual ported RAM address and interrupt lines are set automatically by the operating system and can be checked but not modified in the resources page of the device manager Turbo PMAC I Variables Turbo PMAC has a large set of Initialization parameters I variables that determine the personality of the 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 flash memory using the SAVE command so the card is always configured properly PMAC loads the flash I variable values into RAM on power up The easiest way to program setup and troubleshoot Turbo PMAC is by using the PMAC Executive Program Pewin 32 Pro and its related add on packages Turbo Setup and PMAC Plot These software packages are available from Delta Tau ordered through the appropriate software accessory The programming features and configuration variables for the Turbo PMAC are fully described in the Turbo PMAC User and Software manuals Operational Frequency and Baud Rate Setup Variable 52 determines the actual operating frequency of the Turbo CPU The operational frequency is set to 10MHz 152 1 152 should be set to 7 to operate an Option 5Cx board a
16. With these jumpers ON no encoder input signal should be connected to these pins Hardware Setup 5 Turbo PMAC PCI Lite Board Reset Save Jumpers E50 Flash Save Enable Disable Control If E50 is ON default the active software configuration of the PMAC can be stored to non volatile flash memory with the SAVE command If the jumper on E50 is removed this Save function is disabled and the contents of the flash memory cannot be changed E51 Re Initialization on Reset Control If E51 is OFF default PMAC executes a normal reset loading active memory from the last saved configuration in non volatile flash memory If E51 is ON PMAC re initializes on reset loading active memory with the factory default values Communication Jumpers PCI Bus Base Address Control The selection of the base address of the card in the I O space of the host PC s expansion bus is assigned automatically by the operating system and it is not selected through a jumper configuration E49 Serial Communications Parity Control Jump pin 1 to 2 for NO serial parity Remove jumper for ODD serial parity E55 E65 Interrupt Source Control These jumpers control which signals are tied to interrupt lines IR5 IR6 and IR7 on PMAC s programmable interrupt controller PIC as shown in the interrupt diagram Only one signal may be tied into each of these lines E110 Serial Port Configure Jump pin to 2 for use of the J4 connector as RS
17. into the PCI bus these supplies are taken from the bus power supply In a standalone application these supplies must be brought in on terminal block TB1 The 12V and matching 12V supply voltages are available on the J30 connector to supply the analog circuitry providing the signals 16 Machine Connections Turbo PMAC PCI Lite Only one pair of analog to digital converter registers is available to the PMAC processor at any given time The data appears to the processor at address Y 78808 The data from the selected analog input 0 to 7 ANAIOO ANAIO7 appears in the low 12 bits the data from the selected analog input 8 to 15 ANAI08 ANAI15 appears in the high 12 bits this data is only present if Option 12A has been ordered The input is selected and the conversion is started by writing to this same word address Y 78808 A value of 0 to 7 written into the low 12 bits selects the analog input channel of that number ANAIO0 ANAI07 to be converted in unipolar mode OV to 5V A value of O to 7 written into the high 12 bits selects the analog input channel numbered eight greater ANAIOS ANAI15 in unipolar mode If the value written into either the low 12 bits or the high 12 bits is eight higher 8 to 15 the same input channel is selected but the conversion is in bipolar mode 2 5V to 2 5V Turbo PM AC variables 15060 to 5096 allow an automatic conversion of the analog inputs Setting variables 15061 to I5076 to 8 the data can be read
18. operation Jumper E110 selects between RS 232 or RS 422 signal types Jumper E111 enables or disables the use of the Phase Servo and Init lines Note Required for communications to an RS 422 host port Note Required for communications to an RS 422 or RS 232 host port Note Output on card 0 input on other cards These pins are for synchronizing multiple PMACs together by sharing their Phase and Servo clocks The PMAC designated as card 0 00 by its jumpers E40 E43 outputs its clock signals Other PMACs designated as cards 1 15 1 F by their jumpers E40 E43 take these signals as inputs If synchronization is desired these lines should be connected even if serial communications is not used J5 I O Port Connector J5 JOPT 34 Pin Connector 3300000000000000000911 34100000000000000000 2 Front View Pin Symbol Function Description Notes 1 MIS Input Machine input 8 Low is true 2 GND Common PMAC common 3 MI7 Input Machine input 7 Low is true 4 GND Common PMAC common 5 MI6 Input Machine input 6 Low is true 6 GND Common PMAC common 7 MI5 Input Machine input 5 Low is true 8 GND Common PMAC common 9 MI4 Input Machine input 4 Low is true 10 GND Common PMAC common 11 MI3 Input Machine input 3 Low is true 12 GND Common PMAC common 13 MI2 Input Machine input 2 Low is true 14
19. use a serial cable to connect the PC s COM port to the PMAC s serial port connector Delta Tau provides the Acc 3D cable for this purpose which connects PMAC to a DB 25 connector Standard DB 9 to DB 25 or DB 25 to DB 9 adapters may be needed for a particular setup J5 General Purpose Digital Inputs and Outputs JOPTO Port PMAC s JOPTO connector provides eight general purpose digital inputs and eight general purpose digital outputs Each input and each output has its own corresponding ground pin in the opposite row The 34 pin connector was designed for easy interface to OPTO 22 or equivalent optically isolated I O modules Delta Tau s Acc 21F is a six foot cable for this purpose J6 Auxiliary I O Port JXIO Port This port is only used when connecting to optional PMAC accessory boards J8 Machine Connectors JMACH 1 Port The primary machine interface connector is JMACH1 labeled J8 on the PMAC It contains the pins for four channels of machine I O analog outputs incremental encoder inputs and associated input and output flags plus power supply connections J9 Compare Equal Outputs Port JEQU Port The compare equals EQU outputs have a dedicated use of providing a signal edge when an encoder position reaches a pre loaded value This is very useful for scanning and measurement applications Instructions for use of these outputs are covered in detail in the PMAC s User Manual J17 Auxiliary Serial Port JRS232 Por
20. 1 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 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 J4 JRS422 RS232 OR 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 J5 JOPTyOPTO UO 1 Two 34 pin female flat cable connector Delta Tau P N 014 R00F34 0k0 T amp B Ansley P N 609 3441 2 171 34 T amp B Ansley standard flat cable stranded 34 wire 3 Phoenix varioface module type FLKM 34 male pins P N 22 81 06 3 J6 JXIO Expansion Board 1 Two 10 pin female flat cable connector Delta Tau P N 014 R00F10 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 i AE st Machine Connector Two 60 pin female flat cable connector Delta Tau P N 014 R00F60 0K0 T amp B Ansley P N 609 6041 available as ACC 8P or 8D 2 171 60 T amp B Ansley standard flat cable stranded 60 wire 3 Phoenix varioface module type FLKM 60 male pins P N 22 81 09
21. 2 Note Normally J8 is used with accessory 8P or 8D with Option P which provides complete terminal strip fan out of all connections JS1 A D Inputs 1 4 1 Two 16 pin female flat cable connector Delta Tau P N 014 R00F16 0K0 T amp B Ansley P N 609 1641 2 171 16 T amp B Ansley standard flat cable stranded 16 wire 3 PHOENIX varioface module type FLKM 16 male pins P N 22 81 03 4 38 Mating Connectors Turbo PMAC PCI Lite JEQU Position Compare 1 Two 10 pin female flat cable connector Delta Tau P N 014 R00F10 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 JANA Analog Inputs Option 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 Mating Connectors 39 Turbo PMAC PCI Lite CONNECTOR PINOUTS J1 Display Port Connector J1 JDISP 14 Pin Connector 1 OOO OO OOQ 14400000002 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 E Output Display enable High is enable 6 R W Output Read or writ
22. 2 to 3 to disable the Phase Servo and Init lines on the J4 connector E111 on positions 1 to 2 is necessary for daisy chained PMACs sharing the clock lines for synchronization E Point and fae Physical Layout Location Description Default E111 A7 Jump pin 1 to 2 to enable the Phase Servo and Init 1 2 Jumper installed E119 Watchdog Disable Jumper OSS register XIN7 at Y 070801 bit 7 E Point and i Physical Layout Location Description Default E119 B6 Jump pin 1 to 2 to disable Watchdog timer for test No jumper purposes only Remove jumper to enable Watchdog timer E122 XIN Feature Selection E Point and coe Physical Layout Location Description Default E122 B6 Jump 1 2 to bring the PowerGood signal into 1 2 Jumper installed E Point Jumper Descriptions 37 Turbo PMAC PCI Lite MATING CONNECTORS This section lists several options for each connector Choose an appropriate one for your application Base Board Connectors J1 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 J2 JPAN Control Panel 1 Two 26 pin female flat cable connector Delta Tau P N 014 R00F26 0K0 T amp B Ansley P N 609 2641 2 17
