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Delta Tau PMAC VME User's Manual

1. Pin Symbol Function Description Notes A01 5V Output 5V Power 1 A02 GND Common PMAC Common A03 CHC8 Input Encoder C Chan Pos 2 A04 CHC8 Input Encoder C Chan Neg 2 3 A05 CHB8 Input Encoder B Chan Pos 2 A06 CHB8 Input Encoder B Chan Neg 2 3 A07 CHA8 Input Encoder A Chan Pos 2 A08 CHAB Input Encoder A Chan Neg 2 3 A09 CHC6 Input Encoder C Chan Pos 2 A10 CHC6 Input Encoder C Chan Neg 2 3 All CHB6 Input Encoder B Chan Pos 2 A12 CHB6 Input Encoder B Chan Neg 2 3 A13 CHA6 Input Encoder A Chan Pos 2 A14 CHA6 Input Encoder A Chan Neg 2 3 Al5 DAC8 Output Analog Out Pos 8 4 A16 DAC8 Output Analog Out Neg 8 4 5 Al7 AENA8 DIR8 Output Amp Ena Dir 8 6 A18 FAULTS Input Amp Fault 8 7 A19 LIM8 Input Neg End Limit 8 8 9 A20 LIM8 Input Pos End limit 8 8 9 A21 HMFL8 Input Home Flag 8 10 A22 DAC6 Output Analog Out Pos 6 4 A23 DAC6 Output Analog Out Neg 6 4 5 A24 AENAG DIR6 Output Amp Ena Dir 6 6 A25 FAULT6 Input Amp Fault 6 7 28 PMAC VME Connector Pinouts PMAC VME Hardware Reference Manual on Option 1A Continued A32 89988990888908595599885990889399 A ront View A26 LIM6 Input Neg End Limit 6 8 9 A27 LIM6 Input Pos End Limit 6 8 9 A28 HMFL6 Input Home Flag 6 0 A29 AGND Common Analog Common A30 A 15V Input Analog 15V Supply A31 GND Common Digital Common A32 5V Output 5V Power 1
2. E Point and Location Description Default Physical Layout E99 A2 Jump 1 to 2 to connect AGND on main No jumper installed OD PMAC VME board to AGND on option 1V piggyback board Remove jumper to keep AGND isolated between option 1V board and main board PMAC VME E Point Descriptions 11 PMAC VME Hardware Reference Manual PMAC VME Option 1A Jumpers E17E E17H Amplifier Enable Polarity Control E Point and Location Description Default Physical Layout E17E BI Jump 1 2 for high TRUE AENA 5 8 No jumper installed z Remove jumper for low TRUE AENA 5 8 E17F C1 Jump 1 2 for high TRUE AENA 5 8 No jumper installed 9 Remove jumper for low TRUE AENA 5 8 E17G CI Jump 1 2 for high TRUE AENA 5 8 No jumper installed 9 Remove jumper for low TRUE AENA 5 8 E17H Cl Jump 1 2 for high TRUE AENA 5 8 No jumper installed a Remove jumper for low TRUE AENA 5 8 Low true enable is the fail safe option because of the sinking open collector ULN2803A output driver IC E18 E21 Encoder Single Ended Differential Control E Point and Location Description Default Physical Layout E18 D2 ENC 5 through 8 1 2 Jumper installed TOG Jump pin 1 to 2 to tie complementary encoder for inputs to 2 5V E18 E21 E19 D2 Jump pin 2 to 3 t
3. P2A JMACH2 96 Pin Header 2 00000000000000000000000000000000 1 i B32 OOO00000000660000000000000000000 B on Option 1A 32 00000000000000000060006000006000Iar Pin Col C02 C03 C04 COS C06 C07 COS C09 C10 Cu C12 C13 C14 C15 C16 c17 C18 C19 C20 C21 C22 C23 C24 C25 C26 C27 C28 C29 C30 C31 GND Common Digital Common C32 5V Output 5V Power Front View Notes 1 2 2 3 2 2 3 2 2 3 2 2 3 2 2 3 PMAC VME Connector Pinouts 29 PMAC VME Hardware Reference Manual P2A JMACH2 96 Pin 3270 00000000000000000000000000000 1 i B32 O0000000000006000066000000000006 B Header on Option 1A A32100000000000000000000000666600000Ia1 Front View The P2A connector is used to connect PMAC to the first four channels Channels 1 2 3 and 4 of servo amps flags and encoders Note 1 In standalone applications these lines can be used as 5 V power supply inputs to power PMAC s digital circuitry However if a terminal block is available on your version of PMAC it is preferable to bring the 5V power in through the terminal block Note 2 Referenced to digital common GND Maximum of 12V permitted between this signal and its complement Note 3 Leave this input floating if not used i e digital single ended encoders In this case jumper E18 21 E24 27 for channel should hold input at 2 5V Note 4 10V 10mA max referenced to analog
4. Dedicated Axis JMACH1 JMACH 2 Also Acc 24 JMACH3 JMACH4 Digital Inputs Four dedicated digital inputs accompanying each quadrature encoder optically isolated from PMAC digital circuits operate from 15V voltage source Inputs for each encoder are LIMIT LIMIT HOME FAULT Uncommitted sets of inputs may be used as general purpose optically isolated digital inputs Dedicated Axis JMACH1 JMACH2 Also Acc 24 JMACH3 JMACH4 Digital Outputs Amplifier Enable One dedicated digital output accompanying each quadrature encoder optically isolated from PMAC digital circuits operates from 15V voltage source Serves as amplifier enable signal or direction bit polarity is can be set by hardware jumper E17 Uncommitted lines may be used as general purpose optically isolated digital outputs Position Compare One dedicated digital output accompanying each quadrature encoder serves as position compare output providing pulse exactly when preset count value is reached Uncommitted compare outputs may be used as general purpose outputs by using polarity control PMAC Basic Specifications 33 PMAC VME Hardware Reference Manual General Purpose Digital Inputs JOPTO Eight general purpose digital inputs 0 24V levels Hardware jumper sets as normally high or normally low Connector configured for easy hook up to OPTO 22 Rated to 100 mA General Purpose Digital Outputs
