Delta Tau PMAC2 PCI User's Manual
Contents
1. ii 3 Dual ported RAM Source Jumper 3 Power Up State JUMPers suini nre aE EEE E ESRI IN riale pini aaa 3 Firmware Loud Jumper ose aes aca ceed tara ae arri 3 Flash Memory Bank Select Jumpers cccccccssccsevscsesscesessesscuseescesecseesecacesscsseecesaecseesecaeesecsaeesesaeeaeesesaeeseeeeenseasenes 3 Base Board Jumper Configuration rereke 3 Servo and Phase Clock Direction Control iii 3 CPU Frequency Control Jumpers eastern tite 4 Re Initialization e ERO ee Re Ne Pet Ha REI E RR Se pe cape Nee 4 Encoder Sample Clock Source Jumpers eese eese eene nete nennen 4 Serial Port Selection Jumper NEED PEE 4 Output Disable State Jumpers PELLE ape 4 Resistor 2 node lalla lalla 5 Terminatton CAIO SIRENE RIS ARESE RA CER DEDE eee Eo TA 5 Pull Up Pull Down Resistors saniert tree reri Hte Ide Ro DIR cena lei D nd UM 6 D DID ME TR IE 6 Power Supply CN 6 Machine Port Connections 6 Display POPE i 6 Multiplexer Portion e ERRARE oiran 72. TERI ga ECL 5 T B IL Ei 1 4 Ex E Li ceo 5 mar en 2 m A 94 EOOLdi SHOL o ino SE dal zm T x EZIO ni au 9 ano ASI ase D 3027 tic EL YN ero Mi ayo ozz s oo Amo ono a anc woop 2 er AS m a ange Cronos av s S 27207 EBS 17206 EELSEL 4 5 E sob 92 oni Dov hr Bp n tv tw w 7 Sidi 7013 wows IL A zaan nidis as ponuvyyy 240Mp4DH IJd COVWd SIDULAYIS 222 292205 Jgunw ju Wya 140d ANY 128 12972 pomme unu EI 538 i 1a e FII sui Pooh 4456 BER f Pc a m M ape Ws LLL ri HeH zasa di re ery a i a ELE n I 5 Fo HIE 8 E N F EH imi da LIE a EE i Wt m ES H
3. 35 J12 JMACHA Connector iii 36 TB1 2 4 Pin Terminal 36 TB2 3 Pin Terminal Block 2 ia 37 BASE BOARD JUMPERS LA Y OUT nea nio nese neve seseseseneceneso 39 41 ii Table of Contents PMAC2 PCI Hardware Reference Manual INTRODUCTION The PMAC2 PCI part number 400 603367 10x is a member of the PMAC family of boards optimized for interface to sinewave or direct PWM servo drives and to pulse and direction stepper drives Its software is capable of eight axes of control It can have up to eight channels of on board axis interface circuitry It can also support up to eight channels of off board axis interface circuitry through its expansion port connected to Acc 24P or Acc 24P2 ISA format boards Acc 24 boards in PCI format are not yet available The PMAC2 PCI is a full sized PCI bus expansion card with a small piggyback board containing the CPU board This piggyback board occupies part of the next slot but l2 sized boards are permitted in this next slot While the PMAC2 PCI is capable of PCI bus communications with or without the optional on board dual ported RAM it does not need to be inserted into a PCI expansion slot Communications can be done through the standard RS 232 RS 422 serial port Standalone operation is possible
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5. etre enne teneret trennen een 19 J2 JTHW Multiplexer Port Connector 20 J3 General Input Output Connector ii 21 J5 JRS232 Serial Port Connector nier nennen 22 15 RS422 Serial Port Connector seen enne 22 JO IDISP Display PIE 23 J7 JHW Handwheel Encoder Connector i 23 78 Position Compare Output Connector en nnne entrent entente 24 J9 Connector Description enne nre 24 9 IMACHI Connector eese eese ei enne eaten 25 JI 27 J MACH2 Connector Description esses 27 Connector Description 30 JT 1 Connector ERE 3 J12 Connector Description 33 J12 JMACHA Connector esses iii 34 JI2 JMACH4
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9. M 7 POPES p 7 A D EO UA mM 7 Handwheel T 7 COMMUNICATIONS SETUP srerrsrrerrrereeree rie reo ze nese cene carie ninni renze 9 FLEX CPU BOARD JUMPER nese re neeo sens tasses snae cere necesio rioni ni zecneenecene 11 El Watchdog Disable Jumper etie tret re ehe RAI ALI ieri sea 11 E25 Dual Ported RAM Port Select ee trente nter ERR EEEE EE RR 11 E4 B6 Power Up Reset Load Source eter tio iere ri tire PR tke Ebro rhe terna erba tle rhe 11 E7 Firmware Reload En ble 3 2 ret etre tte Eee ERI etr ento RR eR ESILI 11 E10A B C Flash Memory Bank SElect etici eee 12 PMAC2 PCI BASE BOARD JUMPER DESCRIPTIONS ee ees tn sento sten 13 E2 CPU Erequency Select ettet ee tr be Ee eb Ro ia 13 E3 Normal Re Initializing Power Up Reset ii 13 FA CPU Frequency Select ert trt 13 E5 E6 Reserved for Future Use 14 Table Of Contents i PMAC2 PCI Hardware Reference Manual E13 E14 Encoder Sample Clock Direction Contr
10. Board Configuration Base Version The base version of the PMAC2 PCI provides a 1 1 2 slot board with 40MHz DSP563xx CPU Option 5AF 80MHz 56002 equivalent 128k x 24 0 wait state flash backed SRAM 512k x 8 flash memory for user backup amp firmware Latest released firmware version RS 232 RS422 serial interface PCI bus interface Four channels axis interface circuitry each including e Three output command signal sets configurable as either Two serial data streams to external DACs 1 pulse and direction Three PWM top and bottom pairs 3 channel differential single ended encoder input e Nine input flags two output flags e Interface to two external serial ADCs 8 to 18 bits e Two channels supplemental interface circuitry each including e 2 channel differential single ended encoder input e output command signal set configurable as pulse amp direction or PWM top and bottom pair Display MACRO muxed I O direct I O interface ports PID notch feedforward servo algorithms 1 year warranty from date of shipment One manual per set of one to four PMACS shipped Cables mounting plates mating connectors not included Option 1 Additional Four Channels Axis Interface Circuitry e Option 1 provides an additional four channels of on board axis interface circuitry identical to the standard first four channels The key components on the board are the DSPGATEI IC at U7 and connectors J11 and J12 Option 2 Du
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12. HARDWARE REFERENCE MANUAL PMAC2 PCI DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging com
13. 27 Software direction ctrl 28 Software direction ctr 29 Software direction ctr 30 Software direction ctrl 31 Software direction ctr 32 Software direction ctr 33 34 35 For latching data 36 For latching data 37 38 39 To power external circuitry 40 To power external circuitry The JI O connector provides 32 input output pins at TTL levels Direction can be controlled in byte wide groups Base Board Connector Pinouts 21 PMAC2 PCI Hardware Reference Manual J5 JRS232 Serial Port Connector Pin Symbol Function Description Notes 2 Tied to DSR DSR Host transmit data 4 Host ready bit Host receives data PMAC ready bit Tied to DTR 9 10 Power supply out The JRS232 connector provides the PMAC2 PC with the ability to communicate serially with an RS232 port This connector cannot be used for daisy chain interconnection of multiple PMACs The RS 422 port must be used for daisy chaining Nn E17 and E18 must connect pins 1 and 2 to use RS 232 port for serial communications J5A RS422 Serial Port Connector JRS422 26 PIN Connector 25e 000000000 260 0000 00000000 Front View Pin Symbol Function Description Notes 2 3 RD Receivedata ______ Diff low true 4 Diff O high true 5 Diff low true 6 7 8 Diff I O high true Diff I O high true Diff low true 9 Diff high true 10 Diff I O l