23. 232 Jump pin 2 to 3 for use of the J4 connector as RS 422 E111 Clock Lines Output Enable Jump pin 1 to 2 to enable the Phase Servo and Init lines on the J4 connector Jump pin 2 to 3 to disable the Phase Servo and Init lines on the J4 connector E111 on positions 1 to 2 is necessary for daisy chained PMACs sharing the clock lines for synchronization UO Configuration Jumpers Caution A wrong setting of these jumpers will damage the associated output IC E1 E2 Machine Output Supply Configure With the default sinking output driver IC ULN2803A or equivalent in U13 for the Js JOPTO port outputs these jumpers must connect pins 1 and 2 to supply the IC correctly If this IC is replaced with a sourcing output driver IC UDN2981A or equivalent these jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly E7 Machine Input Source Sink Control With this jumper connecting pins and 2 default the machine input lines on the JS JOPTO port are pulled up to 5V or the externally provided supply voltage for the port This configuration is suitable for sinking drivers If the jumper is changes to connect pins 2 and 3 these lines are pulled down to GND This configuration is suitable for sourcing drivers E17A E17D Motors 1 4 Amplifier Enable Polarity Control Jumpers E17A through E17D control the polarity of the amplifier enable signal for the corresponding motor 1 to 4 When the jumper is ON defaul
24. 48 Table of Contents iii Turbo PMAC PCI Lite INTRODUCTION The Turbo PMAC PCI Lite is a member of the Turbo PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands Its software is capable of 32 axes of control It can have up to four channels of on board axis interface circuitry It can also support up to 32 channels of off board axis interface circuitry through its expansion port connected to Acc 24P or Acc 24P2 boards The Turbo PMAC PCI Lite is a full sized PCI bus expansion card While the Turbo PMAC PCI Lite is capable of PCI bus communications with or without the optional dual ported RAM it does not need to be inserted into a PCI expansion slot Communications can be done through an RS 232 or RS 422 serial port Standalone operation is possible ICs U140 U143 and U147 are installed in the Turbo version of the PMAC Lite PCI board The same circuit board with some ICs not installed produces a non Turbo PMAC PCI Lite controller The above diagram shows the key components installed in the Turbo configuration only Board Configuration Base Version The base version of the Turbo PMAC PCI Lite provides a 1 1 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 am
25. 5 2 este EENS 26 J8 Machine Connectors JMACHI Por 26 J9 Compare Equal Outputs Port JEQU Port 26 J17 Auxiliary Serial Port IRS232 Port seii tette bis ehe etes she setis base es sais NEESS EES 26 J30 Optional Analog to Digital Inputs JANA Port 26 J31 Optional Universal Serial Bus Port JUSB Port 26 J32 Expansion Port JEXP Port TEE 27 JS1I External A D Port JSI Pont 27 TBI Power Supply Terminal Block JPWR Connector sss sees eee eee eee 27 EED ANACO edi 27 T C e 27 E POINT JUMPER DESCRIPTIONS e eeeeeeee eee ee sette setenta tensa etna setas setas etes eee eenn enesenn 28 HO Reserved for Future Hee eee ERIGI LEL FOLD Ho Mee bedded bee Re e Ee rte Pedo PER EAR TR 28 El E2 Machine Output Supply Voltage Configure eese eene 28 B3 E6 Servo Clock Frequency Control unico ide UG 29 E7 Machine Input Source Sink Control cocinan Ren Ee deni de Sedona 30 EIDA B C Flash Memory Bank Select oreet rente ede do FEDDW CAD Ye EAR ENEE AE EE 30 E17A D Amplifier Enable Direction Polarity Control 30 E18 E20 Power Up Reset Load Source eerie Eed 31 E21 Power Up Reset Load Source blo AIN 31 E22 E23 Control Panel Handwheel Enable AAA 31 E28 Following Error Watchdog Timer Signal Control 31 E29 E33 Phase Clock Frequency Comtrol sssssesccsecesesscressene
26. 5v range 6 ANAIO5 Input Analog input 5 0 5v or 2 5v range 7 ANAIO6 Input Analog input 6 0 5v or 2 5v range 8 ANAI07 Input Analog input 7 0 5v or 2 5v range 9 ANAIOS Input Analog input 8 0 5v or 2 5v range 10 ANAI09 Input Analog input 9 0 5v or 2 5v range 11 ANAI10 Input Analog input 10 0 5v or 2 5v range 12 ANAI11 Input Analog input 11 0 5v or 2 5v range 13 ANAII2 Input Analog input 12 0 5v or 2 5v range i 14 ANAI13 Input Analog input 13 0 5v or 2 5v range T 15 ANAI14 Input Analog input 14 0 5v or 2 5v range l 16 ANAI15 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 ext circuitry 19 GND Common PMAC common Not isolated from digital 20 12V Output Negative supply voltage To power ext circuitry The JANA connector provides the inputs for the eight or 16 optional analog inputs on the PMAC2 Only present if Option 12A ordered Connector Pinouts 47 Turbo PMAC PCI Lite J31 JUSB Universal Serial Bus Port Optional Pin Symbol Function 1 VCC N C 2 D DATA 3 D DATA 4 GND GND 3 Shell Shield 6 Shell Shield JS1 A D Port 1 Connector JS1 16 Pin Header 15 OOOOOOOO 16 OO OO OO O OJ2
27. Cs are located in U141 U144 and U148 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 U140 U143 and U147 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 U146 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 5CO is the standard CPU and memory configuration It is provided automatically if no Option 5xx is specified It provides an 80 MHz DSP56303 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 5C3 provides an 80 MHz DSP56303 CPU 120 MHz PMAC equivalent with 8k x 24 of internal memory 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 e Option 5EO provides a 160 MHz DSP56311 CPU 240
28. GND Common PMAC common 15 MII Input Machine input 1 Low is true 16 GND Common PMAC common 17 MO8 Output Machine output 8 Low true Sinking High true Sourcing 18 GND Common PMAC common 19 MO7 Output Machine output 7 Low true Sinking High true Sourcing 20 GND Common PMAC common 21 MO6 Output Machine output 6 Low true Sinking High true Sourcing 22 GND Common PMAC common 23 MOS5 Output Machine output 5 Low true Sinking High true Sourcing 24 GND Common PMAC common 25 MO4 Output Machine output 4 Low true Sinking High true Sourcing 26 GND Common PMAC common 27 MO3 Output Machine output 3 Low true Sinking High true Sourcing Connector Pinouts 43 Turbo PMAC PCI Lite J5 JOPT 34 Pin Connector Continued 331000000000000000009 1 34400000000000000000 2 Front View Pin Symbol Function Description Notes 28 GND Common PMAC common 29 MO2 Output Machine output 2 Low true Sinking High true Sourcing 30 GND Common PMAC common 31 MO1 Output Machine output 1 Low true Sinking High true Sourcing 32 GND Common PMAC common 33 V Input V power I O V 5V to 24V Output 5V out from PMAC 5 to 24V in from external source diode isolation from PMAC 34 GND Common PMAC common This connector provides means for eight general purpose inputs and eight general purpose outputs Inputs and outputs may be configured to accept or provide either 5
29. J5 JOPTO connector is protected by F1 which is a two Amp fuse of the following type Manufacturer LittleFuse Part Number 021 273002 004 Hardware Reference Summary 27 Turbo PMAC PCI Lite E POINT JUMPER DESCRIPTIONS E0 Reserved for Future Use E Point and Physical Layout E0 Q O E1 E2 Machine Output Supply Voltage Configure Location Description Default A6 For future use No jumper E Point and m Physical Layout Location Description Default El A6 Jump pin 1 to 2 to apply V 5V to 24V to pin 1 2 Jumper installed m 2 3 10 of U13 should be ULN2803A for sink output configuration JOPTO Machine outputs MO1 MOS Jump pin 2 to 3 to apply GND to pin 10 of U13 should be UDN2981A for source output configuration Caution The jumper setting must match the type of driver IC or damage to the IC will result E2 A6 Jump pin 1 to 2 to apply GND to pin 10 of U13 1 2 Jumper installed 1 O 3 should be ULN2803A for sink output configuration Jump pin 2 to 3 to apply V 5V to 24V to pin 10 of U13 should be UDN2981A for source output configuration Caution The jumper setting must match the type of driver IC or damage to the IC will result 28 E Point Jumper Descriptions Turbo PMAC PCI Lite E3 E6 Servo Clock Frequency Control The servo clock which determines how often the servo loop is closed
30. MHz PMAC equivalent with 128k x 24 of internal memory 128k x 24 of compiled assembled program memory 128k x 24 of user data memory and a 1M x 8 flash memory e Option 5E3 provides a 160 MHz DSP56311 CPU 240 MHz PMAC equivalent with 128k x 24 of internal memory 512k x 24 of compiled assembled program memory 512k x 24 of user data memory and a 4M x 8 flash memory Option 8 High Accuracy Clock Crystal The Turbo PMAC PCI Lite 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 9T Auxiliary Serial Port 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 PMAC PCI Lite is provided with the newest released firmware version A label on the U146 flash memory IC shows the firmware version loaded at the factory e Option 10 provides for a user specified firmware version 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
31. V or 24V signals Outputs can be made sourcing with an IC U13 to UDN2981 and jumper E1 amp E2 change E7 controls whether the inputs are pulled up or down internally Outputs are rated at 100mA per channel J6 Auxiliary UO Port Connector J6 JXIO 10 Pin Connector 9 ooooo 10 000009 2 Front View Pin Symbol Function Description Notes 1 CHA1 INPUT Enc A Ch Pos Axis 1 for resolver 2 CHB1 INPUT Enc B Ch Pos Axis 1 for resolver 3 CHC1 INPUT Enc C Ch Pos Axis 1 for resolver 4 CHA3 INPUT Enc A Ch Pos Axis 3 for resolver 5 CHB3 INPUT Enc B Ch Pos Axis 3 for resolver 6 CHC3 INPUT Enc C Ch Pos Axis 3 for resolver 7 E63 INPUT Interrupt IR4 Interrupt from exp BRD 8 E59 INPUT Interrupt IR5 Interrupt from exp BRD 9 SCLK OUTPUT Encoder CLOCK Encoder sample rate 10 DCLK OUTPUT D to A A to D clock DAC and ADC clock for all channels This connector is used for miscellaneous I O functions related to expansion cards that are used with PMAC 44 Connector Pinouts Turbo PMAC PCI Lite J8 Machine Port 1 Connector J8 JMACH1 E 60 Pin Header 60 O0000000000000000000000000090O099 2 Front View Pin Symbol Function Description Notes 1 5V Output 5V power For encoders 1 2 5V Output 5V power For encoders