5. Pin Symbol Function Description Notes 1 CHA Input Enc A Ch Pos Axis 1 for resolver 2 CHB1 Input Enc B Ch Pos Axis 1 for resolver 3 CHC1 Input Enc C Ch Pos Axis 1 for resolver 4 CHA3 Input Enc A Ch Pos Axis 3 for resolver 5 CHB3 Input Enc B Ch Pos Axis 3 for resolver 6 CHC3 Input Enc C Ch Pos Axis 3 for resolver 7 E63 Input Interrupt IR4 Interrupt from expansion board 8 E59 Input Interrupt IR5 Interrupt from expansion board 9 SCLK Output Encoder Clock Encoder sample rate 10 DCLK Output D to A A to D Clock DAC and ADC clock for all channels This connector is used for miscellaneous I O functions related to expansion cards which are used with PMAC J7 JEQU 10 Pin Connector Pin WO OO NAI DIN A o EQUI Enc 1 Compare Equ GND Common Digital Ground 10 00000 2 Front View Notes Low is true Low is true Low is true Low is true Low is true Low is true Low is true Low is true 5V to 24V This connector provides the positive compare outputs for the eight encoder channels Refer to jumpers E93 and E94 for proper configuration of this Output for sourcing or sinking type outputs J8 JS1 16 Pin Header 15 OOOOOOOO 1 161OOOOOOOO Front View Pin Symbol Function Description Notes 1 DCLK Output D to A A to D Clock DAC and ADC Clock for Chan 1 2 3
6. JOPTO Eight general purpose digital outputs 5V to 24V high level if greater than 5V work from external voltage Sinking standard or sourcing no cost option configurations possible rated to 100 mA Connector configured for easy hook up to OPTO 22 Serial Communications RS 232 serial data port PMAC Lite or STD Single ended 6 10V levels RS 422 serial data port PMAC PC VME STD or Lite with Opt 9L Differential 0 5V TTL levels PMAC receivers accept standard RS 232 signals PMAC transmitters send signals recognizable by most RS 232 receivers Acc 26 available for optically isolated conversion between RS 422 and RS 232 levels Configurable for 300 to 76 800 baud Eight bits one start bit one stop bit no parity Uses RD RD RXD SD SD TXD CS CS CTS RS RS RTS and GND lines Shorts DSR to DTR Up to 16 cards may be daisy chained on a single communications line with software addressing Bus Parallel Communications Bus communications 8 bit wide data type of bus determined by version of card For PMAC PC Lite or STD on board Programmable Interrupt Controller permits interrupting of host on excess following error in position buffer request character request position compare equals or programmatically For PMAC VME 16 8 bit mailbox registers for bi directional transmission of commands and data A16 A24 and A32 addressing modes possible DUR data transmission u
7. Jump pin 2 to 3 to apply V 5V to 24V to pin 10 of U28 Should be UDN2981A for source output configuration Also see El Reserved for future use Default 1 2 Jumper installed 1 2 Jumper installed No jumper 10 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E96 E97 Analog Source Isolate from Option 1V E Point and Location Description Default Physical Layout E96 A2 Jump 1 to 2 to connect A 15V on main No jumper installed D PMAC VME board to A 15V on option 1V piggyback board Remove jumper to keep A 15V isolated between option 1V board and main board E97 A2 Jump 1 to 2 to connect A 15V on main No jumper installed PMAC VME board to A 15V on option 1V piggyback board Remove jumper to keep A 15V isolated between option 1V board and main board E98 DAC ADC Clock Frequency Control E Point and Physical Layout E98 OQO Location B4 Description Jump 1 2 to provide a 2 45 MHz 3 67 MHz for Option 5 DCLK signal to DACs and ADCs Jump 2 3 to provide a 1 22 MHz 1 83 MHz for Option 5 DCLK signal to DACs and ADCs Important for high accuracy A D conversion on Acc 28 Note This also divides the phase and servo clock frequencies in half See E29 E33 E3 E6 UO Default 1 2 Jumper installed E99 Analog Source Isolate from Option 1V
8. gt greater than gt not greater than lt less than lt not less than approximately equal to not approximately equal to Functions For use in user programs SIN COS TAN ASIN ACOS ATAN ATAN2 LN EXP ABS SQRT INT Motion Program Custom language incorporates features of BASIC type high level languages Language computation IF WHILE GOTO GOSUB CALL and machine tool languages RS 274 G Codes User definable G M T and D codes 256 separate motion programs may be stored at once PLC Program Custom language for constantly re circulating background program much like Language BASIC type high level languages 32 separate interpreted PLC programs and 32 separate compiled PLC programs may be stored at once PMAC Basic Specifications 35 PMAC VME Hardware Reference Manual Options Option 0 For PMAC VME only reduces cost for standalone applications by removing the special interface chip used to communicate with the VMEbus Option 1 Additional four channels each of quadrature encoders analog DAC outputs analog inputs serial digital data from Acc 23 or Acc 28 for eight channels each on a PMAC On PMAC VME or PMAC STD this option is a piggyback board On PMAC PC this option is extra ICs on the baseboard This option is not available for PMAC Lite Option 2 8Kx16 Dual ported RAM for high speed repetitious communicatio
9. HARDWARE REFERENCE MANUAL PMAC VME DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components
10. Q E50 EAROM Save Enable Disable E Point and Location Description Default Physical Layout E50 D3 Jump pin to 2 to enable save to EAROM Jumper installed 2 Remove jumper to disable save to EAROM E51 Normal Re Initializing Power Up E Point and Location Description Default Physical Layout ES1 D3 Jump pin 1 to 2 to re initialize ON power No jumper 2 up reset installed Remove jumper for NORMAL power up reset E52 E53 DSP Interrupt Signal Select E Point and Location Description Default Physical Layout E52 B5 Jump pin 1 to 2 to allow LIRQO to interrupt Jumper installed MO local DSP CPU at IROB E53 B5 Jump pin 1 to 2 to allow MI3 to interrupt local No jumper NG DSP CPU at IRQB installed PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E72 E73 Panel Analog Time Base Signal Enable E Point and Location Description Default Physical Layout E72 C3 Jump pin 1 to 2 to allow V to F converter No jumper MO FOUT derived from wiper input on J2 to installed connect to CHA4 E73 C3 Jump pin 1 to 2 to allow V to F converter No jumper DO FOUT derived from wiper input on J2 to installed connect to CHA4 With these jumpers ON no encoder should be wired into ENC4 on JMACH1 E27 must connect pins to 2 because these are single ended inputs Variable 1915 should be set to 4 to create a positive voltage frequency n