14. Typically this header is connected with a matching Delta Tau Acc 8 family 2 channel breakout board or equivalent through a provided 100 pin flat cable The machine port connectors are e J9 Board Channels 1 and 2 e J10 JMACH2 Board Channels 3 and 4 e 1 Board Channels 5 and 6 Option 1 required JI2 JMACH4 Board Channels 7 and 8 Option 1 required Display Port The J6 JDISP display port provides a 14 pin IDC header for connection to the Acc 12 family of displays Flat cables are provided with each of these displays for direct connection between the display and this port 6 Hardware Setup PMAC2 PCI Hardware Reference Manual Multiplexer Port The J2 JTHW multiplexer port provides eight TTL compatible 5 CMOS inputs and eight TTL compatible 5V CMOS outputs on a 26 pin IDC header These can be used directly as general purpose digital I O or with PMAC2 s special M variable support TWB TWD TWR and TWS formats they can be used to support hundreds or even thousands of multiplexed I O points on accessory boards Delta Tau provides the following accessory boards that can be connected to the multiplexer port Each comes with a flat cable for direct connection to the port Acc 8D Option 7 Resolver to Digital Converter Board Acc 18 Thumbwheel Board 34 family of Digital I O Boards 35 and B Extender Boards Port The J3 port provides 32 TTL compatible SV
15. 2 to 3 to input SCLK signal for second ASIC on SCLK 56 and output this signal on SCLK 78 Note E14 is only installed if Option 1 has been ordered E17 E18 Serial Port Type Selection 14 E Point and Location Description Default Physical layout E17 Cl Connect pins 1 and 2 to use the RS 232 port Jumper installed in oe on the J5 connector 1 2 position 2 Connect pins 2 and 3 to use the RS 422 port lt on the J5A connector 3 E18 CI Connect pins 1 and 2 to use the RS 232 port Jumper installed in on J5 connector 1 2 position 5 Connect pins 2 and 3 to use the RS 422 port on J5A connector 3 Serial Port Choice Because both RS 232 and RS 422 ports are always provided jumpers must be set correctly to use the port of choice Jumpers E17 and E18 must connect pins 1 and 2 to use the RS 232 port on the J5 connector to use the RS 422 port on the J5A connector they must connect pins 2 and 3 Base Board Jumper Descriptions PMAC2 PCI Hardware Reference Manual E111 118 Command Output Disable State E111 E112 E113 E114 E115 E116 E117 118 Channel to tri state when amplifier enable signal for Channel n is in disable state Remove jumper for digital servo command output signals of Channel n to remain active but typically with zero command value when amplifier enable signal for Ch
16. Communications e Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0KO T amp B Ansley P N 609 1041 e 171 10 T amp B Ansley standard flat cable stranded 10 wire e Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J5A JRS422 RS 422 Serial Communications e Two 26 pin female flat cable connector Delta Tau P N 014 ROOF26 0KO T amp B Ansley P N 609 2641 e 171 26 T amp B Ansley standard flat cable stranded 26 wire e Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J6 JDISPy Display e Two 14 pin female flat cable connector Delta Tau P N 014 R00F14 0K0 T amp B Ansley P N 609 1441 e 171 14 T amp B Ansley standard flat cable stranded 14 wire e Phoenix varioface modules type FLKM14 male pins 22 81 02 1 J7 JHW Auxiliary Channel e Two 20 pin female flat cable connector Delta Tau P N 014 R00F20 0K0 T amp B Ansley P N 609 2041 e 171 20 T amp B Ansley standard flat cable stranded 20 wire e Phoenix varioface modules type FLKM20 male pins Mating Connectors PMAC2 PCI Hardware Reference Manual J8 JEQU Position Compare e Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0KO T amp B Ansley P N 609 1041 171 10 T amp B Ansley standard flat cable stranded 10 wire e Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J9 JMACH1 Machine Port 1 e Two 100 pin high density box header with center key 0 050 pitch AMP P N 1 04068 7 Delta Tau P N 014
17. DAC_STB6 strobe DAC_STB6 strobe 91 PWMBBOT6 Output Phase B bottom Cmd or DAC Programmable function control DAC6B B serial data 32 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual 411 Connector Continued Front View Pinf Symbol Notes 92 PWMBBOTE6 Output Phase B bottom Cmd or DAC Programmable function control ee e 93 PWMCTOP6 Output Phase B top Cmd or PFM Programmable function control li i NI 94 PWMCTOP6 Output Phase B top Cmd or PFM Programmable function control li NN RN 95 PWMCBOT6 Output Phase B bottom Cmd or PFM Programmable function control lr NN 96 PWMCBOTE6 Output Phase B bottom Cmd or PFM Programmable function control PULSE6 pulse 97 Reference voltage 98 GND Common Reference voltage 99 For external circuit or from external supply 100 me em For external circuit or from external supply The JMACHG connector provides the interface pins for channels 5 and 6 It is usually connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board 412 JMACH4 Connector Description This connector is present only if Option 1 is ordered J12 JMACHA Connector Front View Pinf Symbol Notes 45V Output Input 5V power For external circuit or from externa
18. pin Fault 1 amp 2 RP63 6 pin Encoder 6 111 6 pin Fault 3 amp 4 RP64 6 pin Encoder 7 RP108 6 pin Fault 5 amp 6 RP124 6 pin Encoder 8 RP112 6 pin Fault 7 amp 8 RP125 6 pin SCLK12 amp 34 RP52 6 pin SCLK56 amp 78 RP113 6 pin Pull Up Pull Down Resistors The differential input signal pairs to the PMAC2 PCI 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 kohm pull up resistor to 5V This cannot be changed The inputs of each differential pair each have a hard wired 2 2 kohm resistor to 5V each has another 2 2 kohm 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 inputs to prevent the pick up of spurious noise It is permissible for differential line driver inputs If this socketed resistor is configured as a pull up resistor by reversing the SIP p
19. 00010 FPB e High density flat cable stranded 100 wire 410 JMACH2 Machine Port 2 e Two 100 pin high density box header with center key 0 050 pitch AMP 1 04068 7 Delta Tau P N 014 00010 FPB e High density flat cable stranded 100 wire J11 JMACH3 Machine Port 3 e Two 100 pin high density box header with center key 0 050 pitch AMP P N 1 04068 7 Delta Tau P N 014 00010 FPB e High density flat cable stranded 100 wire J12 JMACH4 Machine Port 4 e Two 100 pin high density box header with center key 0 050 pitch AMP P N 1 04068 7 Delta Tau P N 014 00010 FPB e High density flat cable stranded 100 wire 18 Mating Connectors 2 PCI Hardware Reference Manual PMAC2 PCI BASE BOARD CONNECTOR PINOUTS J1 JANA Analog Input Port Connector This connector is present only if Option 12 is ordered Pin Symbol Function Description Notes 1 ANAIOO Input Analog input 0 0 5V or 2 5V range 2 ANAIO1 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 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 ANAI08 Input Analog input 8 0 5V or 2 5V range 10 ANAI09