32. ake the difference in the counter each servo cycle and scale it providing a value proportional to frequency and therefore to the input voltage Usually this is used for feedrate override time base control but the resulting value can be used for any purpose Power Supply For the V F converter to work PMAC must have 12V supply referenced to digital ground If PMAC is in a bus configuration usually this comes through the bus connector from the bus power supply Ina standalone configuration this supply must still be brought through the bus connector or the supply terminal block or it must be jumpered over from the analog side with E85 E87 and E88 defeating the optical isolation on the board Thumbwheel Multiplexer Port JTHW Port The Thumbwheel Multiplexer Port or Multiplexer Port on the JTHW J3 connector has eight input lines and eight output lines The output lines can be used to multiplex large numbers of inputs and outputs on the port and Delta Tau provides accessory boards and software structures special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination e The Acc 18 Thumbwheel Multiplexer board provides up to 16 BCD thumbwheel digits or 64 discrete TTL inputs per board The TWD and TWB forms of M variables are used for this board e The Acc 34x family Serial I O Multiplexer boards provides 64 I O point per board optically
33. ardware Reference Summary Turbo PMAC PCI Lite Connectors and Indicators J1 Display Port JDISP Port The JDISP connector allows connection of the Acc 12 or Acc 12A liquid crystal displays or of the Acc 12C vacuum fluorescent display Both text and variable values may be shown on these displays by using the DISPLAY command executing in either motion or PLC programs J2 Control Panel Port JPAN Port The JPAN connector is a 26 pin connector with dedicated control inputs dedicated indicator outputs a quadrature encoder input and an analog input requires PMAC Option 15 The control inputs are low true with internal pull up resistors They have predefined functions unless the control panel disable I variable 12 has been set to 1 If this is the case they may be used as general purpose inputs by assigning M variable to their corresponding memory map locations bits of Y address 78800 J3 Thumbwheel Multiplexer Port JTHW Port The Thumbwheel Multiplexer Port or Multiplexer Port on the JTHW connector has eight input lines and eight output lines The output lines can be used to multiplex large numbers of inputs and outputs on the port and Delta Tau provides accessory boards and software structures special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination J4 Main Serial Port JRS232 422 Port For serial communications
34. ate the motor use two analog output channels for the motor Each output may be single ended or differential just as for the DC motor The two channels must be numbered consecutively with the lower numbered channel having an odd number e g use DAC1 and DAC2 for a motor or DAC3 and DACA but not DAC2 and DAC3 or DAC2 and DACA For our motor 1 example connect DACI pin 43 and DAC2 pin 45 to the analog inputs of the amplifier If using the complements as well connect DACI pin 45 and DACH pin 46 the minus command inputs otherwise leave the complementary signal outputs floating To limit the range of each signal to 5V use parameter Ix69 Any analog output not used for dedicated servo purposes may be utilized as a general purpose analog output Usually this is done by defining an M variable to the digital to analog converter register suggested M variable definitions M102 M202 etc then writing values to the M variable The analog outputs are intended to drive high impedance inputs with no significant current draw The 2200 output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the output circuitry but any current draw above 10 mA can result in noticeable signal distortion Example JMACH1 DAC1 43 DAC1 Connect to the 45 amplifier 10V AGND command input 58 Es 12 Machine Connections Turbo PMAC PCI Lite Amplifier Enable Signal AENAx DIRn Most amplifiers
35. ault E22 A9 Jump pin 1 to 2 to obtain handwheel encoder signal No jumper 1 from front panel at J2 16 for CHB2 ENC2 B E23 A9 Jump pin 1 to 2 to obtain handwheel encoder signal No jumper O from front panel at J2 22 for CHA2 ENC2 A Note With these jumpers ON no encoder should be wired into ENC2 on JMACHI Jumper E26 must connect pins 1 2 because these are single ended inputs This function is unrelated to the encoder brought in through Acc 39 on J2 E28 Following Error Watchdog Timer Signal Control E Point and E Physical Layout Location Description Default E28 C6 Jump pin 1 to 2 to allow warning following error 2 3 Jumper installed Q Q 1x12 for the selected coordinate system to control FEFCO on J8 57 Jump pin 2 to 3 to cause Watchdog timer output to control FEFCO Low true output in either case E Point Jumper Descriptions 31 Turbo PMAC PCI Lite E29 E33 Phase Clock Frequency Control Jumpers E29 through E33 control the speed of the phase clock and indirectly the servo clock which is divided down from the phase clock see E3 E6 No more than one of these five jumpers may be on at a time Phase Clock Frequency Default and Location E29 E30 E31 E32 E33 E98 Connects E98 Connects Physical Pins 1 and 2 Pins 2 and 3 Layout ON OFF OFF
36. circuitry However if a terminal block is available on a version of PMAC it is preferable to bring the 5V power in through the terminal block Note 2 Referenced to digital common GND Maximum of 12V permitted between this signal and its complement Note 3 Leave this input floating if not used i e digital single ended encoders In this case jumper E18 21 E24 27 for channel should hold input at 2 5V Note 4 10V 10mA max referenced to analog common AGND Note 5 Leave floating if not used Do not tie to AGND In this case AGND is the return line Note 6 Functional polarity controlled by jumper s E17 Choice between AENA and DIR use controlled by Ix02 and 1x25 Note 7 Functional polarity controlled by variable Ix25 Must be conducting to OV usually AGND to produce a 0 in PMAC software Automatic fault function can be disabled with Ix25 Note 8 Pins marked LIMn should be connected to switches at the positive end of travel Pins marked LIMn should be connected to switches at the negative end of travel Note 9 Must be conducting to OV usually AGND for PMAC to consider itself not into this limit Automatic limit function can be disabled with Ix25 Note 10 Functional polarity for homing or other trigger use of HMFLn controlled by Encoder Flag Variable 2 1902 1907 etc HMFLn selected for trigger by Encoder Flag Variable 3 1903 I908 etc Must be conducting to OV usually AGND to produce a 0 in PMAC software
37. cy by four creating a 2 25 kHz servo clock frequency This setting is seldom changed E29 E33 Phase Clock Frequency Control Only one of the jumpers E29 E33 which select the phase clock frequency may be on in any configuration The default setting of E31 ON which selects a 9 kHz phase clock frequency is seldom changed E34 E38 Encoder Sample Clock Only one of the jumpers E34 E38 which select the encoder sample clock frequency may be on in any configuration The frequency must be high enough to accept the maximum true count rate no more than one count in any clock period but a lower frequency can filter out longer noise spikes The anti noise digital delay filter can eliminate noise spikes up to one sample clock cycle wide E40 E43 Servo and Phase Clock Direction Control Jumpers E40 E43 determine the direction of the phase and servo clocks All of these jumpers must be ON for the card to use its internally generated clock signals and to output these on the serial port connector If any of these jumpers is OFF the card will expect to input these clock signals from the serial port connector and its watchdog timer will trip immediately if it does not receive these signals The card number 0 15 for serial addressing of multiple cards on a daisy chain serial cable set by these jumpers on older controllers is determined by the Turbo PMAC variable IO See the Software Setup section of this manual for details E98
38. d in a computer bus it will need an external SV supply to power its digital circuits The 5V line from the supply should be connected to pin 1 or 2 of the JMACH connector usually through the terminal block and the digital ground to pin 3 or 4 Acc 1x provides different options for the 5V power supply Analog Power Supply 0 3A E 12 to 15V 4 5W 0 25A E 12 to 15V 3 8W Eight channel configuration The analog output circuitry on PMAC is optically isolated from the digital computation circuitry and so requires a separate power supply This is brought in on the JMACH connector The positive supply 12 to 15V should be brought in on the A 15V line on pin 59 The negative supply 12 to 15V should be brought in on the A 15V line on pin 60 The analog common should be brought in on the AGND line on pin 58 Typically this supply can come from the servo amplifier Many commercial amplifiers provide such a supply If this is not the case an external supply may be used Acc 2x provides different options for the 15V power supply Even with an external supply the AGND line should be tied to the amplifier common It is possible to get the power for the analog circuits from the bus but doing so defeats optical isolation In this case no new connections need to be made However be sure jumpers E85 E87 E88 E89 and E90 are set up for this circumstance The card is not shipped from the factory in this configuration 10 Machine Connect