11. 2 3 or 4 phase motors Y wound delta wound or electrically independent phases Capability to accept custom phase algorithms written in DSP56000 assembly language Block Execution Rate Up to 200 to 800 blocks moves per second dependent on number of axes servo cycle time CPU speed and program complexity for 20 MHz CPU proportionally greater with faster CPUs Higher rates possible with careful optimization Velocity Range Commanded Velocity 0 0 0001 to 256M 268 435 456 counts second Measured Velocity Dependent on type of feedback used Quadrature Feedback 0 to 19 660 800 encoder counts second edge rate slight hardware modification required on PMAC PC to exceed 9 830 400 encoder counts second 0 to 30 000 000 encoder counts per second with externally provided encoder sample clock Parallel Feedback For N bit feedback word 24 N 1 1 counts servo cycle Velocity Accuracy Long term 0 005 absolute accuracy with standard crystal 0 001 absolute accuracy with optional crystal OPT 8 Short term System dependent typically 0 2 to 1 0 Position Range 128 trillion counts maximum no sub count interpolation minimum position scale factor 32 billion counts typical sub count interpolation default position scale factor Position Accuracy 1 count Sub count interpolation possible with automatic 1 T decoding of incremental encoder signal or with parallel input lines from A
12. Acc 8D OPT P OPT V OPT 1 OPT 2 OPT 4 OPT 5 OPT 6 OPT A OPT 7 60 point terminal block No connectors for option boards 60 pin connector and cable to PMAC PC STD and Lite 96 pin connector and cable to PMAC VME Note a longer cable may be specified Not to exceed three feet 60 point terminal block with connectors for option boards 60 pin connector and cable to PMAC PC STD and Lite 96 pin connector and cable to PMAC VME Note a longer cable may be specified Not to exceed three feet Provides a third phase of output for two PMAC commutated motors Normally this function is provided in the amplifier but if the amplifier is expecting commands for all three phases this option generates a third phase as the negative sum of the two phases provided by PMAC This option is located on the main Acc 8D board Provides four voltage to frequency V F converters for commanding stepper motor driver systems These convert PMAC s analog output for each channel to a pulse output The pulse output can be jumpered back to PMAC s encoder input for the motor if the system is to be run open loop or an actual encoder can be used for true closed loop servo The maximum frequency is selectable from 10 kHz 2A to 2MHz 2F This option is on a small separate board and comes with 5 40 cm 16 cables to Acc 8D one 16 pin and four 10 pin Must be ordered as one of the following 2A 2F depending on the frequency requ
13. Display purchased separately OPT 1 40x2 5mm high characters with two 180 cm 6 14 pin cables to Acc 12E bezel no filter P N IEE S03601 51 096 OPT 2 20x4 11mm high characters with two 180 cm 6 14 pin cables to Acc 12E bezel no filter P N IEE S03601 24 080 OPT 3 IEE large screen display Accessory 14 I O Expansion Board PMAC s Acc 14D V provides expanded and flexible digital I O capabilities for the controller Acc 14D is the PC bus form Acc 14V is the VME bus form there is no STD bus form It may be configured for a wide variety of different uses by selecting different voltage levels sinking sourcing and latched non latched I O to serve many diverse applications It is commonly used for discrete I O and for parallel feedback absolute encoders laser interferometers and resolvers In order to provide this flexibility the customer must take care in ordering a configuration Acc 14D 48 digital I O points PC bus compatible requires an Option 1 4 Acc 14V 48 digital I O points VME bus compatible requires an Option 1 4 OPT 1 24 inputs and 24 outputs TTL levels O 5V low true OPT 2 24 inputs and 24 outputs 0 24V low true OPT 3 48 inputs TTL levels 0 5V latching for parallel binary feedback OPT 4 Custom configuration to be specified by the user Fill out specification sheet OPT 6 Dual parallel to quadrature converter Required if PMAC is to commutate a motor using a parallel feedback devi
14. Option 4A 5A 5B Motorola DSP56001 Clock Speed 19 6608 MHz 20 MHz Standard Option 4A 39 3216 MHz 40 MHz Option 5A 58 9824 MHz 60 MHz Option 5B Architecture Harvard Architecture Dual X and Y internal 24 bit data buses Single external 24 bit data bus Separate 24 bit internal program bus 56 bit data accumulator PMAC Basic Specifications 31 PMAC VME Hardware Reference Manual Performance Specifications Servo Cycle Time Minimum of 55 microseconds per axis controlled 110 usec for two axes 440 usec for eight axes for 20 MHz CPU proportionally less with faster CPUs Actual time can be set with hardware jumpers Servo Algorithm Standard PID with velocity and acceleration feedforward plus 2nd order notch filter all gains with 24 bit resolution Auto tunable through PMAC Executive program Capability to accept custom servo algorithms written in DSP56000 assembly language Optional OPT 6 Advanced 7th order pole placement algorithm 35 terms Auto tunable through Servo Evaluation Package software for IBM PC and compatibles Phasing Update Time Minimum of 27 microseconds 1 axis Minimum of 110 microseconds 8 axes for 20 MHz CPU proportionally less with faster CPUs Actual time can be set with hardware jumpers Phasing Algorithm Suitable for permanent magnet brushless motors AC induction motors switched reluctance servo motors micro stepped stepping motors
