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Delta Tau PMAC2 User's Manual

1. Encoder Sample Clock Source Jumpers Jumper E13 controls 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 special applications Hardware Setup 5 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 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 E114 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 1 to 4 controls the output signals for channel n on the board If El1n is off default the command output signals for channel n 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 is receiving a disable s
2. HARDWARE REFERENCE MANUAL PMAC2 PCI Lite Preliminary Documentation 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
3. 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 done only if communications cannot be established with the card when it comes up in normal operational mode Power Up State Jumpers Jumper E20 must be OFF jumper E21 must be ON and jumper E22 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 E23 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 E23 must be OFF during power up reset for the board 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
4. Hardware Reference Manual Preliminary Documentation J3 JI O General Input Output Connector Pin Symbol Function Description Notes l Software direction ctrl 2 Software direction ctrl 3 Software direction ctrl 4 Software direction ctrl 5 Software direction ctrl 6 Software direction ctrl 7 Software direction ctrl 8 Software direction ctrl 9 Software direction ctrl 10 Software direction ctr 1 Software direction ctrl 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 ctr 23 Software direction ctr 24 Software direction ctr 25 Software direction ctr 26 Software direction ctrl 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 23 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J5 JRS232 Serial Port Connector Pin Symbol Functi
5. Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 73 Programmable frequency 74 Programmable frequency 15 Programmable sequence 16 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 85 PWMATOP2 Output Phase A Top CMD or DAC Programmable function control DAC_CLK2 clock 86 PWMATOP2 Output Phase A Top CMD or DAC Programmable function control DAC_CLK2 clock 87 PWMABOT2 Output Phase A Bottom CMD or Programmable function control DAC2A DAC A serial data DAC2A DAC A serial data 89 PWMBTOP2 Output Phase B Top CMD or DAC Programmable function control DAC_STB2 strobe 28 Base Board Connector Pinouts PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J9 JMACH1 Connector Continued Front View Pin Symbol Notes DAC_STB2 strobe DAC2B DAC B serial data DAC2B DAC B serial data DIR2 direction DIR2 direction PULSE2 PFM pulse 96 PWMCBOT 2 Output Phase B Bottom CMD or Programmable function control fa PFM pulse 97 Reference voltage 98 exp Gite Reference voltage external supply 100 5V Output Input 5V power For external circuit or from external supply The JMACHI connector provides the interface pins for channels 1 and 2 Usually it is connected
6. mating connectors not included Option 2 Dual Ported RAM Dual ported RAM provides a high speed communications path for bus communications with the host computer through a bank of shared memory DPRAM is advised if more than 100 data items per second are to be passed between the controller and the host computer in either direction Option 2 provides an on board 8k x 16 bank of dual ported RAM for PCI or USB The key component on the board is U1 Option 3 USB1 1 Communications Port If using the PMAC PCI Lite in a standalone application use this port because it faster than the standard RS232 422 communications Use of this port disables the PCI port Introduction 1 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation Option 5 CPU and Memory Configurations If the 40 MHz CPU 80 MHz DSP 56002 equivalent that comes standard does not have sufficient computational power faster versions are available as options These options provide a faster CPU IC in U127 and unlike past CPU upgrades will not require any additional memory chips e Option SCF provides an 80 MHz CPU 160 MHz DSP 56002 equivalent with zero wait state SRAM active memory Requires V1 17 or newer firmware e Option SEF provides a 160 MHz CPU 320 MHz DSP 56002 equivalent with zero wait state SRAM active memory Requires V1 17 or newer firmware Option 6 Extended Servo Algorithm The standard PID servo algorithm with feedforward and n