39. 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 REVISION HISTORY REV DESCRIPTION DATE CHG APPVD ADDED 33MHz PCI BUS SPEED E44 E48 JUMPER SETTINGS REV 105 LAYOUT amp FEATURE TABLE REMOVED OPTION 2B USB OPTIONS 5D0 amp 5D3 OPTION 7 CORRECTED E122 JUMPERS to 1 2 10 12 06 CP S S ISOLATION JUMPERS IMAGE UPDATE 05 15 11 S S S S Turbo PMAC PCI Lite Table of Contents INSTA 1 Board Com ti Suit Te 1 BSC E 1 Option 2 Dual Ported RAM AAA Ei 1 Option 5 CPU and Memory Configurations sss sese eee eee eee 2 Option 8 High Accuracy Clock Cs e ci 2 E 2 Option 10 Firmware Version Specification eee 2 Option 12 Analog to Digital Converters eese eee eee eee 2 Option 15 V to F Converter for Analog Input sese eee 3 Option 16 Battery Backed Parameter Memor 5 Option 18 Identification Number Real Time Clock Calendar Module 3 HARDWARE SETUP NEEN 4 Power Supply Configuration Jurperg cotidianidad ad ave dp et Evan c DAF NN DDEG a
40. e E Point and i e Physical Layout Location Description Default E101 A7 Jump pin to 2 to apply A 15V A V as set by 1 2 Jumper installed 1 E100 to pin 10 of U37 AENAn amp EOUn driver IC should be ULN2803A for sink output O configuration Jump pin 2 to 3 to apply GND to pin 10 of U37 3 should be UDN2981A for source output configuration Caution The jumper setting must match the type of driver IC or damage to the IC will result E102 A7 Jump pin 1 to 2 to apply GND to pin 10 of U37 1 2 Jumper installed 1 AENAn amp EOUn should be ULN2803A for sink output configuration 2 Jump pin 2 to 3 to apply A 15V A V as set by E100 to pin 10 of U37 should be UDN2981A for 3 source output configuration Caution The jumper setting must match the type of driver IC or damage to the IC will result 36 E Point Jumper Descriptions Turbo PMAC PCI Lite E109 Reserved for Future Use o 2 232 Jump pin 2 to 3 for use of the J4 connector as RS 422 E Point and Er Physical Layout Location Description Default E109 D B6 For future use No jumper E110 Serial Port Configure E Point and EM Physical Layout Location Description Default E110 A7 Jump pin 1 to 2 for use of the J4 connector as RS 1 2 Jumper installed E111 Clock Lines Output Enable O 2 lines on the J4 connector Jump pin
41. e KE gee e 0 B E a Bas o ee 9999999990999 99999 090909099909 e ee Bessseeosoeee weeeeoeseseos 33 HH H ee ee e LA em ee ee ee 8 E e ZS ee eo e Se ee ee me ee B S IE ee ec Se mone S a 33 ea ue H1 ae ae ee H ue ee P ee ec me oe e ee me oe e 0 es ue oe H nu S ee B a d Stern E BUNT I ym 4428 Hardware Reference Summary 24 Turbo PMAC PCI Lite Board Layout Part Number 603657 105 ven N 30YA S01 499 09 ON ASSY ER Li ge kod Feature Location Feature Location ae a e EO AS ES1 C5 1 EI A5 E55 B6 E2 A5 E57 B6 E3 AS E58 B6 E4 AS E59 B6 E5 AS E61 B6 E6 AT E62 B7 E7 A6 E63 B7 E10 Bl E65 B7 E10A B2 E72 A9 E10B B2 E73 B9 El0C B2 E74 B9 El7A AN E75 B9 El7B AN E85 A5 E17C AS E87 A5 E17D AS E88 A2 E18 B4 E89 B5 E19 B4 E90 B5 995909209090999099099999 E20 B4 E98 A7 e ow SAL ne wr e E21 B4 E100 A3 E22 A9 E101 A4 E23 A9 E102 A4 E28 B7 E109 B6 E29 AN E110 A7 E30 AN Elll A7 E31 AN E119 Bl E32 AN E122 B7 E33 AR D15 A3 E34 AS D20 A2 E34A AS D20A Cl E35 AS D21 A2 E36 AS D21A Cl E37 AN Fl A4 E38 AN Ji A4 E40 BS J2 B7 E41 BS J3 B6 E42 B5 J4 A7 E43 B5 J5 A5 E44 C5 J6 A9 HN E45 C5 J8 B9 S PAPA E46 c5 J9 A3 990000000000000000000000000000 E47 C5 J20 C3 E48 C5 J29 C5 E49 C5 TBI C6 E50 C5 H
42. e OFF during power up reset for the board to come up in normal operational mode E119 Watchdog Timer Jumper Jumper E119 must be OFF for the watchdog timer to operate This is an important safety feature so it is vital that this jumper be OFF in normal operation E1 should only be put ON to debug problems with the watchdog timer circuit Hardware Setup 7 Turbo PMAC PCI Lite Resistor Pack Configuration Flag and Digital Inputs Voltage Selection The PMAC is provided with 6 pin sockets for SIP resistor packs for the input flag sets Each PMAC is shipped with no resistor packs installed If the flag or digital inputs circuits are in the 12V to 15V range no resistor pack should be installed in these sockets For flags or digital inputs at 5V levels quad 1kO SIP resistor packs 1 KSIP6C should be installed in these sockets The following table lists the voltage selection resistor pack sockets for each input device Device Resistor Pack Flags 1 RP77 Flags 2 RP83 Flags 3 RP89 Flags 4 RP94 Resistor Pack Configuration Termination Resistors The PMAC provides sockets for termination resistors on differential input pairs coming into the board As shipped there are no resistor packs in these sockets If these signals are brought long distances into the PMAC board and ringing at signal transitions is a problem SIP resistor packs may be mounted in these sockets to reduce or eliminate the ring
43. e TTL signal out 7 DB Output Display Datal 8 DBO Output Display Data 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 Controlled by potentiometer R1 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 See Also Program Commands DISPLAY Accessories Acc 12 12A 12C Acc 16D J2 Control Panel Port Connector J2 JPAN 26 Pin Connector 25J J200200000000009 1 OOO 2 28 0000000000 Front View Pin Symbol Function Description Notes 1 5V Output 5v power For remote panel 2 GND Common PMAC common 3 FPDO Input Motor C S select bit O Low is true 4 JOG Input Jog in dir Low is Jog 5 FPD1 Input Motor C S select bit 1 Low is true 6 JOG Input Jog in dir Low is Jog 7 PREJ Input Ret to prejog position Low is Return equiv to J CMD 8 STRT Input Start program run Low is Start equiv to RCMD 9 STEP Input Step through program Low is Step equiv to S or Q 10 STOP Input Stop program run Low is Stop equiv to A 11 HOME Input Home search command Low is Go home equiv to HM 12 HOLD Input Hold motion Low is Hold equiv to H 13 FPD2 Input M
44. econd the sampling may be slowed in software with variable Ix60 Frequency can be checked on J4 pins 21 and 22 It can also be checked from software by typing RX 0 in the PMAC terminal at 10 second intervals and dividing the difference of successive responses by 10000 The resulting number is the approximate Servo Clock frequency kHz Note If E40 E43 are not all ON the phase clock is received from an external source through the J4 serial port connector and the settings of E3 E6 are not relevant E Point Jumper Descriptions 29 Turbo PMAC PCI Lite E7 Machine Input Source Sink Control E Point and p iia Physical Layout Location Description Default E7 A6 Jump pin 1 to 2 to apply 5V to input reference 1 2 Jumper installed o 2 resistor sip pack This will bias MI1 to MI8 inputs to 5V for OFF state Input must then be grounded for ON state Jump pin 2 to 3 to apply GND to input reference resistor sip pack This will bias MI1 to MIS inputs to GND for OFF state Input must then be pulled up for ON state 5V to 24V E10A B C Flash Memory Bank Select E Point and n Physical Layout Location Description Default E10A A2 Remove all three jumpers to select flash memory bank No jumpers installed DO COO SSR with factory installed firmware Use another configuration to select one of the seven other flash memory banks
45. electable between sinking and sourcing in groups of eight Default is all sinking inputs can be changed simply by moving a jumper Sourcing outputs must be special ordered or field configured e Eight inputs eight outputs only no changes Parallel fast communications to PMAC CPU e Not opto isolated easily connected to Opto 22 PB16 or similar modules through Acc 21F cable Jumper E7 controls the configuration of the eight inputs If it connects pins 1 and 2 the default setting the inputs are biased to 5V for the OFF state and they must be pulled low for the ON state If E7 connects pins 2 and 3 the inputs are biased to ground for the OFF state and must be pulled high for the ON state In either case a high voltage is interpreted as a 0 by the PMAC software and a low voltage is interpreted as a 1 Caution Do not connect these outputs directly to the supply voltage or damage to the PMAC will result from excessive current draw PMAC is shipped standard with a ULN2803A sinking open collector output IC for the eight outputs These outputs can sink up to 100 mA and have an internal 3 3 kQ pull up resistor to go high RP18 A high side voltage 5 to 24V can be provided to Pin 33 of the JOPTO connector and allow this to pull up the outputs by connecting pins 1 and 2 of Jumper El In addition Jumper E2 must connect pins 1 and 2 for a ULN2803A sinking output It is possible for these outputs to be sourcing drivers by subst
46. from registers Y 3400 to Y 341F See the Turbo PMAC Software Reference for further details on this JANA 1 ANADO 0 5 Volts unipolar 12 5 Volts unipolar GND Software selected 19 Compare Equal Outputs Port JEQU Port The compare equals EQU outputs have a dedicated use of providing a signal edge when an encoder position reaches a pre loaded value This is useful for scanning and measurement applications Instructions for use of these outputs are covered in detail in the PMAC s User Manual Optional 5to 2 Volts DC powe supply JEQU Load 100 mA max EOU1 gt Eos a g E Outputs can be configured sinking or sourcing by replacing the chip U37 and configuring the jumpers E101 102 The voltage levels can be individually configured by removing resistor packs RP43 or RP56 and connecting an external pull up resistor in each output to the desired voltage level Serial Port JRS422 Port For serial communications use a serial cable to connect the PC s COM port to the PMAC s J4 serial port connector Delta Tau provides the Acc 3D cable that connects the PMAC PCI to a DB 25 connector Standard DB 9 to DB 25 or DB 25 to DB 9 adapters may be needed for a particular setup Jumper E110 selects between RS 232 or RS422 signals type for the J4 connector If a cable needs to be made use a flat cable prepared with flat cable type connectors as indicated in the following diagram Machine Connect