15. straight binary SV single ended Resolvers Thru Accessory 8D Option 7 Resolver to Digital Converter card two or four resolvers per accessory card 12 bit resolution absolute position data read on power up or reset thereafter simulated quadrature signal is read through incremental encoder input Analog Outputs JMACH1 JMACH2 Also Acc 24 JMACH3 JMACH4 four standard to 16 depending on options outputs of 10V 16 bit resolution 300 uV bit optically isolated Standard use is for servo output one per axis if PMAC is not commutating axis two per axis if PMAC is commutating axis uncommitted analog outputs may be used for other purposes On Board Analog Input JPAN requires Option 15 1 input 0 to 10V converted to frequency at 25 kHz V On PMAC Lite 10V converted to sign and frequency Can be jumpered to Encoder 4 counter time base conversion of counter yields 24 bit register value proportional to voltage Effective A D resolution of 10 bits Accessory Analog Inputs Thru Accessory 28 Analog to Digital Converter Board 4 to 16 depending on number inputs of 10V 16 bit resolution single ended or differential inputs Conversion time less than 50 usec all inputs Thru Accessory 36 Analog to Digital Converter Board 8 or 16 inputs of 0 to 10V or 5V 12 bit resolution per board single ended or differential inputs Effective conversion time 1 phasing cycle per channel
16. 1 1 5 Ib Temperature Operating 0 C to 60 C 32 F to 140 F Storage 12 C to 82 C 10 F to 180 F Humidity 10 to 95 non condensing Electrical Specifications Power 1 5A 5V 4 5 7 5W 0 3A 12 to HISV 4 5W 0 25A 12 to 15V 3 8W Eight channel configuration with a typical load of encoders Battery Not applicable to PMACs with Options 4A 5A or 5B 3 6V Lithium Cell 1000 mAh Can Stack Or 3 0V Lithium Cell 1200 mAh 2 3A size no tabs old style Expected battery life 10 years standard 9 months Opt 5 Recommended replacement 24 months standard 3 6 months Opt 5 Memory Specifications ROM Standard Option 5 only 128 KBytes EPROM firmware for master control program Flash Option 4A 5A 5B only 512 KBytes segmented flash memory for both firmware and user program parameter storage RAM 384 KBytes Static 128K 24 bit words for active memory Battery backed standard Option 5 Savable to flash memory Option 4A 5A 5B One wait state standard zero wait states Option 4A 5 5A 5B User program storage 42K 48 bit words 252KBytes X1000 Y 1000 is 2 words EAROM 2KBytes EEPROM non volatile memory for setup parameter storage used only with battery backed RAM boards not used even if present on flash memory boards CPU Specifications Type Motorola DSP56002
17. 4 2 BDATAI Output D to A Data DAC data for Chan 1 2 3 4 3 ASELO Output Channel Select Bit 0 Select for Chan 1 2 3 4 4 ASEL1 Output Channel Select Bit 1 Select for Chan 1 2 3 4 5 CNVRTOI Output A to D Convert ADC convert sig chan 1 2 3 4 6 ADCIN1 Input A to D Data ADC data for Chan 1 2 3 4 7 OUTI Output Amp Enable Dir Amp Enable Dir for Chan 1 8 OUT2 Output Amp Enable Dir Amp Enable Dir for Chan 2 9 OUT3 Output Amp Enable Dir Amp Enable Dir for Chan 3 10 OUT4 Output Amp Enable Dir Amp Enable Dir for Chan 4 11 HF41 Input Amp Fault Amp fault input for Chan 1 12 HF42 Input Amp Fault Amp fault input for Chan 2 13 HF43 Input Amp Fault Amp fault input for Chan 3 14 HF44 Input Amp Fault Amp fault input for Chan 4 15 5V Output 5V Supply Power supply out 16 GND Common PMAC Common Miscellaneous I O 24 PMAC VME Connector Pinouts PMAC VME Hardware Reference Manual P1 JVME 96 Pin Header C32 Front View 000000000000000000000000000000001f1 B32 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOIBI A32 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO AI Pin Row A Signal Mnemonic Row B Signal Mnemonic Row A Signal Mnemonic 01 DOO BBSY D08 02 DO BCLR DO9 03 D02 ACFAIL D10 04 D03 BOIN D11 05 D04 BGOOUT D12 06 DOS BGIIN D13 07 D06 BGIOUT D14 08 D07 BG2IN D15 09 GND BG20UT GND 10 SYSCLK BG3IN SYSFAIL 11 GND BG30UT BERR 12
18. DS1 BRO SYSRESET 13 DS0 BRI LWORD 14 WRITE BR2 AM5 15 GND BR3 A23 16 DTACK AM0 A22 17 GND AMI A21 18 AS AM2 A20 19 GND AM3 A19 20 IACK GND A18 21 IACKIN SERCLK Al7 22 IACKOUT SERDAT Al6 23 AM4 GND Al5 24 A07 IRQ7 Al4 25 A06 IRQ6 A13 26 A05 IRQ5 A12 27 A04 IRQ4 All 28 A03 IRQ3 A10 29 A02 IRQ2 A09 30 A01 IRO1 A08 31 12V 5V STDBY 12V 32 5V 5V 5V This is the standard VME connector It is sufficient for 16 bit or 24 bit addressing and for 8 bit or 16 bit data For 32 bit addressing the B row of P2 must be used as well PMAC does not support 32 bit data transfers over the bus even with the B row of P2 If P1 is connected to the VME backplane PMAC is connected to the 5V supply and GND automatically In this case no other 5V supply should be connected If desired the 12V and 12V power supplies of the VME bus could be used to provide power to the Opto isolated outputs of PMAC VME using jumpers E85 E87 and E88 with the resultant loss of optical isolation between the PMAC VME and the Amplifier Power section PMAC VME Connector Pinouts 25 PMAC VME Hardware Reference Manual P2 JMACH1 96 Pin Header B32 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOIBI SE A32 O0OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO A Front View Pin Symbol Function Desc