20. 81 High is enable 82 Low is enable 83 Programmable polarity 84 Programmable polarity DAC CLK8 clock DAC CLKS clock DAC8A DAC A serial data DAC8A DAC A serial data 89 PWMBTOP8 Output Phase B top Cmd or DAC Programmable function control DAC_STB8 strobe Base Board Connector Pinouts 35 PMAC2 PCI Hardware Reference Manual J12 JMACHA Connector Continued BMhRARRARRARMARRARRRARRARRARRARRARRARRRRARRRARRRARRM Front View Pinf Symbol Notes 90 DAC STBS strobe DAC8B B serial data DAC8B B serial data DIR8 direction DIR8 direction PULSE8 pulse 96 PWMCBOTS Output Phase B bottom Cmd or PFM Programmable function control Mo pulse 97 Reference voltage 98 ene Reference voltage 99 45V Input 5V power For external circuit or from external supply 100 Output Input For external circuit or from external supply The connector provides the interface pins for channels 7 and 8 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board TB1 2 4 Pin Terminal Block This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2 board when it is not in a bus configuration When the PMAC2 is in a bus configuration these supplies come through the bus connector from the bus power supply automatically in this case this terminal b
21. CMOS points a 40 pin IDC header Direction is selectable by byte These are used as general purpose digital I O points Acc 21A provides a convenient connections adapter from this port to OPTO 22 style boards Serial Ports The PMAC2 PCI has two serial port connectors Only one of these can be used in an application J5 isa 10 pin IDC header for RS 232 communications It can be connected to a standard DB9 RS 232 connector on a host computer or terminal via a flat cable such as the Acc 3L A commercially available DB9 to DB25 adapter can be added to this flat cable if the host computer or terminal has a DB25 serial connector Jumpers E17 and E18 on the PMAC2 PCI must connect pins 1 and 2 to use this port J5A is 26 pin IDC header for RS 422 communications It can be connected to a standard DB25 RS 422 connector on a host computer or terminal via a flat cable such as the Acc 3D Jumpers E17 and E18 on the PMAC2 PCI must connect pins 2 and 3 to use this port A D Converter Port If the Option 12 A D converters are ordered the J1 analog input port is provided on the PMAC2 on 20 pin IDC header Option 12 provides eight analog inputs at 0 5V or 2 5V levels Option 12A provides eight additional analog inputs at these levels The 12V and 12V supplies can either be brought in on this connector or brought out on it for the external analog circuitry if they have been brought in through or PI Handwheel Port The J7 J
22. Copyright 1994 98 Delta Tau Data Systems Inc Device Location In Bus Serial Port Port Address Host Computer OxCO00 VMIC O Works Y Caral Da Please use hexadecimal Serial Port format COM2 Disable Interrupts Enalnt Mail Box Base Adr Address Modifier IRO Level Baudrate and Dual ported 9 pu 33424 7 3500 DPR Dont Care Bits IRQ Vector Parity 0 1800000 a None RAM if not used Cancel Advanced The MOTIONEXE application will look first for PCI boards on the PCI bus and will assign device numbers sequentially from Device0 to each PMAC PCI until all the PMAC PCI boards found have a device number assigned Then manually add other devices for either ISA bus or Serial port communications After each PMAC has a device number assigned to it communications through the PCI bus are identical to the ISA bus Any application written for the ISA bus using the Delta Tau provided 32 bits communication libraries provided will not require any further change and the process is transparent Communications Setup 9 PMAC2 PCI Hardware Reference Manual 10 Note For example if a Device0 for serial RS 232 communications was defined before PMAC PCI board was installed in the computer its setup information will be overwritten by the MOTIONEXE application when the PMAC2 PCI board is found Therefore it is very i
23. ETUP Piggyback CPU Board Jumper Configuration Watchdog Timer Jumper Jumper E1 on the Turbo CPU board 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 be put ON only to debug problems with the watchdog timer circuit Dual ported RAM Source Jumper Jumper E2 must connect pins 1 and 2 to access dual ported RAM from the baseboard To use Option 2 DPRAM on the baseboard jumper E2 must be in this setting Jumper E2 must connect pins 2 and 3 to access dual ported RAM through the JEXP expansion port To use DPRAM on an external accessory board jumper E2 must be in this setting Power Up State Jumpers Jumper E4 on the Turbo CPU board must be OFF jumper E5 must be ON and jumper E6 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 Firmware Load Jumper If jumper E7 on the CPU board 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 detect automatically that the board is in bootstrap mode and ask what file to download as the new firmware Jumper E7 must be OFF during power up reset for the boar
24. HW handwheel port provides two limited supplemental channels each with a 2 channel encoder input and a pulse and direction or PWM top and bottom pair output All inputs and outputs are digital SV differential line driver pairs Hardware Setup 7 PMAC2 PCI Hardware Reference Manual Hardware Setup PMAC2 PCI Hardware Reference Manual COMMUNICATIONS SETUP Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32 bits Windows based computers Starting with MOTIONEXE EXE version 10 32 00 which is included in PEWIN32 version 2 32 and newer a PMAC2 PCI board plugged in a PCI bus slot will be recognized by the operating system when the computer is booted 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 MOTIONEXE EXE application Hotion Controls Motion control devices Pmac0 PCI Port C000 Int 5 DPRAM E 1800000 Open MOTIONEXE and press Setup for the PCI device desired NC Setup Setup The PMAC2 PCI board may have the optional on board dual ported RAM circuitry which is ordered through Option 2 If the dual ported RAM circuitry is not on board manually disable its automatically assigned use through the setup page of MOTIONEXE PMAC Device 0 Configuration Win32 Communications Library MOTIONEXE Version 10 32 0 0 version number
25. Input Analog input 9 0 5V or 2 5V range 11 Input Analog input 10 0 5V or 2 5V range 12 1 Input Analog input 11 0 5V or 2 5V range 13 2 Input Analog input 12 0 5V or 2 5V range 14 Input Analog input 13 0 5V or 2 5V range 15 ANAI14 Input Analog input 14 0 5V or 2 5V range 16 5 Input Analog input 15 0 5V or 2 5V range 17 GND Common PMAC common Not isolated from digital 18 12 Output Positive supply voltage To power external circuitry 19 GND Common PMAC common Not isolated from digital 20 12V Output Negative supply voltage To power external circuitry This signal is present only if Option 12A is ordered The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2 Base Board Connector Pinouts 19 PMAC2 PCI Hardware Reference Manual J2 JTHW Multiplexer Port Connector Pin Symbol PMAC common PMAC common Function Description Notes DATO Data input from MUX port accessories SELO Select 0 output Address data out put for MUX port accessories DATI Data input from MUX port accessories Select 1 output Address data output for MUX port accessories DAT2 Data input from MUX port accessories SEL2 Select 2 output Address data out put for MUX port accessories Data input from MUX port accessories Address data output for MUX port accessories Dat