7. 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 Lite can be mounted in one of two ways in the PCI bus or using standoffs 1 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 style housing a bracket at the end of the PMAC2 PCI Lite board can be used to screw into the housing to hold the board down firmly 2 Standoffs At each of the Four Corners of the PMAC2 PCI Lite board there are mounting holes that can be used to mount the board on standoffs Power Supply Connection The standard PMAC2 PCI Lite 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 Lite is mounted in an electrically active PCI bus slot it draws its SV and 12V power from the
8. purpose digital I O or with PMAC2 s special M variable support TWB TWD TWR and TWS formats In addition 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 Acc 34 family of Digital I O Boards Acc 35A and B Extender Boards UO Port The J3 JIO I O port provides 32 TTL compatible 5V CMOS I O points on 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 Lite has two serial port connectors Only one of these can be used in an application e J5 is a 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 Lite must connect pins 1 and 2 to use this port e JSA 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 fl
9. state parameters in case of an unexpected power down Option 16 provides a 16k x 24 bank of battery backed parameter RAM in components U84 U85 U86 with the battery in BT1 Introduction PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation Introduction PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation HARDWARE SETUP Watchdog Timer Jumper Jumper E19 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 E19 should be put ON only to debug problems with the watchdog timer circuit CPU Frequency Control Jumpers If variable 146 is set to the default value of zero jumpers E2 and E4 on the base PMAC2 PCI Lite 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 E4 are both OFF the CPU will operate at a 4 0MHz frequency If E2 is ON and F4 is OFF the CPU will operate at a 6 0MHz frequency If E2 is OFF and E4 is ON the CPU will operate at an 80MHz frequency If 146 is set to a value greater than zero E2 and F4 are not used The CPU frequency is set to 1OMHz 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
10. the RS 422 port on the JSA connector position 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 16 PMAC2 PCI Lite Jumper Descriptions PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation E111 118 Command Output Disable State E Point and Location Description Default Physical Layout Jump pin 1 to 2 of El ln for digital servo command No jumper installed Cl output signals of Channel n to tri state when amplifier FMI e Wie ww EMI SERRE EIS Se ee een Ka Ka Ka Ka Ka Ka Ka Ka Di Di ka Ge I a U A w N m 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 Channel n is in disable state PMAC2 PCI Lite Jumper Descriptions 17 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 18 PMAC2 PCI Lite Jumper Descriptions PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation MATING CONNECTORS CPU Board Connectors J2 JEXP Expansion e Two 50 pin female fla
11. 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 Front View SS Notes 5V For external circuit or from external supply 2 5V Output Input 5V power For external circuit or from 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 CHU3 Input Channel 3 U flag Hall effect fault code or sub 12 CHV3 Input Channel 3 V flag Hall effect fault code or sub 13 CHW3 Input Channel 3 W flag Hall effect fault code or sub count Base Board Connector Pinouts PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 30 J10 JMACH2 Connector Continued Pin Symbol Notes CHT3 Channel 3 T flag Fault code or sub count General purpose user flag Hardware capture flag or sub count Hardware capture flag Hardware capture flag Hardware capture flag For loss of acc supply voltage Low is PMAC watchdog fault PMAC2 jumper 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 PWMATOP3 Output Phase A Top CMD or DAC Programmable function DAC_CLK3 clock control PWMATOP3 Output P