19. The version of this accessory is selected by capacity Acc 1 for one PMAC 3 0A rating Acc 1A for two or three PMACs 6 0A rating Acc 1B for four or five PMACs 9 0A rating Acc 1C for six seven or eight PMACs 12 0A rating Acc 1L is areplacement battery for the RAM on older PMAC PC or PMAC VME CPU boards It is a 3V lithium battery 1200 mAh 2 3A size no tabs Acc 1LS is areplacement battery for the RAM on PMAC STD PMAC Lite and newer PMAC PC and PMAC VME boards It is a 3 6V lithium battery 1000 mAh 1 15 diameter can Acc 1SA 5V switching power supply for one PMAC 1 2A rating Gives better transient suppression Accessory 2 15V Power Supplies These power supplies provide 15V to the analog output stage of PMAC which is optically isolated from the digital 5V circuitry This accessory has the following versions Acc 2 15V only for one PMAC 1 5A rating at each level Acc 2A 15V 5V for one PMAC 16W rating Acc 2B 15V 5V for two PMACs 40W rating Acc 2SA 12V switching power supply for one PMAC 1 2A rating Gives better transient suppression Accessory 3 Serial Communications Cable This is a three meter ten foot 26 strand flat cable with a DB 25 connector on one end for connection to the host computer and an IDC 26 pin connector on the other end for connection to PMAC s serial port It is not to be purchased if Acc 26 serial communications converter card is purchased Mult
20. V on P2A 1 2 Jumper installed JMACH 2 pin 59 to tie to A 15V on P2 JMACH1 pin C30 This jumper must be installed to allow A 15V to power the OPTO switch sensor inputs including limits from the same OPTO power supply that powers the amplifier output stage Also see E190 E190 Host Supplied Switch Pull Up Enable power OPTO switch sensor inputs including limits Jump pin 2 to 3 to allow 12V from VME bus connector to power OPTO switch sensor inputs including limits Optical isolation is then lost See also E185 E187 E188 and figure on PMAC OPTO isolation E Point and Location Description Default Physical Layout E190 D1 Jump pin 1 to 2 to allow A 15V OPT V on 1 2 Jumper installed GO P2A JMACH 2 pin C30 also see E189 to PMAC VME E Point Descriptions 13 PMAC VME Hardware Reference Manual E196 E197 E199 Analog Source Isolate from Main Board E Point and Location Description Default Physical Layout E196 A2 Jump 1 to 2 to connect A 15V on option 1V No jumper installed O piggyback board to main PMAC VME board Remove jumper to keep A 15V isolated between main board and option IV board E197 A2 Jump 1 to 2 to connect A 15V on option 1V No jumper installed piggyback board to main PMAC VME board Remove jumper to keep A 15V isolated between main board and option 1V boa
21. VME Option LA Jumpers MEE EE OR EE EE EE HE e S NG 12 E17E E17H Amplifier Enable Polarity Control 12 E18 E21 Encoder Single Ended Differential Control 12 E185 E187 E188 Host Supplied Analog Power Source Euable sesse esse se ese ee ese see se see se ese ede se ee ee esse ee ee 13 E189 Amplifier Supplied Switch Pull Up Enable AAA 13 E190 Host Supplied Switch Pull Up Enable AAA 13 E196 E197 E199 Analog Source Isolate from Main Board 14 PMAC VME CPU BOARDS sesse sesse sesse ees se ee Be EE RE EE Se EE Be EE EE Ge Ee EE GE EE EA Be EE BA EE EE Ge uodo oss EE GE EA Se sasa ee 15 Legacy PMAC Universal CPU 602705 10 ee ee anas ee se ee ee ee ee GONG GN NG GR Re GR GRA bans Gee Gee Se ee ee ee ee Re ee 15 El Watchdog Disable Jumper ipress nestiinta aa N EE 15 E2 E3 Expansion Port Configure sikisi PAANAN KNINA ERER Edge 15 E4 Power Up Reset Load Source naina OE EO EO N dree 15 ES Expansion Port E 15 Legacy PMAC VME Standard CPU Board 602398 602271 ees se esse ee ese see eke ee SR ee Ge Re Ge Re GR ee GRA Ge ee Ge ek ek ee 16 Legacy PMAC VME Option CPU Board iese giese ee be Be kee de le een aren GA 16 PMAC VME MATING CONNECTORS esse esse sesse se esse sees se ees se ese Se ee See ee ee EG Be EG Be Ee ee EG Be EG Be Ge Ee EG ee 17 B se Board Connectors EE AE OE RE EE EE EE N 17 IT I DISE DUE GE ME BANANA RR N E RE N 17 EST 17 J3 JITHW Mu ltiplexer POTT TEE 17 J4 JRS422 RS232 or 422 Serial Communications sees ee ER
22. clock crystal even the 40 and 60 MHz CPU versions E7 Machine Input Source Sink Control E Point and Location Description Default Physical Layout E7 A4 Jump pin to 2 to apply 5V to input reference 1 2 Jumper DO resistor sip pack this will bias MI1 to MIS inputs installed to 5V for off state input must then be grounded for on state Jump pin 2 to 3 to apply GND to input reference resistor sip pack this will bias MIT to MIS inputs to GND for off state input must then be pulled up for on state 5V to 24V 2 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E8 RS232 Converter Power Supply Control E Point and Location Description Default Physical Layout E8 A4 Jump pin 1 to 2 to apply 5V to J4 pin 2 JRS422 Jumper installed O this can be used to power optional RS422 to RS232 C converter module which requires 5V for operation E9 E16 Serial Interface Handshake Control E9 to E16 jumpers control whether the RS 422 serial port will be in DCE or DTE format The default configuration permits straight across connection to a PC DB 25 serial port E Point and Location Description Default Physical Layout E9 E10 Jump E9 1 to E9 2 to allow RD to be input on J4 1 2 Jumper OO 3 jump E10 1 to E10 2 to allow SD t