26. V Output Input 5V power For external circuit or from external supply 2 Output Input For external circuit or from external supply 3 4 5 Also pulse input 6 Also pulse input 7 Also direction input 8 Also direction input 9 Index channel 10 Index channel 11 Hall effect fault code sub count 12 Hall effect fault code or sub count 13 Hall effect fault code or sub count 14 Fault code or sub count 15 Hardware capture flag or sub count 16 Hardware capture flag 17 Hardware capture flag 18 Hardware capture flag 19 For loss of acc supply voltage 20 Low is PMAC watchdog fault 21 SCLK34 Input Output Encoder sample clock Direction controlled by PMAC2 jumper jumper 23 ADC_CLK3 Output AID converter clock Programmable frequency Base Board Connector Pinouts 27 PMAC2 PCI Hardware Reference Manual J10 JMACH2 Connector NNNM C NN NM Continued BRRARRARRARRARRARRRARRARRARARARRARRRARRRARARAR Front View Pin Notes 24 Programmable frequency 25 Programmable sequence 26 Programmable sequence 27 MSB first 28 MSB first 29 MSB first 30 MSB first 31 High 15 enable 32 Low is enable 33 Programmable polarity 34 Programmable polarity DAC_CLK3 clock 36 PWMATOP3 Output Phase A top Cmd or DAC Programmable function control ber NI 37 PWMABOT3 Output Phase A bottom Cmd or Programmable function control 38 PWMABOT3 Output Phase A bottom Cmd or Programmable fu
27. a input from MUX port accessories Address data output for MUX port accessories Data input from MUX port accessories Address data output for MUX port accessories Data input from MUX port accessories Address data output for MUX port accessories Data input from MUX port accessories Address data output for port accessories N C GND Common PMAC common BRLD Buffer request Low is buffer required PMAC common IPLD Low is in position PMAC common 5Vde supply Power supply out INIT Input PMAC reset Low is reset 20 Base Board Connector Pinouts 2 PCI Hardware Reference Manual JI O General Input Output Connector Pin Symbol Function Description Notes Software direction 2 Software direction ctr 3 Software direction ctrl 4 Software direction ctr 5 Software direction ctrl 6 Software direction ctr 7 Software direction ctr 8 Software direction ctrl 9 Software direction ctrl 10 Software direction ctr Software direction ctr 12 Software direction ctr 13 Software direction ctr 14 Software direction ctr 15 Software direction ctr 16 Software direction ctrl 17 Software direction ctrl 18 Software direction ctr 19 Software direction ctrl 20 Software direction ctr 21 Software direction ctr 22 Software direction ctrl 23 Software direction ctrl 24 Software direction ctr 25 Software direction ctrl 26 Software direction ctrl
28. ack in the socket the two parallel 2 2 kohm resistors act as a single 1 1 kohm 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 or 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 line on the front side of the board and a square solder pin on the back 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 Hardware Setup 5 PMAC2 PCI Hardware Reference Manual The following table lists the pull up pull down resistor pack for each input device Device Resistor Pack Device Resistor Pack Encoder 1 RP43 ADC Fault1 amp 2 RP58 Encoder 2 RP48 ADC Fault3 amp 4 RP59 Encoder 3 RP44 ADC Fault5 amp 6 RP119 Encoder 4 RP49 ADC Fault7 amp 8 RP120 Encoder 5 RP104 SCLK12 amp 34 RP62 Encoder 6 RP109 SCLK56 amp 78 RP123 Encoder 7 RP105 Encoder 8 RP110 Connections Mounting The PMAC2 PCI 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 the PCI socket If there is a standard PC s
29. age 20 Low is PMAC watchdog fault 21 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 22 SCLKI2 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 23 ADC_CLK1 AID converter clock Programmable frequency 24 ADC_CLKI AID converter clock Programmable frequency 25 ADC_STBI Programmable sequence 26 ADC STBI Output A D converter strobe Programmable sequence 24 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual 49 JMACH1 Connector Continued BMhRARRARRARMARRARRRARRARRARRARRARRRARRARRARR Front View Pin Notes 27 MSB first 28 MSB first 29 MSB first 30 MSB first 31 High is enable 32 Low is enable 33 Programmable polarity 34 Programmable polarity DAC CLKI clock DAC CLKI clock DACIA DAC A serial data DACIA DAC A serial data DAC_STB1 strobe DAC STBI strobe 1 B serial data DACIB B serial data DIR1 direction DIRI direction PULSE1 pulse e pulse 47 Reference voltage 48 Reference voltage 49 5V Output Input 5V power For external circuit or from external 50 45V Output Input 5V power For external circuit or from external 51 For external circuit or from external supply 52 For external circuit or from external supply 53 54 55 Also pulse input 56 Also pulse input 57 CHB2 Input Encoder 2 positive B channel Also direction input Base Board Connect
30. al 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 Option 2 provides an 8k x 16 bank of dual ported RAM The key component on the board is 028 Introduction 1 PMAC2 PCI Hardware Reference Manual Option 5xF CPU Speed Options e Option SCF 80MHz DSP563xxx CPU 160MHz 56002 equivalent e Option SEF 160MHz DSP563xxx CPU 320MHz 56002 equivalent e Option SAF 40MHz DSP563xx CPU 80MHz 56002 equivalent Default configuration provided automatically if no CPU option ordered Option 6 Extended Servo Algorithm The standard PID servo algorithm with feedforward and notch filter is suitable for most applications Systems with difficult dynamics especially with significant flexibility may require a more powerful servo algorithm such as the Extended Servo Algorithm ESA Option 7 Plate Mounting e Option 7 provides a mounting plate connected to the PMAC2 PCI with standoffs It is used to install the PMAC2 PCI in standalone applications Option 8 High Accuracy Clock Crystal The PMAC2 PCI has a clock crystal component Y1 of nominal frequency 19 6608MHz 20MHz The standard crystal s accuracy specification is 100 ppm e Option 8A provides a nominal 19 6608MHz crystal with 15 ppm a
31. annel n is in disable state E Point and Location Description Default Physical Layout CI Jump pin 1 to 2 of E11z for digital No jumper servo command output signals of installed Base Board Jumper Descriptions 15 PMAC2 PCI Hardware Reference Manual 16 Base Board Jumper Descriptions PMAC2 PCI Hardware Reference Manual MATING CONNECTORS CPU Board Connectors J2 JEXP Expansion e Two 50 pin female flat cable connector Delta Tau P N 014 ROOF50 0KO T amp B Ansley P N 609 5041 e 171 50 T amp B Ansley standard flat cable stranded 50 wire e Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 Baseboard Connectors J1 JANA Analog Option 12 e Two 14 pin female flat cable connector Delta Tau P N 014 R00F14 0K0 T amp B Ansley P N 609 1441 e 171 14 T amp B Ansley standard flat cable stranded 14 wire e Phoenix varioface modules type FLKM14 male pins P N 22 81 02 1 J2 JTHW Multiplexer Port e Two 26 female flat cable connector Delta Tau P N 014 R00F26 0K0 T amp B Ansley P N 609 2641 e 171 26 T amp B Ansley standard flat cable stranded 26 wire e Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J3 JIO Digital I O e Two 40 pin female flat cable connector Delta Tau P N 014 ROOF40 0KO T amp B Ansley P N 609 4041 e 171 40 T amp B Ansley standard flat cable stranded 40 wire e Phoenix varioface module type FLKM 40 male pins J5 JRS232 RS 232 Serial