12. 4 T flag Fault code or sub count 65 USER4 Input General purpose user flag Hardware capture flag or sub count 66 PLIM4 Hardware capture flag 67 MLIM4 Negative overtravel limit Hardware capture flag 68 HOME4 Hardware capture flag 69 ACCFLT4 Input Accessory fault flag For loss of ACC supply voltage 70 WDO Watchdog output Low is PMAC watchdog fault PMAC2 jumper PMAC2 jumper 73 Programmable frequency 74 Programmable frequency 75 Programmable sequence 16 Programmable sequence 77 MSB first 78 MSB first 79 MSB first 80 ADC_DAB4 Input Channel B ADC serial data MSB first Base Board Connector Pinouts PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J10 JMACH2 Connector Continued Front View Pin Symbol Notes 81 High is enable 82 Low is enable 83 Programmable polarity 84 Programmable polarity 85 PWMATOP4 Output Phase A Top CMD or DAC Programmable function DAC_CLK4 clock control DAC_CLK4 clock control DAC4A DAC A serial data control DAC4A DAC A serial data control 89 PWMBTOP4 Output Phase B Top CMD or DAC Programmable function 90 PWMBTOP4 Output Phase B Top CMD or DAC Programmable function 91 PWMBBOT4 Output Phase B Bottom CMD or Programmable function 92 PWMBBOT4 Output Phase B Bottom CMD or Programmable function 93 PWMCTOP4 Output Phase B Top CMD or PFM Programmable function DIR4 direction control PULSE4 PFM pulse control PULSE4 PFM pul
13. DPRAM from baseboard Jump pin 2 to 3 to access DPRAM through JEXP expansion port Pins 1 and 2 jumpered E4 E6 Power Up Reset Load Source E Point and Physical Layout Description Default Remove jumper E4 Jump ES pin 1 to 2 Jump E6 pin 2 to 3 to read flash IC on power up reset Other combinations are for factory use only the board will not operate in any other configuration No E4 jumper installed ES and E6 jump pin to 2 E7 Firmware Reload Enable E Point and Description Default Physical Layout E7 Jump pin 1 to 2 to reload firmware through serial or bus No jumper installed Tig ai Sme port Remove jumper for normal operation E10A B C Flash Memory Bank Select E Point and Physical Layout Description Default Remove all three jumpers to select flash memory bank with factory installed firmware Use other configuration to select one of the seven other flash memory banks No jumpers installed 14 Flex CPU Board Jumper Descriptions PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation JUMPER DESCRIPTIONS E1 Servo and Phase Clock Direction Control E Point and Location Description Default Physical Layout El C2 Remove jumper for PMAC2 PCI Lite to use its No jumper installed TO EN ns internally generated servo and phase clock signa
14. ION cscssssssssssssccssssssscsssssssssnsscsssssescsssnsssssnesscsnessossssenssssesesssssessosssssessesesessessoesosssssoss 15 E25CPU Frequen y Select ei aranci aio 15 E3 Normal Re Initializing Power UpiReset i 15 FA CPU Erequeney Select cale RL RI 15 E5 E6 Reserved for Future Use sets 15 E13 E14 Encoder Sample Clock Direction Control 16 Table Of Contents i PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation El7 EIS Serial Port Type Selectioni uui ira eieaa ea iena e as se E narii 16 E111 118 Command Output Disable State ee ceeeeeceeeceseceeceseeesecesecsaecsaecsaecaeecaeesaeseaeeeaeeeeseeeeeeeenaees 17 MATING CONNECTORS ostrrrrrrrrerrrerereneen rene rie ne senese sere erie nese eee vassos sses seuss sasits usisa siio nese serio nice eeoneceneo 19 CRU Board iConnectors ees leale E 19 J2 SEXP EX PQMSION sesenengan ie A NI REENEN Oe EENS 19 Baseboard Connectors iii 19 JI JANA Analog Option Jl 19 J2 JTHWYMultiplexer Pot 19 J3 JIO Digital I O iii 19 J5 JRS232 RS 232 Serial Communteottons 19 JSA IRS422 RS 422 Serial Communications i 19 Rep 19 REENERT Ee 19 RE TEE 19 J9 JMACHIYMachine Pont 20 J10 JMACH2 Machine Port 2 ii 20 BASE BOARD CONNECTOR PINOUTS sorrerrrerrrerreerenerceneseseeneesesie nese
15. MAC2 PCI Lite Jumper Descriptions 15 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation E13 E14 Encoder Sample Clock Direction Control E Point and Location Description Default Physical Layout E13 DI Remove jumper to output SCLK generated in first No jumper installed ASIC on SCLK_12 and SCLK_34 or to control direction by software Jump pins 1 to 2 to input SCLK signal for first ASIC on SCLK_34 and output this signal on SCLK_12 Jump pins 2 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 second No jumper installed ASIC on SCLK_56 and SCLK_78 or to control direction by software Jump pins 1 to 2 to input SCLK signal for second ASIC on SCLK_78 and output this signal on SCLK_56 Jump pins 2 to 3 to input SCLK signal for second ASIC on SCLK_56 and output this signal on SCLK_78 Note E14 is installed only if Option 1 has been ordered E17 E18 Serial Port Type Selection E Point and Location Description Default Physical layout E17 CI Connect pins 1 and 2 to use the RS 232 port on the J5 Jumper installed in 1 2 1 connector position Connect pins 2 and 3 to use the RS 422 port on the J5A connector E18 CI Connect pins and 2 to use the RS 232 port on the J5 Jumper installed in 1 2 connector Connect pins 2 and 3 to use