47. have an enable disable input that permits complete shutdown of the amplifier regardless of the voltage of the command signal PMAC s AENA line is meant for this purpose If not using a direction and magnitude amplifier or voltage to frequency converter use this pin to enable and disable the amplifier wired to the enable line AENAT DIR1 is pin 47 This signal is an open collector output with a 3 3 kQ pull up resistor to V which is a voltage selected by jumper E100 The pull up resistor packs are RP43 for channels 1 4 For early tests this amplifier signal should be under manual control JMACH1 AENA1 47 Connect to the AGND amplifier enable input 58 This signal could be either sinking or sourcing as determined by chips U37 see jumpers E100 E102 For 24 Volts operation E100 must connect pins 2 3 and a separate power supply must be brought on pins 9 7 of the J9 JEQU connector The polarity of the signal is controlled by jumpers E17A to E17D The default is low true conducting enable In addition the amplifier enable signal could be manually controlled setting Ix00 0 and using the suggested definition of the Mx14 variable Amplifier Fault Signal FAULTn This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems and can shut down action The polarity is programmable with I variable Ix25 1125 for motor 1 and the return signal is analog ground AGND FAULT 1 is pin 49 With the default setup this
48. ible choices for breakout boards are Board Mounting Breakout Style Breakout Notes Connector Acc 8P DIN Rail Monolithic Terminal Block Simple Phoenix contact board Acc 8D DIN Rail Monolithic Terminal Block Headers for connection to option boards Acc 8DCE DIN Rail Modular D sub connector Fully shielded for easy CE mark compliance Mounting The PMAC can be mounted in one of two ways in the PCI bus or using standoffs e PCI bus To mount in the PCI bus simply insert the P1 card edge connector into PCI socket If there is a standard PC style housing a bracket at the end of the PMAC board can be used to screw into the housing to hold the board down firmly e Standoffs At each of the four corners of the PMAC board there are mounting holes that can be used to mount the board on standoffs Power Supplies Digital Power Supply 2A O 5V 5 10 W Eight channel configuration with a typical load of encoders e The host computer provides the 5V power supply in the case PMAC is installed in its internal bus e With the board plugged into the bus it will automatically pull 5V power from the bus and it cannot be disconnected In this case there must be no external 5V supply or the two supplies will fight each other possibly causing damage This voltage could be measured between pins 1 and 3 of the terminal block e In a stand alone configuration when PMAC is not plugge
49. ines see below The ones that affect a coordinate system are STRT run STEP STOP abort and HOLD feed hold affect the coordinate system selected by the FDPn lines Selector Inputs Caution It is not a good idea to change the selector inputs while holding one of the jog inputs low Releasing the jog input will then not stop the previously selected motor This can lead to a dangerous situation The four low true BCD coded input lines FDPO LSBit FDP1 FDP2 and FDP3 MSBit form a low true BCD coded nibble that selects the active motor and coordinate system simultaneously These are usually controlled from a single 4 bit motor coordinate system selector switch The motor selected with these input lines will respond to the motor specific inputs It will also have its position following function turned on Ix06 is set to 1 automatically The motor just de selected has its position following function turned off Ix06 is set to 0 automatically Alternate Use If I2 has been set to 1 the discrete inputs can be used for parallel data servo feedback or master position The Acc 39 Handwheel Encoder Interface board provides 8 bit parallel counter data from a quadrature encoder to these inputs Refer to the Acc 39 manual and Parallel Position Feedback Conversion section in the Setting up a Motor section for more details Reset Input Input INIT reset affects the entire card It has the same effect as cycling power or a host
50. ing All termination resistor packs are the types that have independent resistors no common connection with each resistor using two adjacent pins The following table shows which packs are used to terminate each input device Device Resistor Pack Pack Size Encoder 1 RP61 6 pin Encoder 2 RP63 6 pin Encoder 3 RP67 6 pin Encoder 4 RP69 6 pin Resistor Pack Configuration Differential or Single Ended Encoder Selection The differential input signal pairs to the PMAC have user configurable pull up pull down resistor networks to permit the acceptance of either single ended or differential signals in one setting or the detection of lost differential signals in another setting The inputs of each differential pair each have a hard wired 1 kQ pull up resistor to 5V This cannot be changed The inputs of each differential pair each have a hard wired 2 2 kQ resistor to 5V Each also has another 2 2 kQ resistor as part of a socketed resistor pack that can be configured as a pull up resistor to 5V or a pull down resistor to GND If this socketed resistor is configured as a pull down resistor the default configuration the combination of pull up and pull down resistors on this line acts as a voltage divider holding the line at 2 5V in the absence of an external signal This configuration is required for single ended inputs using the lines alone It is desirable for unconnected inpu
51. ions Turbo PMAC PCI Lite Machine Port Connections JMACH Connector Overtravel Limits and Home Switches When assigned for the dedicated uses these signals provide important safety and accuracy functions LIMn and LIMn are direction sensitive overtravel limits that must be actively held low sourcing current from the pins to ground to permit motion in their direction The direction sense of LIMn and LIMn is as follows LIMn should be placed at the negative end of travel and LIMn should be placed at the positive end of travel Types of Overtravel Limits PMAC expects a closed to ground connection for the limits to not be considered on fault This arrangement provides a failsafe condition and therefore it cannot be reconfigured differently in PMAC Usually a passive normally closed switch is used If a proximity switch is needed instead use a 15V normally closed to ground NPN sinking type sensor JMACH1 JMACH JMACH1 51 Lim Output JMACH2 PIN 59 12 24V DC AGnd 58 Dry Contact 15 Volts proximity 15 24 Volts proximity Jumper E89 E90 and E100 must be set appropriately for the type of sensor used Home Switches While normally closed to ground switches are reguired for the overtravel limits inputs the home switches could be either normally closed or normally open types The polarity is determined by the home seguence setup through the I variables I902 I907 I977 However for the following reason
52. ions 17 Turbo PMAC PCI Lite DB 25 Female 1 IDC 26 PS Do not connect wire 26 PMAC IDC 26 PMAC DB 25 1 1 2 14 3 2 TXD 4 15 5 3 RXD 6 16 7 4 RTS 8 17 9 5 CTS 10 18 11 6 DSR 12 19 13 7 Gnd 14 20 DTR 15 8 16 21 17 9 18 22 19 10 20 23 21 11 22 24 23 12 24 25 25 13 26 No Connect 18 Machine Connections Turbo PMAC PCI Lite Machine Connections Example Amplifier 15 Volts Power Supply Motor Encoder S PMAC installed in a desktop PC ACC 8D or ACC 8P 1 3 4 53 LlMn 55 HMFLn 58 58 58 58 AGND 1 5V 3 GND 7 18 5 6 es 19 2 7 8 cum 23 24 11 12 CHBn 27 28 15 16 CHAn 45 46 31 32 DACn 47 48 33 34 AENAnDIRn 49 50 35 36 FAULT 58 AGND 58 AGND 59 A 15V OPT V 60 A 15V Acc 8D Note For this configuration jumpers E85 E87 E89 E90 and E100 are left at the default settings Machine Connections 19 Turbo PMAC PCI Lite SOFTWARE SETUP Communications Delta Tau provides communication tools that take advantage of the PCI bus Plug and
53. is derived from the phase clock see E98 E29 E33 through a divide by N counter Jumpers E3 through E6 control this dividing function Default and Physical Layout E3 E4 ES E6 Servo Clock Phase Clock aa o o Divided by N o O 2 2 LOCATION A8 A8 A7 A7 ON ON ON ON N divided by 1 OFF ON ON ON N divided by 2 ON OFF ON ON N divided by 3 OFF OFF ON ON N divided by 4 Only ES and E6 ON ON OFF ON ON N divided by 5 OFF ON OFF ON N divided by 6 ON OFF OFF ON N divided by 7 OFF OFF OFF ON N divided by 8 ON ON ON OFF N divided by 9 OFF ON ON OFF N divided by 10 N N N N N N ON OFF ON OFF divided by 11 OFF OFF ON OFF divided by 12 ON ON OFF OFF divided by 13 OFF ON OFF OFF divided by 14 ON OFF OFF OFF divided by 15 OFF OFF OFF OFF divided by 16 Note The setting of I variable 110 should be adjusted to match the servo interrupt cycle time set by E98 E3 E6 E29 E33 and the crystal clock frequency 110 holds the length of a servo interrupt cycle scaled so that 8 388 608 equals one millisecond Since I10 has a maximum value of 8 388 607 the servo interrupt cycle time should always be less than a millisecond unless the basic unit of time on PMAC is something other than a millisecond To have a servo sample time greater than one millis