32. ccuracy specification Option 10 Firmware Version Specification Normally the Turbo PMAC2 PCI is provided with the newest released firmware version A label on the U10 flash memory IC on the CPU board shows the firmware version loaded at the factory e Option 10 provides for a user specified firmware version Option 12 Analog to Digital Converters e Option 12 permits the installation of 8 or 16 channels of on board multiplexed analog to digital converters 1 or 2 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 Option 12 provides an 8 channel 12 bit A D converter The key components on the board are 028 and connector J1 Option 12A provides an additional 8 channel 12 bit A D converter The key component on the board is U29 Option 16 Battery Backed Parameter Memory The contents of the standard memory are not retained through a power down or reset unless they have been saved to flash memory first Option 16 provides supplemental battery backed RAM for real time parameter storage that is ideal for holding machine state parameters in case of an unexpected power down The battery is located at component BT1 e Option 16 provides a 16k x 24 bank of battery backed parameter RAM in components U6 09 and U15 on the CPU board 2 Introduction PMAC2 PCI Hardware Reference Manual HARDWARE S
33. d to come up in normal operational mode Flash Memory Bank Select Jumpers The flash memory IC in location U10 on the Flex CPU 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 Base Board Jumper Configuration Servo and Phase Clock Direction Control Jumper E1 should be off if the board is using its own internally generated phase and servo clock signals In this case these signals are output on spare pins on the J5A RS 422 serial port connector where they can be used by other PMAC controllers set up to take external phase and servo clock signals Jumper E1 should be on if the board is using externally generated phase and servo clock signals brought in on the J5A RS 422 serial port connector In this case another PMAC controller generates the clock signals and output is on its serial port connector Commonly serial communications are also shared over a multi drop RS 422 cable with software addressing of the cards matching the IO serial card number for each controller Alternately the phase and servo clock signals can come from clock signals involved in the process is on for external phase and clock signals and these clock signals are not b
34. done only if communications cannot be established with the card when it comes up in normal operational mode Encoder Sample Clock Source Jumpers Jumpers E13 and E14 control the source of the SCLK encoder sampling clock for each servo IC The default setting no jumper installed means that the SCLK signal comes from the servo IC and is output on the JMACH connectors This setting is suitable for all but a few very special applications Serial Port Selection Jumper Jumpers E17 and E18 control which serial port connector is used If E17 and E18 connect their pins 1 and 2 the 10 pin RS 232 port connector J5 is used If E17 and E18 connect their pins 2 and 3 the 26 pin RS 422 port connector J5A is used The RS 422 port must be used if several cards are to be daisy chained together on a single multi drop cable Output Disable State Jumpers Jumpers E111 through E118 control the hardware state of the digital command output signals for each channel when the amplifier enable signal for that channel is in the disable state false Jumper Elln n to 8 controls the output signals for channel n on the board If E11n is off default the command output signals for channel are still active when the amplifier enable signal is in the disable state The Turbo PMAC software should be commanding a net zero command to be output on these signals and the amplifier enable signal should be used by the amplifier so that no command output will cause action if it i
35. elect E Point and Description Default Physical Layout E10A Remove all three jumpers to select flash memory bank with No jumpers factory installed firmware installed Use other configuration to select one of the seven other flash memory banks 12 Flex CPU Board Jumper Descriptions 2 PCI Hardware Reference Manual PMAC2 PCI BASE BOARD JUMPER DESCRIPTIONS E1 Servo and Phase Clock Direction Control E Point and Location Description Default Physical Layout El C2 Remove jumper for PMAC2 PCI to use its No jumper internally generated servo and phase clock installed signals and to output these signals on the J5A serial port connector Jump pins 1 and 2 for PMAC2 PCI to expect to receive its servo and phase clock signals on the J5A serial port connector Note If the E1 jumper is ON and the servo and phase clocks are not brought in on the 75 serial port the watchdog timer will trip immediately E2 CPU Frequency Select Not used if 146 gt 0 E Point and Location Description Default Physical layout E2 C2 Remove jumper for 40MHz operation E4 No jumper 1 OFF also or for 80MHz operation E4 ON installed with 146 0 Jumper installed Jump pin 1 to 2 for 60MHz operation E4 OFF with 146 0 Not used if 146 gt 0 E3 Normal Re Initia
36. l supply Output Input For external circuit or from external supply Also pulse input Also pulse input Also direction input Also direction input Index channel Index channel Hall effect fault code or sub count 12 Hall effect fault code or sub count 13 Hall effect fault code or sub count 14 Fault code or sub count 15 Hardware capture flag sub count 16 Hardware capture flag 17 Hardware capture flag 18 Hardware capture flag 19 ACCFLT7 Input Accessory fault flag For loss of acc supply voltage N BY vw ele 2 Base Board Connector Pinouts 33 PMAC2 PCI Hardware Reference Manual J12 JMACHA Connector Continued BMhRARRARRARRMARRARRRARRRARRARRARRARARRRARRARRARR Front View Pin Symbol Notes 20 WDO Watchdog output Low is PMAC watchdog fault 21 SCLK78 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 22 SCLK78 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 23 Programmable frequency 24 Programmable frequency 25 Programmable sequence 26 Programmable sequence 27 MSB first 28 MSB first 29 MSB first 30 MSB first 31 High is enable 32 Low is enable 33 Programmable polarity 34 Programmable polarity DAC CLK7 clock DAC CLK7 clock DAC7A DAC A serial data DAC7A DAC A serial data DAC_STB7 strobe DAC_STB7 strobe DAC7B B serial data DAC7B B serial data DIR7 direction DIR7 direc