16. PCI Lite 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 on board RS 232 serial port standalone operation is possible Board Configuration Base Version The base version of the PMAC2 PCI Lite provides a 1 1 2 slot board with 40 MHz DSP563xx CPU 128k x 24 zero wait state SRAM active memory 512k x 8 flash memory for user backup and firmware Latest released firmware version requires V1 17 or newer firmware RS 232 422 serial interface 33 MHz PCI PC 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 e 3 channel differential single ended encoder input e Nine input flags two output flags e Interface to two external serial ADCs 8 to 18 bits e Two channels supplemental interface circuitry each including e 2 channel differential single ended encoder input e One output command signal set configurable as pulse amp direction or PWM top and bottom pair Display muxed I O direct I O interface ports Buffered expansion port Clock crystal with 100 ppm accuracy PID notch feedforward servo algorithms 1 year warranty from date of shipment One Manuals CD ROM per set of one to four PMACs in shipment Cables mounting plates
17. at cable such as the Acc 3D Jumpers E17 and E18 on the PMAC2 PCI Lite 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 JANA analog input port is provided on the PMAC2 on a 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 TB1 or PI Handwheel Port The J7 JHW 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 9 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 10 Hardware Setup PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 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 Lite 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 Int
18. at signal transitions is a problem SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing All 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 RP60 6 pin ADC1 amp 2 RP60 8 pin Encoder 2 RP62 6 pin ADC 3 amp 4 RP61 8 pin Encoder 3 RP66 6 pin ADC 5 amp 6 RP121 8 pin Encoder 4 RP68 6 pin ADC 7 amp 8 RP122 8 pin Encoder 5 RP107 6 pin Fault 1 amp 2 RP63 6 pin Encoder 6 RP111 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 Lite 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 configure
19. bus automatically e Terminal block The TB1 2 4 point terminal block can be used to bring in 5V power especially in standalone applications Point 1 is GND Point 2 is 5V 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 Lite 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 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 JMACHI Board Channels 1 amp 2 e J10 JMACH2 Board Channels 3 amp 4 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 8 Hardware Setup PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation Multiplexer Port The J2 JTHW multiplexer port provides eight TTL compatible 5V CMOS inputs and eight TTL compatible 5V CMOS outputs on a 26 pin IDC header These can be used directly as general
20. d 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 used 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 pack 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 7 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation The following table lists the pull up
21. ector This connector is present only if Option 12 is ordered 6 _ANAI05 Input Analoginputs Lt Ce Anao Input Analog input7 Lt 9 ARA Input Analoginput8_ 0SVorW2SV range 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 21 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J2 JTHW Multiplexer Port Connector 22 Pin Koch N LA Nn a N CO VM Koch p N LA E p n a ee J Symbol Function Description Notes PMAC common PMAC common DATO Input Data 0 input Data input from MUX port accessories port accessories accessories port accessories accessories port accessories DAT3 Data input from MUX port accessories Output Address data output for MUX port accessories Input Data input from MUX port accessories port accessories accessories port accessories DAT6 Data input from MUX port accessories SEL6 Output Select 6 output Address data output for MUX port accessories DAT7 Input Data 7 input Data input from MUX port accessories SEL7 Output Select 7 output Address data output for MUX port accessories Low is buffer required Low is in position Power supply out INIT Input PMAC reset Low is reset Base Board Connector Pinouts PMAC2 PCI Lite