54. isolated from PMAC The TWS form of M variables is used for these boards e The Acc 8D Option 7 Resolver to Digital Converter board provides up to four resolver channels whose absolute positions can be read through the thumbwheel port The TWR form of M variables is used for this board e The Acc 8D Option 9 Yaskawa Absolute Encoder Interface board can connect to up to four of these encoders The absolute position is read serially through the multiplexer port on power up If none of these accessory boards is used the inputs and outputs on this port may be used as discrete non multiplexed I O They map into PMAC s processor space at Y address 78801 The suggested M variable definitions for this use are M40 to M47 for the eight outputs and M50 to M57 for the eight inputs The Acc 27 Optically Isolated I O board buffers the I O in this non multiplexed form with each point rated to 24V and 100 mA Optional Analog Inputs JANA Port The JANA port is present only if Option 12 is ordered for the PMAC Option 12 provides eight 12 bit analog inputs ANAI00 ANAIO7 Option 12A provides eight additional 12 bit analog inputs ANAOS ANAI15 for a total of 16 inputs The analog inputs can be used as unipolar inputs in the OV to 5V range or bi polar inputs in the 2 5V to 2 5V range The analog to digital converters on PMAC require 5V and 12V supplies These supplies are not isolated from digital 5V circuitry on PMAC If the PMAC is plugged
55. its isolated from each other provided separate isolated supplies are used E89 E90 Input Flag Supply Control If E90 connects pins 1 and 2 and E89 is ON the input flags LIMn LIMn HMFLn and FAULTn are supplied from the analog A 15V supply which can be isolated from the digital circuitry If E90 connects pins 1 and 2 and E89 is OFF the input flags are supplied from a separate A V supply through pin 9 of the J9 JEQU connector This supply can be in the 12V to 24V range and can be kept isolated from the digital circuitry If E90 connects pins 2 and 3 the input flags are supplied from the digital 12V supply and isolation from the digital circuitry is defeated E100 AENA EOU Supply Control If E100 connects pins 1 and 2 the circuits related to the AEN An EQUn and FAULTn signals will be supplied from the analog A 15V supply which can be isolated from the digital circuitry If E100 connects pins 2 and 3 the circuits will be supplied from a separate A V supply brought in on pin 9 of the J9 JEQU connector This supply can be in the 12V to 24V range and can be kept isolated from the digital circuitry 4 Hardware Setup Turbo PMAC PCI Lite Clock Configuration Jumpers E3 E6 Servo Clock Frequency Control The jumpers E3 E6 determine the servo clock frequency by controlling how many times it is divided down from the phase frequency The default setting of E3 and E4 OFF ES and E6 ON divides the phase clock frequen
56. ituting a UDN2981A IC for the ULN2803A This U13 IC is socketed and so may easily be replaced For this driver the internal resistor packs pull down instead With a UDN2981A driver IC Jumper E1 must connect pins 2 and 3 and Jumper E2 must connect pins 2 and 3 Caution Having Jumpers El and E2 set wrong can damage the IC The V output on this connector has a 2A fuse Fl for excessive current protection The outputs can be configured individually to a different output voltage by removing the internal pull up resistor pack RP18 and connecting to each output a separate external pull up resistor to the desired voltage level Example Standard configuration using the ULN2803A sinking open collector output IC LL UL CS Ea 5 to 24 V alts DC E supply 14 Machine Connections Turbo PMAC PCI Lite Control Panel Port I O JPAN Port The J2 JPAN connector is a 26 pin connector with dedicated control inputs dedicated indicator outputs a quadrature encoder input and an analog input The control inputs are low true with internal pull up resistors They have predefined functions unless the control panel disable I variable I2 has been set to 1 If this is the case they may be used as general purpose inputs by assigning M variable to their corresponding memory map locations bits of Y address 78800 Command Inputs JOG JOG PREJ return to pre jog position and HOME affect the motor selected by the FDPn l
57. l quadrature encoder connected to channel 1 JMACH DAC Output Signals If PMAC is not performing the commutation for the motor only one analog output channel is required to command the motor This output channel can be either single ended or differential depending on what the amplifier is expecting For a single ended command using PMAC channel 1 connect DACI pin 43 to the command input on the amplifier Connect the amplifier s command signal return line to PMAC s AGND line pin 58 In this setup leave the DAC1 pin floating Do not ground it For a differential command using PMAC channel 1 connect DACI pin 43 to the plus command input on the amplifier Connect DACI pin 45 to the minus command input on the amplifier PMAC s AGND should still be connected to the amplifier common If the amplifier is expecting separate sign and magnitude signals connect DACI pin 43 to the magnitude input Connect AENAT DIRI pin 47 to the sign direction input Amplifier signal returns should be connected to AGND pin 58 This format requires some parameter changes on PMAC See Ix25 Jumper E17 controls the polarity of the direction output This may have to be changed during the polarity test This magnitude and direction mode is suited for driving servo amplifiers that expect this type of input and for driving voltage to frequency V F converters such as PMAC s Acc 8D Option 2 board for running stepper motor drivers If using PMAC to commut
58. nd 12V if jumpers E85 E87 and E88 are installed power the analog output stage this defeats the optical isolation on PMAC To keep the optical isolation between the digital and analog circuits on PMAC provide analog power 12V to 15V and AGND through the JMACH connector instead of the bus connector or this terminal block 48 Connector Pinouts
59. ns Option 18 Identification Number amp Real Time Clock Calendar Module Option 18 provides a module that contains an electronic identification number and possibly a real time clock calendar e Option 18A provides an electronic identification number module Introduction 3 Turbo PMAC PCI Lite HARDWARE SETUP On the PMAC there are many jumpers pairs of metal prongs called E points Some have been shorted together others have been left open These jumpers customize the hardware features of the board for a given application and must be setup appropriately The following is an overview of the several PMAC jumpers grouped in appropriate categories For a complete description of the jumper setup configuration refer to the Turbo PMAC PCI Lite E Point Jumper Descriptions section of this manual Power Supply Configuration Jumpers 17 IMACH2 J9 JEQU A V 12 24V PIN 9 A V 12 24V PIN 9 E89 ER No e AN A 15V E85 PIN59 SN f 35V 3 41 1 3 PIN1 ap tio PIN2 V F Hip a AGND pac AGND 8 PIN58 E87 f GND PIN3 PIN4 fa a e A ER A 15V E88 PINGO P1 BUS TB1 IMACHI E85 E87 E88 Analog Circuit Isolation Control These jumpers control whether the analog circuitry on the PMAC is isolated from the digital circuitry or electrically tied to it In the default configuration these jumpers are off keeping the circu
60. nseesnoneesesensnsenessenenseesoseesesensosenssenenseesnonenses 32 E34A E38 Encoder Sampling Clock Frequency Control 32 E40 E43 Phase Servo Clock Direction Control sese eee eee 32 BA4 E50 Reserved for Future USe e ici letalidad EE Ree dE 33 E51 Normal Re Initializing Power Up 33 B55 E65 Host Interr pt Signal Select eee eee epe pande beer le co Rr A unge ao ap Us rko RENE OE Re paa 33 E72 E73 Panel Analog Time Base Signal Enable sese 34 E74 E75 Clock Output Control for External Interpolation connccnnonocnnoncnonnnononcnonanononnconnnononnnnnnnnconancnnnnconanannne 34 E85 Host Supplied Analog Power Source Enable sss sese 34 E87 E88 Host Supplied Analog Power Source Enable sees eee 35 E89 Amplifier Supplied Switch Pull Up Enable sss sese eee 35 E90 Host Supplied Switch Pull Up Enable sss sees eee eee 35 E98 DAC ADC Clock Frequency Control 36 E100 Output Flag Supply Select 5 ertet venter trit reete rro pateris gerere radeon ss dusecevadupecesbeusecerarsteds 36 E101 E102 Motors 1 4 Amplifier Enable Output Configure eese nnne nennen nnne 36 E109 Reserved for Future Us s sidisen kesiangan iaie aese ed aee eatin odiei esaea diesen ai iiai 37 E110 Serial Port Configure sccessecsessecsesssnsnseeesocensenensssetessenonsesesceesnanensnseseseronseeesosessasensesersnsensussesesenses 37 E111 Clock Lines Output Enable sese 37 E119 Watchdog Disable
61. ommon Connector Pinouts 41 Turbo PMAC PCI Lite J3 JTHW 26 Pin Connector Continued 25 J20000000000009 1 2 00000000000O0O09J2 Front View Pin Symbol Function Description Notes 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 provides eight inputs and eight outputs at TTL levels While these I O can be used in un multiplexed form for 16 discrete I O points most users will utilize PMAC software and accessories to use this port in multiplexed form to greatly multiply the number of I O that can be accessed on this port In multiplexed form some of the SELn outputs are used to select which of the multiplexed I O are to be accessed See also VO and Memory Map Y 78801 Suggested M variables M40 M58 M variable formats TWB TWD TWR TWS Acc 8D Option 7 Acc 8D Option 9 Acc 18 Acc 34x NC Control Panel J4 Serial Port Connector J4 JRS422 26 Pin Connector 2800OO0O0O0O0O00000001 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 Out