37. lizing Power Up Reset E Point and Location Description Default Physical Layout E3 C2 Jump pin 1 to 2 to re initialize on power No jumper up reset loading factory default settings installed Remove jumper for normal power up reset loading user saved settings E4 CPU Frequency Select E Point and Location Description Default Physical layout 4 C2 Remove jumper for 40MHz operation E2 No jumper OFF also or for 60MHz operation E4 ON installed standard with 146 0 or Option 5B Jump pin 1 to 2 for 80MHz operation E2 Jumper installed OFF with 146 0 Option 5C Base Board Jumper Descriptions 13 PMAC2 PCI Hardware Reference Manual E5 E6 Reserved for Future Use E13 E14 Encoder Sample Clock Direction Control E Point and Location Description Default Physical layout E13 DI Remove jumper to output SCLK generated in No jumper installed 1 first ASIC on SCLK_12 SCLK 34 or to control direction by software 2 Jump pins 1 to 2 to input SCLK signal for 3 first ASIC on SCLK_34 and output this signal on SCLK 12 Jump pins 2 to 3 to input SCLK signal for first ASIC on SCLK 12 and output this signal on SCLK 34 E14 D2 Remove jumper to output SCLK generated in No jumper installed second ASIC on SCLK 56 and SCLK_78 or to control direction by software Jump pins 1 to 2 to input SCLK signal for second ASIC on SCLK 78 and output this signal on SCLK 56 Jump pins
38. ll effect fault code or sub count 13 Hall effect fault code or sub count 14 Fault code or sub count 15 Hardware capture flag or sub count 16 Hardware capture flag 17 Hardware capture flag 18 Hardware capture flag 19 For loss of ACC supply voltage 20 Low is PMAC watchdog fault 21 SCLK56 Input Output Encoder sample clock Direction controlled by PMAC2 jumper N PUOI 30 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual 2 23 24 25 26 27 28 29 30 31 32 33 34 35 411 Connector Continued BhRARRARRARMARRARRRARRARRRARRARRARRRRRARRRARRARRM Pinf Symbol Notes 2 Front View SCLK56 Input Output Encoder sample clock Direction controlled by PMAC2 jumper Programmable frequency Programmable frequency Programmable sequence Programmable sequence MSB first MSB first MSB first MSB first High is enable Low is enable Programmable polarity Programmable polarity DAC CLK5 clock DAC CLK5 clock DACSA DAC A serial data DACSA DAC A serial data DAC_STB5 strobe DAC STB5 strobe 5 B serial data DAC5B B serial data DIR5 direction DIR5 direction PULSES pulse PULSES pulse 45V Output Input 5V power For external circuit or from external 45V Output Input 5V power For external circuit or from external 45V Output Input 5V power For external circuit or from external 45V Output Input 5V power Fo
39. lock should not be used Pins Symbol Function Description Notes Reference voltage circuits 3 Input Positive supply voltage 12v to 15v not required on board used on J1 to supply analog inputs 4 12V Input Negative supply voltage 12v to 15v required for opt 12 ADCSs used on J1 to supply analog inputs Note Unless Option 12 Analog to Digital Converters is included on the board only pins 1 and 2 will be provided on this terminal block 36 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual TB2 3 Pin Terminal Block This terminal block provides the output for PMAC2 s watchdog timer relay both normally open and normally closed contacts Pins Symbol Function Description Notes Normally closed 2 V or OV 3 Normally open Note The normally closed relay contact is open while PMAC2 is operating properly it has power and the watchdog timer is not tripped This contact is closed when the 2 is not operating properly either the PMAC has lost power or the watchdog timer has tripped The normally open relay contact is closed while 2 is operating properly and open when PMAC2 is not operating properly Base Board Connector Pinouts 37 PMAC2 PCI Hardware Reference Manual 38 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual BASE BOARD JUMPERS LAYOUT 1 Jl J8 re E18
40. mportant to take note of the all the devices and their parameters defined in MOTIONEXE before installing a new PMAC board in the computer Communications Setup PMAC2 PCI Hardware Reference Manual FLEX CPU BOARD JUMPER DESCRIPTIONS E1 Watchdog Disable Jumper E Point and Description Default Physical Layout El Jump pin 1 to 2 to disable Watchdog timer for test purposes No jumper only installed Remove jumper to enable Watchdog timer E2 Dual Ported RAM Port Select E Point and Description Default Physical Layout E2 Jump pin 1 to 2 to access DPRAM from baseboard Pins 1 and 2 Jump pin 2 to 3 to access DPRAM through JEXP expansion Jumpered D 2 port 4 E6 Power Up Reset Load Source E Point and Description Default Physical Layout Remove jumper E4 Jump E5 pin 1 to 2 Jump E6 pin 2 to 3 E6 to read flash IC on power up reset Other combinations are for factory use only the board will not operate in any other configuration E7 Firmware Reload Enable No 4 jumper installed E5 and E6 jump pin 1 to 2 E Point and Description Default Physical Layout E7 Jump pin 1 to 2 to reload firmware through serial or bus port No jumper installed Remove jumper for normal operation Flex CPU Board Jumper Descriptions 11 PMAC2 PCI Hardware Reference Manual E10A B C Flash Memory Bank S
41. nction control oA OM 39 PWMBTOP3 Output Phase B top Cmd or DAC Programmable function control EO NN NI 40 PWMBTOP3 Output Phase B top Cmd or DAC Programmable function control EG NN RN 41 PWMBBOT3 Output Phase B bottom Cmd or DAC Programmable function control o DAC 42 PWMBBOT3 Output Phase B bottom Cmd or DAC Programmable function control acides 43 PWMCTOP3 Output Phase B top Cmd or PFM Programmable function control ee Eis 44 PWMCTOP3 Output Phase B top Cmd or PFM Programmable function control li NI 45 PWMCBOT3 Output Phase B bottom Cmd or PFM Programmable function control i i 46 PWMCBOT3 Output Phase B bottom Cmd or PFM Programmable function control ef ee 47 48 Ex xNEC agi m 49 45V Output Input 5V power For external circuit or from external 50 45V Output Input 5V power For external circuit or from external 51 45V Output Input 5V power For external circuit or from external 52 45V Output Input 5V power For external circuit or from external 53 54 55 4 Input Encoder 4 positive A channel Also pulse input 28 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual 410 JMACH2 Connector Continued Front View Pin Notes 56 Also pulse input 57 Also direction input 58 Also direction in
42. nnector Pinouts 29 PMAC2 PCI Hardware Reference Manual 410 JMACH2 Connector Continued Front View Pinf Symbol Notes 93 DIR4 direction DIR4 direction 95 PWMCBOT4 Output Phase B bottom Cmd or PFM Programmable function control PULSE4 pulse 96 PWMCBOT4 Output Phase B bottom Cmd or PFM Programmable function control pulse 97 Reference voltage 98 commen Reference voltage 99 45V Output Input 5V power For external circuit or from external supply 100 Output Input For external circuit or from external supply The JMACH2 connector provides the interface pins for channels 3 and 4 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board 411 JMACH3 Connector Description This connector is present only if Option 1 is ordered 411 Connector Front View Pinf Symbol Notes 1 5V Output Input 5V power For external circuit or from external supply Output Input For external circuit or from external supply Also pulse input Also pulse input Also direction input Also direction input 9 Index channel 10 Index channel 11 Hall effect fault code or sub count 12 Ha