23. or customer provided I O to the PMAC providing manual control of PMAC functions via simple toggle switches If the automatic control panel input functions are disabled I2 1 the inputs become general purpose TTL inputs and the coordinate system C S specific outputs pertain to the host addressed coordinate system See Also Control panel inputs Accessories Acc 16 Acc 39 I variables D x06 I O and Memory Map Y FFCO Suggested M variables M20 M32 20 PMAC VME Connector Pinouts PMAC VME Hardware Reference Manual J3 JTHW Connector 26 Pin Connector 8888888888888 Front View Pin Symbol Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DATO Input Data 0 Input Data input from thumbwheel switches 4 SELO Output Select 0 Output Scanner output for reading TW switches 5 DATI Input Data 1 Input Data input from thumbwheel switches 6 SEL1 Output Select 1 Input Scanner output for reading TW switches 7 DAT2 Input Data 2 Input Data input from thumbwheel switches 8 SEL2 Output Select 2 Output Scanner output for reading TW switches 9 DAT3 Input Data 3 Input Data input from thumbwheel switches 10 SEL3 Output Select 3 Output Scanner output for reading TW switches 11 DAT4 Input Data 4 Input Data input from thumbwheel switches 12 SEL4 Output Select 4 Output Scanner output for reading TW switche
24. useful tool for PMAC based program development and verifications by OEMs Internally the unit consists of a 15V and 5V DC power supply four or eight DC motors with HP 500 line encoders four or eight motor amplifiers an optional PMAC board and the necessary wiring to external connectors It also includes a control front panel and switches in the form of PMAC s Acc 16D to allow for input and output display independent of a host computer In addition an optional configuration using the demo unit with the VME based GE Fanuc 90 70 PLC system is available Acc 31A 4 axis demo unit PMAC must be ordered separately OPT 3 PMAC Lite PC purchased separately mounted internally Acc 31L 4 axis demo unit carrying case lease 2 week minimum customer pays shipping both directions Full lease to own credit on continuous rental period Accessory 32 PMAC Software Upgrade Update Kit At Delta Tau we are continuously upgrading PMAC s software for motion control Software and documentation updates are readily available to the customer through Acc 32 Acc 32 consists of updates for an EPROM PMAC firmware User Manual and Acc 9D PC Executive Program Diskette if it was previously purchased Delta Tau will supply Acc 32 to the customer up to two times free of charge for a period of six months from the date of purchase If a customer has multiple PMAC cards Acc 32 Option 1 provides extra PMAC EPROMS at a greatly reduced cost Acc 32 Upgrade Kit EPR
25. 0 CHC1 Input Encoder C Ch Neg 2 3 26 PMAC VME Connector Pinouts PMAC VME Hardware Reference Manual Pj c32 H00000000900000900000090000000099j41 P2 JMACH1 96 Pin B32 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOIR Header Continued A2 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO AI Front View Pin Symbol Function Description Notes Cll CHB1 Input Encoder B Ch Pos 2 C12 CHB1 Input Encoder B Ch Neg 2 3 C13 CHAI Input Encoder A Ch Pos 2 C14 CHAI Input Encoder A Ch Neg 2 3 C15 DAC3 Output Analog out Pos 3 4 C16 DAC3 Output Analog out Neg 3 4 5 C17 AENA3 DIR3 Output Amp Ena Dir 3 6 C18 FAULT3 Input Amp Fault 3 7 C19 LIM3 Input Neg End Limit 3 8 9 C20 LIM3 Input Pos End Limit 3 8 9 C21 HMEL3 Input Home Flag 3 0 C22 DACI Output Analog out Pos 1 4 C23 DACI Output Analog out Neg 1 4 5 C24 AENAI DIR1 Output Amp Ena Dir 1 6 C25 FAULTI Input Amp Fault 1 T C26 LIM1 Input Neg End Limit 1 8 9 C27 LIMI Input Pos End Limit 1 8 9 C28 HMFL1 Input Home Flag 1 0 C29 FEFCO Output FE Watchdog Output C30 A 15V Input Analog 15V Supply C31 GND Common Digital Common C32 5V Output 5V Power 1 The P2 connector is used to connect the PMAC to the first four channels Channels 1 2 3 and 4 of servo amps flags and encoders Note 1 In standalone applications these lines can be used as 5V power supply inputs to power PM
26. 0 pin 40 cm 16 cables to Acc 8D OPT B In rail mount for OPT 7 38 PMAC Basic Specifications PMAC VME Hardware Reference Manual OPT 8 The analog encoder interpolator board provides 128 or 256 pulses per cycle of an analog encoder Each Option 8 allows connection of one analog encoder to PMAC and requires two encoder channels on the PMAC Up to eight Option 8s can be connected to one 16 channel PMAC PMAC with Option 1 and Acc 24 with Option 1 Comes with three 10 pin 40 cm 16 cables two to Acc 8D and one to PMAC s JxIO connector OPT A DIN rail mount for OPT 8 OPT 9 Provides connection for four Sigma series type S and W Yaskawa absolute encoders Comes with four 10 pin 40 cm 16 cables to Acc 8D and one 26 pin 60 cm 24 cable to PMAC s multiplexer port OPT B DIN rail mount for OPT 9 Accessory 9 IBM PC Software The software for the IBM PC and compatibles includes development tools used in setting up the PMAC controller and developing a host computer interface for a PMAC application Acc 9 is a once per customer purchase OEMs wishing to re sell the program to their customers must purchase one copy for each customer Such OEMs should contact the factory for volume purchase agreements Acc 9C COMLIB COMmunications LIBrary written in C provides a set of basic low level communications drivers callable from DOS or Windows based programs This software is recommended for any user who intends on developi