22. errupt lines are set automatically by the operating system and can be checked but not modified in the MOTIONEXE EXE application Hotion Controls Motion ome dances Open MOTIONEXE and press Setup for the PCI device desired The PMAC2 PCI Lite 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 MOTIONEXE version number Disable Interrupts and Dual Ported RAM if not used PHAC Device 0 Configuration r Device Location In PC Bus PMAC Win32 Communications Library Version 10 32 0 0 Copyright 1994 98 Delta Tau Data Systems Inc YME Bus Serial Port Port Address OxC000 T Enalntr KM EnaDPR 0E 1800000 Host Computer VMICIO Works Cy Mail Box Base Adr 7F4000 Please use hex format Address Modifier Dont Care Bits adecimal AT Level IRO Yector SBI Serial Port COM2 Baudrate 00 Parity None z Cancel Advanced The MOTIONEXE application will look first for PMAC PCI boards on the PCI bus and will assign device numbers from Device0 to each PMAC PCI sequentially 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 de
23. hase A Top CMD or DAC Programmable function DAC_CLK3 clock control DAC3A DAC A serial data control DAC3A DAC A serial data control DAC_STB3 strobe control DAC_STB3 strobe control DAC3B DAC B serial data control DAC3B DAC B serial data control DIR3 direction control DIR3 direction control 14 15 16 17 18 19 20 21 22 23 24 25 26 2i 28 29 30 31 32 33 34 35 LA an LA I LA o0 LA O 40 41 43 44 USER3 Input PWMCBOT3 Output PULSE3 Phase B Bottom CMD or PFM pulse Front View Programmable function control Base Board Connector Pinouts PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J10 JMACH2 Connector e Continued ue Front View Pin Symbol Notes 4 6 PWMCBOT3 Output Phase B Bottom CMD or Programmable function 49 5V Output Input 5V power For external circuit or from 5V Output Input 5V power For external circuit or from SI 5V Output Input 5V power For external circuit or from 52 5V Output Input 5V power For external circuit or from 54 55 Also pulse input 56 Also pulse input 57 Also direction input 58 Also direction input 59 Index channel 60 Index channel 61 CHU4 Input Channel 4 U flag Hall effect fault code or sub count 62 CHV4 Input Channel 4 V flag Hall effect fault code or sub count 63 CHW4 Channel 4 W flag Hall effect fault code or sub count 64 CHT4 Channel
24. ification is 100 ppm Long term velocity accuracy is limited by the accuracy of the crystal unless an external time base is used Option 8A provides a nominal 19 6608 MHz crystal with a 15 ppm accuracy specification Option 10 Firmware Version Specification Normally the PMAC2 PCI Lite is provided with the newest released firmware version A label on the U61 flash memory IC on the CPU board shows the firmware version loaded at the factory Option 10 provides for a user specified firmware version Option 12 Analog to Digital Converters With Option 12 eight or 16 channels of on board multiplexed analog to digital converters can be installed 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 Option 12 provides an 8 channel 12 bit A D converter The key components on the board are U28 and connector J1 Option 12A provides an additional 8 channel 12 bit A D converter The key component on the board is U29 2 Introduction PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 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
25. ignal The Off setting should be used when DAC output format is selected for the channel If Elln 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 50 top on time and 50 bottom on time cannot be tolerated in the disable state Amplifier Enable EQU Jumper WARNING The jumper setting must match the type of driver IC or damage to the IC will result Jumpers E11 and E12 control the polarity of the AENA and EQU lines Their default setting is 1 to 2 which applies GND to pin 10 of U93 AENA EQUn driver IC This is used for 74ACT563 74ACT573 and ULN2803 model sinking chips To source the AENA and EQU lines apply V to pin 10 of U93 jump pin 2 to 3 This is used for UDN2891 model sourcing chip Note If using ULN2803 or UDN2981 model chips be sure to plug pin 1 of chip into socket starting at pin 2 6 Hardware Setup PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation Resistor Pack Configuration Termination Resistors The PMAC2 PCI Lite 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 Lite board and ringing