43. ol i 14 E17 Els Serial Port Type 14 1 11 118 Command Output Disable State ii 15 MATING CONNECTORS R 17 CPU Board Confiectors a eer Eee tete tpud alan 17 senes 17 Baseboard Connectors 17 Analog Option 12 17 J2 JTHWYMultiplexer POTt iii 17 TS SLOW DiS AGL o mE 17 J5 JRS232 RS 232 Serial Communications 17 JSA JIRS422 RS 422 Serial Communications i 17 I EE 17 IT CIS VARI M M 17 J8 JEQU yPosition Compare esee eene enne nennen ennt en tene ennt tene 18 9 JMACH I y Machine Port 1 eese eese en nene 18 J10 JMACH2 Machine Port 2 ie 18 J11 JMACHS3 Machine Port 3 ii 18 J12 JMACHA4 Machine Port 4 iii 18 PMAC2 PCI BASE BOARD CONNECTOR PINOUTS eese ease en setas 19 Analog Input Port Connector
44. on control DAC STB2 strobe 91 PWMBBOT2 Output Phase B bottom Cmd or DAC Programmable function control DAC2B B serial data 92 PWMBBOT 2 Output Phase B bottom Cmd or DAC Programmable function control DAC2B B serial data 93 PWMCTOP2 Output Phase B top Cmd or PFM Programmable function control DIR2 direction 26 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual J9 JMACH1 Connector errem diem vere Continued BhRRARBRRARRARRARRARRRARRBARBRARRARRARRRARRARRARM Front View Pinf Symbol Notes 94 PWMCTOP2 Output Phase B top Cmd or PFM Programmable function control EMIL 95 PWMCBOT2 Output Phase B bottom Cmd or PFM Programmable function control i Rags Pomona on 96 PWMCBOT2 Output Phase B bottom Cmd or PFM Programmable function control pulse 97 Reference voltage 98 o Reference voltage 99 45V Output Input 5V power For external circuit or from external supply 100 Output Input For external circuit or from external supply The JMACHI connector provides the interface pins for channels 1 and 2 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board J10 JMACH2 Connector Description J10 JMACH2 Connector RA Front View Pinf Symbol Notes 1 5
45. or Pinouts 25 PMAC2 PCI Hardware Reference Manual J9 JMACH1 Connector Continued Front View Pin Notes 58 Also direction input 59 Index channel 60 Index channel 61 Hall effect fault code or sub count 62 Hall effect fault code or sub count 63 Hall effect fault code or sub count 64 Fault code or sub count 65 Hardware capture flag or sub count 66 Hardware capture flag 67 Hardware capture flag 68 Hardware capture flag 69 ACCFLT2 Accessory fault flag For loss of ACC supply voltage 70 WDO Watchdog output Low is PMAC watchdog fault 71 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLKI2 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 ADC_CLK2 AID converter clock Programmable frequency 74 ADC CLK2 A D converter clock Programmable frequency 75 Programmable sequence 76 Programmable sequence 77 MSB first 78 MSB first 79 MSB first 80 MSB first 81 High is enable 82 Low is enable 83 Programmable polarity 84 Programmable polarity DAC_CLK2 clock DAC_CLK2 clock DAC2A DAC A serial data 88 PWMABOT2 Output Phase A bottom Cmd or Programmable function control DAC2A DAC A serial data 89 PWMBTOP2 Output Phase B top Cmd or DAC Programmable function control DAC_STB2 strobe 90 PWMBTOP2 Output Phase B top Cmd or DAC Programmable functi
46. ow true Tied to DSR 12 Low is reset 13 14 Tied to 15 Diff low true 16 Diff high true 17 Diff I O low true 18 Diff high true 19 Diff low true 20 Diff I O high true 21 Diff I O low true 22 Diff I O high true 23 Diff I O low true 24 Diff I O high true 25 26 Power supply out E17 and E18 must connect pins 2 and 3 to use the RS 422 port for serial communications This connector could be also used to daisy chain interconnect multiple PMACS for synchronized operation 22 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual J6 JDISP Display Connector Pin Symbol Function Description Notes Power supply TTL signal out 0 to 5Vde High is enable TTL signal out 10 1 12 13 14 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 DJ NM BR 6 gt J7 JHW Handwheel Encoder Connector Pin Symbol Function Description Notes To power external circuitry Also pulse input Also pulse input Also direction input Also direction input Also pulse input Also pulse input Also direction input Also direction input 1 Also PWM bottom output 12 Also PWM bottom output 13 Also PWM top output 14 Also PWM top ou
47. ponents 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 PMAC2 PCI Hardware Reference Manual Table of Contents 1 Board Configuratii 1 DOSE m 1 Option 1 Additional Four Channels Axis Interface Circuitry eese tenter 1 Option 2 Dual Ported RAM ertet ied Met te Bote rab E a 1 Option 5xF CPU Speed 2 Option 6 Extended Servo 2 Option Plate Mountings 2 Option 8 High Accuracy Clock Crystal iii 2 Option 10 Firmware Version Specification iii 2 Option 12 Analog to Digital Converters iii 2 Option 16 Battery Backed Parameter Memory 2 HARDWARE 3 Piggyback CPU Board Jumper Configuration i 3 Watchdog Timer Jumper
48. put 59 Index channel 60 Index channel 66 PLIM4 Hardware capture flag 67 MLIM4 Negative overtravel limit Hardware capture flag 68 HOME4 Hardware capture flag 69 ACCFLT4 Accessory fault flag For loss of ACC supply voltage 70 WDO Watchdog output Low is PMAC watchdog fault 71 SCLK34 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLK34 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 CLK4 Programmable frequency 74 CLK4 Programmable frequency 75 Programmable sequence 76 Programmable sequence 77 MSB first 78 MSB first 79 MSB first 80 MSB first 81 High is enable 82 Low is enable 83 Programmable polarity 84 Programmable polarity DAC CLK4 clock DAC CLK4 clock 4 DAC A serial data DACAA DAC A serial data 89 PWMBTOP4 Output Phase B top Cmd or DAC Programmable function control DAC_STB4 strobe 90 PWMBTOP4 Output Phase B top Cmd or DAC Programmable function control DAC STB4 strobe 91 PWMBBOT4 Output Phase B bottom Cmd or DAC Programmable function control DAC4B B serial data 92 PWMBBOT4 Output Phase B bottom Cmd or DAC Programmable function control DAC4B B serial data 61 Hall effect fault code or sub count 62 Hall effect fault code or sub count 63 Hall effect fault code or sub count 64 Fault code or sub count 65 USER4 General purpose user flag Hardware capture flag or sub count Base Board Co