27. 09 1 26OOOOOOOOOOOOO Front View Pin Symbol Function Description Notes 1 CHASSI Common PMAC Common 2 S 5V Output 5VDC Supply Deactivated by E8 3 RD Input Receive Data Diff I O low true 4 RD Input Receive Data Diff I O high true 5 SD Output Send Data Diff VO low true 6 SD Output Send Data Diff I O high true 7 CS Input Clear to Send Diff VO high true 8 CS Input Clear to Send Diff VO low true 9 RS Output Request to Send Diff I O high true 10 RS Output Request to Send Diff VO low true 11 DTR Bidirectional Data Terminal Ready Tied to DSR 12 INIT Input PMAC Reset Low is Reset 13 GND Common PMAC Common Low is Reset 14 DSR Bidirectional Data Set Ready Tied to DSR 15 SDIO Bidirectional Special DATA Diff VO low true 16 SDIO Bidirectional Special Data Diff I O high true 17 SCIO Bidirectional Special CTRL Diff VO low true 18 SCIO Bidirectional Special CTRL Diff I O high true 19 SCK Bidirectional Special Clock Diff I O low true 20 SCK Bidirectional Special Clock Diff I O high true 21 SERVO Bidirectional Servo Clock Diff I O low true 22 SERVO Bidirectional Servo Clock Diff VO high true 23 PHASE Bidirectional Phase Clock Diff VO low true 24 PHASE Bidirectional Phase Clock Diff VO high true 25 GND Common PMAC Common 26 5V Output 5VDC Supply Power supply out Not
28. 9 E33 Phase Clock Frequency Control AANEREN 5 E34 E38 Encoder Sampling Clock Frequency Control 5 E39 Reset From Bus Enable EE OE N OR EE nh 6 E40 E43 Software Address Control sesse sesse see se ee se ee Ge ee ee Ge ee ed Ge AA Ge Re Ge ee GR ee RA Ge RA Ge Re Ge ee ee ee 6 E44 E47 Communications Control eise esse see se see Ge Gee bao EA ee NANG ee ee ee ee ee ee ee ee GR sans GR ee ee ed eed ee 7 E48 RAM Wait State Control Standard CPU Section 7 E48 CPU Clock Frequency Control Option CPU Section 8 E49 Serial Communications Parity Control amp E50 EAROM Save Enable Dsoable iese esse ees se ee see see ee ee ee ee ee eed Gee Gee ee ee be ee ee ee ee ee Re Ge ee Gee Gee Gee se ee amp ES1 Normal Re Initializing Power Un amp E52 E53 DSP Interrupt Signal Aelect iese esse esse ese ee se ee ee ee Gee Gee Ge ee ee ee ee ee ee AR SA Ge Gee Gee ee se ee 8 E72 E73 Panel Analog Time Base Signal Euable AA 9 E74 E75 Clock Output Control for External Jnterpoleaton was anas Gee Gee ee se ee 9 E85 E87 E88 Host Supplied Analog Power Source Enable AA 9 E89 Amplifier Supplied Switch Pull Up Enable AAA 10 E90 Host Supplied Switch Pull Up Enable AAA 10 E93 E94 Compare Equal Output Voltage Contfigure sesse esse esse esse ss se se wan ee Ged sna Gee Rd Gee Ge ee Ge ee ee ee ee 10 E96 E97 Analog Source Isolate from Option JM ll E98 DAC ADC Clock Frequency Con ll E99 Analog Source Isolate from Option JN ll PMAC
29. 9 2641 2 171 26 T amp B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J4 JRS422 RS232 or 422 Serial Communications 1 Two 26 pin female flat cable connector Delta Tau P N 014 R00F26 0KO T amp B Ansley P N 609 2641 2 171 26 T amp B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J5 JOPT OPTO VO 1 Two 60 pin female flat cable connector Delta Tau P N 014 R00F34 0k0 T amp B Ansley P N 609 3441 2 171 34 T amp B Ansley standard flat cable stranded 34 wire 3 Phoenix varioface module type FLKM 34 male pins P N 22 81 06 3 J6 JXIO Expansion Board 1 Two 10 pin female flat cable connector Delta Tau P N O14 ROOF10 0KO T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J7 JEQU Position Compare 1 Two 10 pin female flat cable connector Delta Tau P N O14 ROOF10 0KO T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J8 JS1 A D Inputs 1 4 1 Two 16 pin female flat cable connector Delta Tau P N 014 ROOF16 0KO T amp B Ansley P N 609 1641 2 171 16 T amp B Ansley standard flat cable stranded 16 wire 3 Phoenix varioface module type FLKM 16 male pins P N 22 81 03 4 P1 JVME Standard VME Connect
30. AC s digital circuitry However if a terminal block is available on your version of PMAC it is preferable to bring the 5V power in through the terminal block Note 2 Referenced to digital common GND Maximum of 12V permitted between this signal and its complement Note 3 Leave this input floating if not used i e digital single ended encoders In this case jumper E18 21 E24 27 for channel should hold input at 2 5V Note 4 10V 10mA max referenced to analog common AGND Note 5 Leave floating if not used do not tie to AGND In this case AGND is the return line Note 6 Functional polarity controlled by jumper s E17 Choice between AENA and DIR use controlled by Ix02 and 1x25 Note 7 Functional polarity controlled by variable Ix25 Must be conducting to OV usually AGND to produce a O in PMAC software Automatic fault function can be disabled with Ix25 Note 8 Pins marked LIMn should be connected to switches at the positive end of travel Pins marked LIMn should be connected to switches at the negative end of travel Note 9 Must be conducting to OV usually AGND for PMAC to consider itself not into this limit Automatic limit function can be disabled with Ix25 Note 10 Functional polarity for homing or other trigger use of HMFLn controlled by Encoder Flag Variable 2 1902 1907 etc HMFLn selected for trigger by Encoder Flag Variable 3 1903 1908 etc Must be conducting to OV usually AGND t
31. D converter processing analog signal from which quadrature is derived Position Capture 1 count at any speed Accuracy Position Compare Signal output on reaching preset position Accuracy 1 count at any speed Up to 1000 Hz repetition rate Synchronization Axes in the same coordinate system on one PMAC are perfectly synchronized to the servo cycle Axes in different coordinate systems on one PMAC can be synchronized to within 2 msec Coordinate systems on separate PMACs sharing same SYNC signal can be synchronized to 1 servo cycle 32 PMAC Basic Specifications PMAC VME Hardware Reference Manual VO Specifications Position Feedback JMACH1 JMACH2 Also Acc 24 JMACH3 JMACH4 Quadrature Encoders 4 standard to 16 depending on options digital quadrature incremental encoders 5V TTL or CMOS levels single ended or differential Sockets provided for termination resistor packs Input rate DC to 19 66 MHz count rate X1 X2 X4 decoding or pulse and direction Digital delay filter for removing noise spikes 3rd channel input available for position capture Unused counters available as timers Absolute Encoders Thru Accessory 14D I O Expansion card Or other binary parallel word position data source Up to 12 absolute parallel encoders of 24 bits or less or up to six absolute parallel encoders of over 24 bits limit of 6 Acc 14D cards of 48 bits each