26. ion J6 JDISP Display Connector Pin Symbol Function Description Notes Power supply out TTL signal out 0 to 5 Vde High is enable TTL signal out 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 bPola e o e N a u a Ww nN r 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 LI Also PWM bottom output 12 Also PWM bottom output 13 Also PWM top output 14 Also PWM top output 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 Silouan A uN ji o Base Board Connector Pinouts 25 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J8 JEQU Position Compare Output Connector Pin Symbol Function Description Notes Programmed polarity Programmed polarity Programmed polarity Programmed polarity Programmed polarity Programmed polarity Programmed po
27. larity Programmed polarity 5V This connector provides the position compare outputs for the eight encoder channels J9 JMACH1 Connector Description O CO DJ MJ A vN J9 JMACH1 Connector Front View E Notes 5V For external circuit or from external supply external supply Also pulse input Also pulse input Also direction input Also direction input Index channel Index channel CHUI Input Channel 1 U flag Hall effect fault code or sub 12 CHVI Input Channel 1 V flag Hall effect fault code or sub count 14 CHT1 Channel 1 T flag Fault code or sub count 15 USERI General purpose user flag 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 ele bell Ke 21 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 22 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 23 ADC_CLK1 Output AID converter clock Programmable frequency 26 Base Board Connector Pinouts PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J9 JMACH1 Connector Continued Front View Pin Notes 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 pola
28. ls and to output these signals on the J5A serial port connector Jump pins 1 and 2 for PMAC2 PCI Lite to expect to receive its servo and phase clock signals on the JSA serial port connector Note If the El jumper is ON and the servo and phase clocks are not brought in on the J5A serial port the watchdog timer will trip immediately E2 CPU Frequency Select E Point and Location Description Default Physical Layout E2 C2 Remove jumper for 40MHz operation E4 OFF also or No jumper installed r TU EN MEANE for 80MHz operation E4 ON with 146 0 Jump pin 1 to 2 for 60MHz operation E4 OFF with 146 0 Not used if 146 gt 0 Jumper installed E3 Normal Re Initializing Power Up Reset E Point and Location Description Default Physical Layout E3 C2 Jump pin 1 to 2 to re initialize on power up reset No jumper installed LWT kaf wd loading factory default settings Remove jumper for normal power up reset loading user saved settings E4 CPU Frequency Select E Point and Location Description Default Physical Layout E4 C2 Remove jumper for 40MHz operation E2 OFF also or No jumper installed for 60MHz operation E4 ON with I46 0 standard or Opt 5B Sn e Jump pin 1 to 2 for 80MHz operation E2 OFF with Jumper installed Opt 146 0 5C Not used if 146 gt 0 E5 E6 Reserved for Future Use P
29. on Description Notes l 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 JSA RS 422 port must be used for daisy chaining Mu E17 and E18 must connect pins 1 and 2 to use the RS 232 port for serial communications J5A RS422 Serial Port Connector JRS422 26 PIN Connector Front View Pin Symbol Function Description Notes l 2 3 RD om __ Receivedata Diff VO low true 4 Diff I O high true 5 Diff UO low true 6 7 8 Diff I O high true Diff I O high true Diff I O low true 9 Diff I O high true 10 Diff I O low true LI Tied to DSR 12 Low is reset 13 14 Tied to DTR 15 Diff I O low true 16 Diff I O high true 17 Diff I O low true 18 Diff I O high true 19 Diff I O 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 daisychain interconnect multiple PMACs for synchronized operation 24 Base Board Connector Pinouts PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentat
30. otch 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 e Option 6 provides an Extended Pole Placement Servo Algorithm firmware instead of the regular servo algorithm firmware This is required only in difficult to control systems resonances backlash friction disturbances changing dynamics This option requires a one time purchase of the Acc 25 program which is necessary for tuning the Option 6 firmware Option 6L Multi block Lookahead Firmware Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles execution With the lookahead firmware PMAC controls the speed along the path automatically without changing the path to ensure that axis limits are not violated Option 7 Plate Mounting If the PMAC2 PCI Lite is used as a PCI bus expansion board the standard hardware is used for proper mounting of the board in the bus However if it is not installed in a PCI expansion slot other provisions must be made for mounting Option 7 provides a mounting plate connected to the PMAC2 PCI Lite with standoffs It is used to install the PMAC2 PCI Lite in standalone applications Option 8A High Accuracy Clock Crystal The PMAC2 PCI Lite has a clock crystal component Y1 of nominal frequency 19 6608 MHz 20 MHz The standard crystal s accuracy spec