49. r external circuit or from external supply Base Board Connector Pinouts 31 PMAC2 PCI Hardware Reference Manual 411 Connector Continued Front View Pin Notes 53 54 55 Also pulse input 56 Also pulse input 57 Also direction input 58 Also direction input 59 Index channel 60 Index channel 61 Hall effect fault code or sub count 62 Hall effect fault code or sub count 63 Hall effect fault code or sub count 64 Fault code or sub count 65 USER6 General purpose user flag Hardware capture flag or sub count 66 PLIM6 Hardware capture flag 67 MLIM6 Negative overtravel limit Hardware capture flag 68 HOME6 Hardware capture flag 69 ACCFLT6 Accessory fault flag For loss of ACC supply voltage 70 WDO Watchdog output Low is PMAC watchdog fault 71 SCLK56 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLK56 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 ADC CLK6 A D converter clock Programmable frequency 74 ADC CLK6 A D converter clock Programmable frequency 75 Programmable sequence 76 Programmable sequence 77 MSB first 78 MSB first 79 MSB first 80 MSB first 81 High is enable 82 Low is enable 83 Programmable polarity 84 Programmable polarity DAC CLK6 Clock DAC CLK6 Clock DAC6A DAC A serial data DAC6A DAC A serial data
50. rought in on the serial port connector the watchdog timer will trip immediately and shut down the board Hardware Setup 3 PMAC2 PCI Hardware Reference Manual In order to change the state of the card between use of internal clock and use of external clock the card must be re initialized either powered up with jumper E3 on or given the command with jumper El in the new state Before the card is reset again a SAVE command must be issued to store the new internal settings CPU Frequency Control Jumpers If variable 146 is set to the default value of zero jumpers E2 and E4 on the base PMAC2 PCI board control the frequency at which the CPU will operate or attempt to operate Generally this will be the highest frequency at which the CPU is rated to operate If jumpers E2 and F4 are both OFF the CPU will operate at a 40MHz frequency If E2 is ON and is OFF the CPU will operate at a 60MHz frequency If E2 is OFF and 4 is ON the CPU will operate at an 80MHz frequency If 146 is set to a value greater than zero E2 and E4 are not used The CPU frequency is set to 10MHz 146 1 Re Initialization Jumper If E3 is off during power up reset the controller will load its last saved set up parameters from flash memory into active memory This is the setting for normal operation If E3 is on during power up reset the controller will load its factory default set up parameters from firmware into active memory Generally this is
51. s receiving a disable signal The off setting should be used when DAC output format is selected for the channel If is on the command output signals for channel n are tri stated when the amplifier enable signal is in the disable state This setting is used only with direct PWM power block amplifiers that do not use amplifier enable to gate the PWM signals and in which the zero command format of 5046 top on time and 50 bottom on time cannot be tolerated in the disable state 4 Hardware Setup PMAC2 PCI Hardware Reference Manual Resistor Pack Configuration Termination Resistors The PMAC2 PCI 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 PMAC2 PCI board and ringing at signal transitions is a problem SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing termination resistor packs 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 Input Pack Pack Size Input Pack Pack Size Encoder 1 RP46 6 pin ADC1 amp 2 RP60 8 pin Encoder 2 RP50 6 pin ADC3 amp 4 RP61 8 pin Encoder 3 RP47 6 pin ADC5 amp 6 RP121 8 pin Encoder 4 RP51 6 pin ADC7 amp 8 RP122 8 pin Encoder 5 RP107 6
52. tion PULSE7 Pulse ani pulse 47 Reference voltage 48 i Comm Reference voltage 49 Output Input 5V power For external circuit or from external supply 50 Output Input 5V power For external circuit or from external supply 34 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual J12 JMACHA Connector Continued Front View Notes 45V Output Input 5V power For external circuit or from external Supply 52 Output Input For external circuit or from external supply 53 54 55 Also pulse input 56 Also pulse input 57 Also direction input 58 Also direction input 59 Index channel 60 Index channel 61 Hall effect fault code or sub count 62 Hall effect fault code or sub count 63 Hall effect fault code or sub count 64 Fault code or sub count 65 Hardware capture flag or sub count 66 Hardware capture flag 67 Hardware capture flag 68 Hardware capture flag 69 For loss of ACC supply voltage 70 Low is PMAC watchdog fault 71 SCLK78 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLK78 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 Programmable frequency 74 Programmable frequency 75 Programmable sequence 76 Programmable sequence 77 MSB first 78 MSB first 79 MSB first 80 MSB first
53. tput 15 Also PWM bottom output 16 Also PWM bottom output 17 Also PWM top output 18 Also PWM top output 19 20 To power external circuitry The VHW connector provides for two 2 channel encoder inputs and two sets of pulse outputs A uN 23 Base Board Connector Pinouts PMAC2 PCI Hardware Reference Manual J8 JEQU Position Compare Output Connector Pin Symbol Function Description Notes 1 Programmed polarity Programmed polarity Programmed polarity Programmed polarity Programmed polarity Programmed polarity Programmed polarity Programmed polarity 5V 10 This connector provides the position compare outputs for the eight encoder channels 49 JMACH1 Connector Description BR 6 gt 49 JMACH1 Connector Front View Spia Notes 45V Output Input 5V power For external circuit or from external supply Output Input For external circuit or from external supply 3 4 5 Also pulse input 6 Also pulse input 7 Also direction input 8 Also direction input 9 Index channel 10 Index channel 11 Hall effect fault code or sub count 12 Hall effect fault code or sub count 13 Hall effect fault code or sub count 14 Fault code or sub count 15 Hardware capture flag or sub count 16 Hardware capture flag 17 Hardware capture flag 18 Hardware capture flag 19 For loss of acc supply volt
54. tyle housing a bracket at the end of the PMAC2 PCI 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 PMAC2 PCI board there are mounting holes that can be used to mount the board on standoffs Power Supply Connection The standard PMAC2 PCI requires only 5V power 3A in a 4 channel configuration 4A in an 8 channel configuration with Option 1 If the Option 12 A D converters are installed a 12V supply is also required In this case a 12V supply also can be passed through the card and out to the analog devices feeding the A D converters The power can be provided in several ways e Bus connector If the PMAC2 PCI is mounted in an electrically active PCI bus slot it automatically draws its 5V and 12V power from the bus e Terminal block The 2 4 point terminal block can be used to bring in 5V power especially in standalone applications Point 1 is GND Point 2 is 5 Points 3 and 4 are needed only if the Option 12 A D converters are ordered e JMACH connectors Up to 2A may be brought in through each 100 pin JMACH connector from an Acc 8 board or its equivalent provided the cable is 500mm 20 inches or less in length Machine Port Connections The PMAC2 PCI has a 100 pin high density header for each pair of servo interface channels Through this connector pass all of the digital signals to and from the amplifier encoder and flags for the two channels
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