62. otor C S select bit 2 Low is true 14 FPD3 Input Motor C S select bit 3 Low is true 15 INIT Input Reset PMAC Low is Reset equiv to 40 Connector Pinouts Turbo PMAC PCI Lite J2 JPAN 26 Pin Connector Continued 25 J200000000000090 1 28 0000000000000 2 Front View Pin Symbol Function Description Notes 16 HWCA Input Handwheel enc A channel 5v TTL sq pulse must use E23 CHA2 17 IPLD Output In position ind C S Low lights LED 18 BRLD Output Buffer request ind Low lights LED 19 ERLD Output Fatal follow err C S Low lights LED 20 WIPER Input Feed pot wiper O to 10v input must use E72 E73 CHA4 21 SPARE N c 22 HWCB Input Handwheel enc B channel 5v TTL sq pulse must use E22 CHB2 23 FILD Output Warn follow err C S Low lights LED 24 F2LD Output Watchdog timer Low lights LED 25 5V Output 5v power For remote panel 26 GND Common PMAC common The JPAN connector can be used to connect the Accessory 16 Control Panel or customer provided I O to the PMAC providing manual control of PMAC functions via simple toggle switches If the automatic control panel input functions are disabled I2 1 the inputs become general purpose TTL inputs and the coordinate system C S specific outputs pertain to the host addressed coordinate system See Also Control panel inputs Accessories Acc 16 Acc 39 I va
63. p firmware 5CO Latest released firmware version RS 232 422 serial interface 33 MHz PCI PC bus interface Four channels axis interface circuitry each including e 16 bit 10V analog output e 3 channel differential single ended encoder input e Four input flags two output flags e Interface to external 16 bit serial ADC Display control panel 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 2 Dual Ported RAM Dual ported RAM provides a very high speed communications path for bus communications with the host computer through a bank of shared memory DPRAM is advised if more than 100 data items per second are to be passed between the controller and the host computer in either direction e Option 2 provides an 8k x 16 bank of dual ported RAM in component The key component on the board is U1 Introduction 1 Turbo PMAC PCI Lite Option 5 CPU and Memory Configurations The various versions of Option 5 provide different CPU speeds and main memory sizes integrated on the main board Only one Option 5xx may be selected for the board The CPU is a DSP563x IC as component U127 The CPU is available in different speeds and with different internal memory sizes The compiled assembled program memory SRAM I
64. ps 4 Clock Configuration Tumpets odere dre de e ie deed eo Deed put FSA en diia 5 Encoder Configuration Jun 2e d id sus Dr ed pst ute den rutas iia 5 Board RE 6 Communication E Ee D VO Conhpuration Tumpets tr tii ii ai 6 Reserved Configuration Jumpets 5 4 oreet dile dad cu esae ere dort vada che dco gro Ee 7 CPU Jumper Configuration ote rrt ote etr tre dore Vo eed EL Do FYND dddo Deos ii 7 Resistor Pack Configuration Flag and Digital Inputs Voltage Selection sese eee eee ee eee 8 Resistor Pack Configuration Termination Resistors sese sese eee eee Resistor Pack Configuration Differential or Single Ended Encoder Selection esee 8 MACHINE CONNECTIONS PT 10 MOI IO AA AAA A FFY RF eek assed ib AA AT 10 Power Supplies A aia 10 Digital Power SUN ii eege 10 Analog Power Supp aU E aii 10 Machine Port Connections JMACH Connector n rennen seen erret nnne ener nnn 11 Overtravel Limits and Home Switches iaieiiea ieii iaioa ie Eea ii eNe 11 Types Of Overtravel Limits a e EE tapa IDDL Rosado Rien 11 Ina E 11 Incremental Encoder Connection iit a il 11 DAC Output Sl aci 12 Amplifier Enable Signal A ENAD Rn 13 Amplifier Fault Signal FAULT sese eee 13 General Purpose Digital Inputs and Outputs JOPTO Port sees eee eee 14 Control Panel Port VO JPAN Pott 15 ero TBI a Ee EE eegen eege dg NG Eed dE 15 Selector ER 15 Reset LU T Rm 15 Handwheel Inpuls occitano aia ddy 15 Optional Voltage to Frequency COnVerte
65. put Send data Diff I O low true 6 SD Output Send data Diff I O high true 7 CS Input Clear to send Diff VO high true 8 CS Input Clear to send Diff VO low true 9 RS Output Req to send Diff VO high true 10 RS Output Req to send Diff I O low true 11 DTR Bidirect Data term read Tied to DSR 12 INIT Input PMAC reset Low is Reset 13 GND Common PMAC common TE 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 VO high true 17 SCIO Bidirect Special ctrl Diff I O low true 18 SCIO Bidirect Special ctrl Diff VO high true 19 SCK Bidirect Special clock Diff VO low true 20 SCK Bidirect Special clock Diff I O high true 21 SERVO Bidirect Servo clock Diff VO low true 22 SERVO Bidirect Servo clock Diff I O high true 23 PHASE Bidirect Phase clock Diff VO 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 42 Connector Pinouts Turbo PMAC PCI Lite J4 JRS422 26 Pin Connector Continued 25 J20000000000009 1 2 00000000000O0O09 J2 Front View See Also Serial Communications Synchronizing PMAC to other PMACs 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
66. r scccessccsesecesssessssecesseeessecesseecsscessneecsscecessecesaeesseecseeseeaeseseesseessaeees 15 Thumbwheel Multiplexer Port JT HW Port sss eee eee eee 16 Optional Analog Inputs JANA Dot 16 Compare Equal Outputs Port JEQU Dot 17 Serial Port JRS422 POPU META 17 Machine Connections Example eee eee 19 SOFTWARE SETUP AAA 20 As obti UG Y BACON EI OUI UD IM PUE LIE 20 Turbo PMAC I Variables AANEREN 20 Operational Frequency and Baud Rate Setup 20 Table of Contents i Turbo PMAC PCI Lite HARDWARE REFERENCE SUMMARY cccscssssssssscsssecsssecsssesscsessssesessssesssscsssssssssssssscsssessssssscssssssssones 22 Board Dimensions Part Number 603657 100 cccccsssssccccceceessssseeeeecceessssseeeeeeceessessseeeeeeeceeeessaeeeeeeceessessaeeeees 22 Board Layout Part Number 603657 100 sees 23 Board Dimensions Part Number 603657 105 cesses nennen enne nennen seen erret nnns sese nennen nnns 24 Board Layout Part Number 603657 105 sese 25 Connectors and Indicators nennen enne enne enne en RR RR asie ennns inneren tenen nene iair rasina 26 JI Display Port JDISP Datt EE EEN 26 J2 Control Panel Port JPAN Por e He m Mises si ese dieses eese ocio 26 J3 Thumbwheel Multiplexer Port JTHW Don 26 J4 Main Serial Port JRS232 422 Port eeng ENEE 26 J5 General Purpose Digital Inputs and Outputs JOPTO Port 26 J6 Auxiliary I O Port JXIO Port
67. rbo PMAC to the default baud rate of 38 400 Note To use the baud rate of 115 200 the CPU must be operating at an exact multiple of 30MHz i e 30 60 90 120 or 150MHz Software Setup 21 Turbo PMAC PCI Lite HARDWARE REFERENCE SUMMARY Board Dimensions Part Number 603657 100 m 22 Hardware Reference Summary Turbo PMAC PCI Lite Board Layout Part Number 603657 100 Feature Location Feature Location y Td STI A38 001 59 09 0N ASSY C E e e E 1 S E2 i E T S E E de Se _ a e B 2 7 8 8 85 EA E108 E100 um Es w 3 EC EG E170 em mu em m E s eo JE m 8 es M 4 H em mu eo u Fn IH E23 E102 E28 Eis ee E29 5 E30 S ES Ens 8s d Ex Ae Fie 8m x i E33 6 E i E34 D20 i SH F E35 A E36 E37 m E 7 H E40 Hi En if Esa E EM B E 5 8 m E46 C5 J9 A3 E47 C5 J17 A4 En 130 En E 9 M Em unn es me Te amp a B Hardware Reference Summary 23 Turbo PMAC PCI Lite Board Dimensions Part Number 603657 105 12383 11 788 6 275 00 LEA A A A e 00 099 a B 90000000000 mo 19000000 u e00009 mo 3 9000009000 v0 0 000008 e um nu H ee ee ee ee ss E eg ee gee e
68. riables I2 Ix06 I O and Memory Map Y 78800 Suggested M variables M20 M32 J3 Multiplexer Port Connector J3 JTHW 26 Pin Connector 25 20000000000009 1 2 002000000000O0O0OJ2 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 multiplexed accessory 4 SELO Output Select 0 output Multiplexer select output 5 DATI Input Data 1 input Data input from multiplexed accessory 6 SELI Output Select 1 output Multiplexer select output 7 DAT2 Input Data 2 input Data input from multiplexed accessory 8 SEL2 Output Select 2 output Multiplexer select output 9 DAT3 Input Data 3 input Data input from multiplexed accessory 10 SEL3 Output Select 3 output Multiplexer select output 11 DATA Input Data 4 input Data input from multiplexed accessory 12 SEL4 Output Select 4 output Multiplexer select output 13 DATS Input Data 5 input Data input from multiplexed accessory 14 SEL5 Output Select 5 output Multiplexer select output 15 DAT6 Input Data 6 input Data input from multiplexed accessory 16 SEL6 Output Select 6 output Multiplexer select output 17 DAT7 Input Data 7 input Data input from multiplexed accessory 18 SEL7 Output Select 7 output Multiplexer select output 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 c
69. s the same type of switches used for overtravel limits are recommended e Normally closed switches are proven to have greater electrical noise rejection than normally open types e Using the same type of switches for every input flag simplifies maintenance stock and replacements Incremental Encoder Connection Each JMACH connector provides two 5V outputs and two logic grounds for powering encoders and other devices The 5V outputs are on pins 1 and 2 the grounds are on pins 3 and 4 The encoder signal pins are grouped by number all those numbered 1 CHA1 CHA1 CHB1 CHC1 etc belong to encoder 1 The encoder number does not have to match the motor number but usually does If the PMAC is not plugged into a bus and drawing its 5V and GND from the bus use these pins to bring in 5V and GND from the power supply Connect the A and B quadrature encoder channels to the appropriate terminal block pins For encoder 1 the CHAT is pin 25 CHB1 is pin 21 If it is a single ended signal leave the complementary signal pins floating Do not ground them However if single ended encoders are used make sure the resistor packs are in the default position RP 60 62 66 68 For a differential encoder connect the complementary signal lines CHA1 is pin 27 and CHB1 is pin 23 The third channel index pulse is optional For encoder 1 CHC1 is pin 17 and CHC1 is pin 19 Machine Connections 11 Turbo PMAC PCI Lite Example differentia