31. rity 34 Programmable polarity DAC_CLK1 clock DAC_CLK1 clock DACIA DAC A serial data DACIA DAC A serial data DAC_STB1 strobe DAC_STBI strobe DAC1B DAC B serial data DAC1B DAC B serial data DIR1 direction DIR1 direction PULSE l PFM pulse PULSE I PFM pulse 47 Reference voltage Reference voltage 49 5V Output Input 5V power For external circuit or from 50 5V Output Input 5V power For external circuit or from 5V Output Input 5V power For external circuit or from 5V GND GND 52 Output Input 5V power For external circuit or from external supply 53 Reference voltage 54 Reference voltage 55 CHA2 Input Encoder 2 positive A channel Also pulse input Base Board Connector Pinouts 27 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation J9 JMACH1 Connector Continued Front View Pin Notes 56 Also pulse input 57 Also direction input 58 Also direction input 59 Index channel 60 Index channel 61 CHU2 Input Channel 2 U flag Hall effect fault code or sub 62 CHV2 Input Channel 2 V flag Hall effect fault code or sub count 64 CHT2 Channel 2 T flag Fault code or sub count 65 USER2 General purpose user flag Hardware capture flag or sub count 66 PLIM2 Hardware capture flag 67 MLIM2 Negative overtravel limit Hardware capture flag 68 Hardware capture flag 69 For loss of ACC supply voltage 70 Low is PMAC watchdog fault 71 SCLK12
32. se control 97 98 GND Common Reference voltage 99 5V TAI Input 5V power For external circuit or from external supply Output Input 5V power For external circuit or from external supply The JMACH2 connector provides the interface pins for channels 3 and 4 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board Base Board Connector Pinouts PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 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 Lite is in a bus configuration these supplies come through the bus connector from the bus power supply automatically in this case this terminal block should not be used Pin Symbol Function Description Notes l 2 Supplies all PMAC digital circuits 3 12V 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 ADCs 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 TB2 3 Pin Terminal Block This terminal block provides the output for PMAC2 s watchdog timer relay both normally open and normall
33. se sese se sese see neceneeneseneceneceneesesesesenese 21 J1 JANA Analog Input Port Connector ceeeceecseeceeeeseeeeeeseeeeeeeecesecaecsaecsaeeaecaecaecsaecaeeeeeeeeeseeeeeeeenaees 21 J2 JTHW Multiplexer Port Connector i 22 J3 JI O General Input Output Connector i 23 J5 JRS232 Serial Port Connector i 24 J5A RS422 Serial Port Connector i 24 JRS422 26 PIN Connector i 24 JO IDISP Display ene 25 J7 JHW Handwheel Encoder Connector i 25 J8 JEQU Position Compare Output Conpector 26 J9 JMACHI Connector Description naien r ans aeai aese niiina 26 CEET 26 J10 JMACH2 Connector Description sretnete 29 J10 TMA CH2 Connector iii 29 TB1 2 4 Pin Terminal Block 33 TB2 3 Pin Terminal BIOCK ccu criari nari iraniani aree enne ciare 33 Table of Contents PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation INTRODUCTION Overview The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or four sinewave or direct PWM servo drives and to pulse and direction stepper drives It has four channels of servo interface circuitry but its software is capable of eight axes of control It is software compatible with the PMAC2 PC and the PMAC2 Mini The PMAC2 PCI Lite is a full sized PCI bus expansion card While the PMAC2
34. snevenssonsdersoeseaiedarebieosennidasasedsrseeneatecennes 5 Re Initializ tioni JUMper sc iaia oroarea aieea ioni Nea NRE S aS EEE NE EER 3 Power Up State JUMPErS sui pini a ae a a n ea aa Ee a e iea a a ERa 3 Firmware Load EIERE ged ia d Flash Memory Bank Select Jumpere 3 Encoder Sample Clock Source Jumper 5 Serial Port Selection Jumper E 6 Output Disable State JUMpers iii 6 Amplifier Enable HOU Jumper ELL ae 6 Resistor Pack Configuration c scicisnilias aaa la ele ALA a aint tind 7 EE 7 EE 7 Connections siii ea A larger 8 UV Cee EA ATE RE 6 Power Supply EE 6 Machine Port Connections nia La ches pi age ELIO ALARE REEL 6 Display Ode EE EES 6 Multiplexer Portici iaia ini iaia ar 9 YO Poltiuscni ro RL 9 Serial PONS siasi RL 9 AVD Converter Portici iii 9 Handwh e el Potter RA 9 COMMUNICATIONS SETUP errrrrrerrrereneee eee eeezeenen arcore neeo nio neo zione nese ee neio nio nio sioni ne cne nin necnen nese nin neonioneceeeneee 11 FLEX CPU BOARD JUMPER DESCRIPTIONS eseeessersroesesessecesoroeseseeceoesosoesesecoerosorsesesoeossorosseseeceoesosoeseeeeoeessoe 13 El Watchdog Disable Jumper EE ARE n 14 E2 Dual Ported Rami Port Select A iI Ia 14 E4 E6 Power Up Reset Load Source c RO e eni 14 E7 Firmware Reload Enable uil aaa iii 14 E10A B C Flash Memory Bank Select rrccortrrrrrrereererr cene i seinien eron re ee osain aira k Eeee a 14 JUMPER DESCRIPT
35. t 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 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 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 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 Phoeni
36. to the controller by damaging components or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation Table of Contents TINTRODUCT ION E 1 QV CL VICW Lilo EEN E AAA 1 Board Configurations itv erica EE Ee ai et 1 Base E 1 Option 2 Dual Ported RAM iui iii 1 Option 3 USB1 1 Communications Port 1 Option 5 CPU and Memory Configurations iii 2 Option 6 Extended Servo Algorttbm ccccsccsccsssscesssscesceseesesseeseesesscesecscesecsceeseaecasesecseesscsasenesaeaasenecatesessaeeeesaeenseas 2 Option 6L Multi block Lookahead Hirmmare 2 Option Za Plate MOUNTING rici ae Riina 2 Option 8A High Accuracy Clock Crystal 2 Option 10 Firmware Version Specification cccccccsccssscesecesecsscesecesecesecaceesceesceseeeeeeeeeeeseceseceaecaecaecaecaeeeaeeeatees 2 Option 12 Analog to Digital Converters iii 2 Option 16 Battery Backed Parameter Memory 3 HARDWARE SETUP M 5 Watchdog Timer E 5 CPU Frequency Control JUMPerseciccssiescccsesssceresiseseevsssoisansdanaesseasnistasiansv
37. vice 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 11 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 12 Note For example if a Device0 for serial RS 232 communications was defined before a PMAC PCI board was installed in the computer its setup information will be overwritten by the MOTIONEXE application when the PMAC2 PCI Lite board is found Therefore it is important 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 Lite Hardware Reference Manual Preliminary Documentation FLEX CPU BOARD JUMPER DESCRIPTIONS Flex CPU Board Jumper Descriptions 13 PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation E1 Watchdog Disable Jumper r TY E bf hd E Point and Description Default Physical Layout El Jump pin to 2 to disable Watchdog timer For test No jumper installed purposes only Remove jumper to enable Watchdog timer E2 Dual Ported Ram Port Select E Point and Physical Layout Description Default E2 ni L EI Jump pin 1 to 2 to access
38. x varioface module type FLKM 26 male pins P N 22 81 05 0 J6 JDISP 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 P N 22 81 02 1 J7 JHW Auxiliary Channel e Two 20 pin female flat cable connector Delta Tau P N 014 ROOF20 0KO 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 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 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 Mating Connectors e M PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation 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 00010 FPB e High density flat cable stranded 100 wire J10 JMACH2 Machine Port 2 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 20 Mating Connectors PMAC2 PCI Lite Hardware Reference Manual Preliminary Documentation BASE BOARD CONNECTOR PINOUTS J1 JANA Analog Input Port Conn
39. y closed contacts Pin Symbol Function Description Notes l Normally closed 2 V or OV 3 Normally open Note The normally closed relay contact is open while PMAC2 Lite is operating properly it has power and the watchdog timer is not tripped This contact is closed when the PMAC2 Lite is not operating properly either the PMAC has lost power or the watchdog timer has tripped The normally open relay contact is closed while PMAC2 is operating properly and open when PMAC2 is not operating properly Base Board Connector Pinouts 33

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