70. signal must actively be pulled low for a fault condition In this setup if nothing is wired into this input PMAC will consider the motor not to be in a fault condition The amplifier fault signal could be monitored using the properly defined Mx23 variable JMACH1 JEQU PIN 9 FAULT1 49 a Connect to the amplifier fault output zu Wu Connect to the AGND ey AG amplifier fault 58 7 output 49 FAULTI 12 15 Volts signal E100 on 1 2 15 24 Volts signal E100 on 2 3 Some amplifiers share the amplifier fault output with the amplifier enable disable status output In this case a special PLC code must be written with the following sequence Disable the amplifier fault input see Ix25 Enable the motor J command Wait for the amplifier fault input to be false monitor Mx23 Re enable the amplifier fault input see Ix25 Machine Connections 13 Turbo PMAC PCI Lite General Purpose Digital Inputs and Outputs JOPTO Port PMAC s J5 or JOPTO connector provides eight general purpose digital inputs and eight general purpose digital outputs Each input and each output has its own corresponding ground pin in the opposite row The 34 pin connector was designed for easy interface to OPTO 22 or equivalent optically isolated I O modules Delta Tau s Acc 21F is a six foot cable for this purpose Characteristics of the JOPTO port on the PMAC e 1610 points 100 mA per channel up to 24V e Hardware s
71. t This connector allows the Turbo PMAC to communicate through its optional auxiliary RS 232 serial port J30 Optional Analog to Digital Inputs JANA Port This optional port is used to bring in the analog signals for the optional on board analog to digital converter set This feature provides up to 16 analog inputs in the range of 0 to 5V unipolar or 2 5V bipolar J31 Optional Universal Serial Bus Port JUSB Port 26 Hardware Reference Summary Turbo PMAC PCI Lite This optional port allows communicating with PMAC through a standard USB connection J32 Expansion Port JEXP Port This port is used to connect to PMAC accessory board that require data and address bus access JS1 External A D Port JS1 Port This port is only used when connecting to Acc 28A B analog to digital converter boards TB1 Power Supply Terminal Block JPWR Connector This terminal block may be used as an alternative power supply connector if PMAC is not installed in a PCI bus LED Indicators D20 and D20A When these green LEDs are lit they indicate that power is applied to the 5 V input D21 and D21A When these red LEDs are lit they indicate that the watchdog timer has tripped and shut down the PMAC D15 The PMAC has an interlock circuit that drops out the 15V supplies to the analog outputs through a fail safe relay if any supply on PMAC is lost In this case the green LED D15 will be off Fuse The 5V output through the
72. t the amplifier enable line for the corresponding motor is low true so the enable state is low voltage output and sinking current and the disable state is not conducting current With the default ULN2803A sinking driver used by the PMAC on U37 this is the fail safe option allowing the circuit to fail in the disable state With this jumper OFF the amplifier enable line is high true so the enable state is not conducting current and the disable state is low voltage output and sinking current Generally this setting is not recommended E28 Following Error Watchdog Timer Signal Control With this jumper connecting pins 2 and 3 default the FEFCO output on pin 57 of the J8 JMACHI servo connector outputs the watchdog timer 6 Hardware Setup Turbo PMAC PCI Lite signal With this jumper connecting pins 1 and 2 this pin outputs the warning following error status line for the selected coordinate system E101 E102 Motors 1 4 AENA EQU voltage configure Caution A wrong setting of these jumpers will damage the associated output IC The U37 driver IC controls the AENA and EQU signals of motors 1 4 With the default sinking output driver IC ULN2803A or equivalent in U37 these jumpers must connect pins 1 and 2 to supply the IC correctly If this IC is replaced with a sourcing output driver IC UDN2981A or equivalent these jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly E122 XIN7 Fea
73. t its maximum rated frequency of 80 MHz it should be set to 9 to operate an Option 5Dx board at its maximum rated frequency of 100 MHz it should be set to 15 to operate an Option 5Ex board at is maximum rated frequency of 160 MHz 152 is used only at power up reset To change the operational frequency set a new value of 152 issue a SAVE command to store this value in non volatile flash memory then issue a command to reset the controller 154 controls the baud rate for communications on the main serial port Turbo PMAC uses 154 only at power up reset to set up the frequency of the clocking circuit for the serial port To change the baud rate it is necessary to change the value of 154 store this value to non volatile flash memory with the SAVE command and reset the card At this time Turbo PMAC will establish the new baud rate The possible settings of I54 and the baud rates they define are 154 Baud Rate 154 Baud Rate 0 600 8 9600 1 900 9 14 400 2 1200 10 19 200 3 1800 11 28 800 4 2400 12 38 400 5 3600 13 57 600 6 4800 14 76 800 T 7200 15 115 200 20 Software Setup Turbo PMAC PCI Lite If the host computer baud rate does not match the Turbo PMAC s baud rate either the Turbo PMAC s baud rate must be changed through the bus communications port or the Turbo PMAC must be re initialized by resetting or powering up with the E51 jumper ON This forces the Tu
74. terrupt level IR5 o No jumper installed E63 B6 Jump pin 1 to 2 to allow Axis Expansion INT 1 to interrupt host PC at PMAC interrupt level IR5 No jumper installed E65 B6 Jump pin 1 to 2 to allow EQUI to interrupt host PC at PMAC interrupt level IRS No jumper installed E Point Jumper Descriptions 33 Turbo PMAC PCI Lite E72 E73 Panel Analog Time Base Signal Enable E Point and Q Q derived from wiper input on J2 to connect to CHA4 Physical Layout Location Description Default E72 A9 Jump pin to 2 to allow V to F converter FOUT No jumper installed 2 derived from wiper input on J2 to connect to i CHA4 E73 A9 Jump pin to 2 to allow V to F converter FOUT No jumper installed 1915 to 4 Note With these jumpers ON no encoder should be wired into ENC4 on JMACHI E27 must connect pins 1 to 2 because these are single ended inputs To create a positive voltage frequency number in PMAC set variable E74 E75 Clock Output Control for External Interpolation Q Q CHC4 E Point and BE Physical Layout Location Description Default E74 A9 Jump pin to 2 to allow SCLK to output on No jumper installed 2 CHC4 E75 B9 Jump pin to 2 to allow SCLK to output on No jumper installed Note SCLK out permits synchronous latching of analog encoder interpolators such as Acc 8D Option 8
75. ts to prevent the pick up of spurious noise It is permissible for differential line driver inputs 8 Hardware Setup Turbo PMAC PCI Lite If this socketed resistor is configured as a pull up resistor by reversing the SIP pack in the socket the two parallel 2 2 kQ resistors act as a single 1 1 kQ pull up resistor holding the line at 5V in the absence of an external signal This configuration is required if encoder loss detection is desired It is required if complementary open collector drivers are used It is permissible for differential line driver inputs even without encoder loss detection If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket marked by a wide white square solder pin on the front side of the board then the pack is configured as a bank of pull down resistors If the pack is reversed in the socket it is configured as a bank of pull up resistors The following table lists the pull up pull down resistor pack for each input device Device Resistor Pack Size Pack Encoder 1 RP60 6 pin Encoder 2 RP62 6 pin Encoder 3 RP66 6 pin Encoder 4 RP68 6 pin Hardware Setup 9 Turbo PMAC PCI Lite MACHINE CONNECTIONS Typically the user connections are made to a terminal block that is attached to the JMACH connector by a flat cable Acc 8D or 8P The pinout numbers on the terminal block are the same as those on the JMACH connector The poss
76. ture Selection Jump 1 2 to bring the PowerGood signal into register XIN7 at Y 070801 bit 7 Reserved Configuration Jumpers E0 Reserved for future use E44 48 Reserved for future use no jumper installed E109 Reserved for future use CPU Jumper Configuration E10A E10C Flash Memory Bank Select Jumpers The flash memory IC in location U146 on the Turbo PMAC PCI Lite board has the capacity for eight separate banks of firmware only one of which can be used at any given time The eight combinations of settings for jumpers E10A E10B and E10C select which bank of the flash memory is used In the factory production process firmware is loaded only into Bank 0 which is selected by having all of these jumpers OFF E18 E20 Power Up State Jumpers Jumper E18 must be OFF jumper E19 must be ON and jumper E20 must be ON in order for the CPU to copy the firmware from flash memory into active RAM on power up reset This is necessary for normal operation of the card Other settings are for factory use only E21 Firmware Load Jumper If jumper E21 is ON during power up reset the board comes up in bootstrap mode which permits the loading of new firmware into the flash memory IC on the board When the PMAC Executive program tries to establish communications with a board in this mode it will automatically detect that the board is in bootstrap mode and ask what file to download as the new firmware Note Jumper E21 must b

Delta Tau TURBO PMAC PCI LITE User's Manual

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