32. GR ER Re ee ee ee Ge AA ee GR Re ee ee ee ee ee ee ee ee ee 17 Table of Contents i PMAC VME Hardware Reference Manual Jo AOPTVOBRTO VO a Ban a EN ee ee ge SR NGA Ried DAN 17 JO JXTO Expansion Board Naan GAN KB ANAN ANGAL 17 IT JE OUI POSUION EE deeg eelere eet Deche ee 17 BE ER E 17 PI JVME Standard VME Connector ee es see esse ee se ee se ee se ee ee ee ee ee Se ee ee ee ee Ge Re ee ee GR ee ee Ge ee ee ee Ge RA ee ee ee ee ee 17 P2 JIMACHI Wier Machine ConnecCtOF iese see ee esse se ees see ee ee ee a0 sA ee ee Ee Re ee GR ee ee ER Re ES NAE ee Re ee NN 17 Axis Expansion Piggyback Board Connectorg esse sesse se se se ek Ge Re Ge ee ONG GR ee Re Re AA Ge Re Gee Re ek ee SR AR Re Ge Re ek ee 18 P2A JMACH2 2nd Machine COnne ctor iese see esse es se ee ee ee Se NANA Aa 18 JI JS2 A D Inputs 5 8 J9 on Option 3 Front Poel 18 VE N T DEE 18 J2 JEXP Expansion J10 on Option 3 Front Panel iese ee esse esse ee es se ee se ee ee ee se ee ee Gee ee ee ee Ge ee ee Gee ee ee ee ee 18 J4 JDPRAM Dual Ported RAAM 18 PMAC VME CONNECTOR PINOUTS 0 sscsssssssssssscccssscsscsssnscsssnssscsncesssssssssssssssesssssnesssssessessessosssssssssessosesees 19 JT JDISP 14 Pin Connector ees ee se ee sawaan ab sanang cesses GR ee sees Re ee ER Re ee Ge ee ER Re ee Ee Re ee ee ee ee ER Re ee ee ee ee ee ee ee ee 19 J2 JPAN 26 Pin Connector ees ees se ee Se Ee RR ann GR Re ee Ge ee AR Re ee ER Re ee Ge EEE Ee Re ee e
33. Ge Physical Layout Location Description Default E8 Jump pin 1 to 2 for using the Acc 24P2 No jumper PMAC VME CPU Boards 15 PMAC VME Hardware Reference Manual Legacy PMAC VME Standard CPU Board 602398 602271 This table shows the jumper settings for the standard PMAC CPU boards with batteries These boards are used when the PMAC is ordered without any memory or CPU options or with Option 5 not 4A 5A or 5B E Point and Description Default Physical Layout E1 Jump pin 1 to 2 to disable watchdog timer for test purposes No jumper installed MO only Remove jumper to enable watchdog timer Note On old CPU boards with white CPU IC E1 function is Opposite E2 Jump pin 1 to 2 to boot from host port No jumper installed OO Remove jumper to boot from IC E3 Jump pin 1 to 2 to use BATI battery shorts BAT2 positive 2 3 jumper installed 20 terminal to GND MHz R Jump pin 2 to 3 to use BAT2 battery shorts BAT1 positive No jumper installed 30 terminal to GND MHz Remove jumper to use both batteries Legacy PMAC VME Option CPU Board This table shows the jumper setting for the option PMAC CPU boards with flash memory backup no battery These boards are used only when the PMAC is ordered with Option 4A 5A or 5B not standard or Option 5 E Point and Description Default Physical Layou
34. OM User Manual Executive Diskette OPT 1 Additional EPROM Accessory 33 PMAC NC Software Library This accessory is Windows based software written for the IBM PC and compatible computers The software is used with a PMAC and a PC to give a high quality open architecture machine tool controller Source code is available to allow the user to customize these modules as needed Acc 33 PMAC NC software for IBM PC Window based Executable code per machine OPT 1 Executable code upgrade per machine Acc 33L PMAC NC software for IBM PC Windows based linkable DLL libraries Site License OPT 1 Library upgrade and Site License Acc 33S PMAC NC software for IBM PC Windows based source code in C Site License OPT 1 Source code upgrade and Site License Accessory 34 Multiplexed VO Expansion Board This accessory provides 64 points of discrete optically isolated digital I O connected to PMAC through the JTHW multiplexer port Up to 32 of these accessories can be daisy chained on a single port for a total of 2048 I O points There are three versions of this accessory the Acc 34 the Acc 34A and the Acc 34B 44 PMAC Basic Specifications PMAC VME Hardware Reference Manual Acc 34 Optically isolated I O board 64 bits total definable as inputs or outputs in blocks of 32 by software command All I O is sinking only 5V to 24V 400 mA Provided with 24 long 26 pin cable for 20MHz PMAC only OPT 1 DIN Rail mount Acc 34A Opticall
35. able for connecting Acc 14D V and Acc 34B to PB8 16 24 or equivalent boards Acc 21GH 180 cm 6 50 pin IDC header to 50 pin IDC header cable for connecting Acc 14D V and Acc 34B to PB8 16 24H or equivalent boards Acc 21S VO simulator for PMAC JOPT port with eight switch inputs and eight LED outputs Comes with 1m 40 34 pin cable Accessory 22 Extended Warranty This accessory extends the warranty past the one year standard factory warranty for a total of two years from the date of purchase Accessory 24 Axis Expansion Board The Acc 24 Axis Expansion board Acc 24P is for the PMAC PC Acc 24V is for the PMAC VME there is no Acc 24 for the PMAC STD provides four or eight additional channels each of quadrature encoders analog outputs and data lines from analog inputs for a total of 12 or 16 each for the PMAC This accessory is for those systems that require more than the eight channels of each that can be provided on the baseboard This would include systems with more than four PMAC commutated motors or with more than eight quadrature encoders and handwheels The board fits in the next open bus slot and communicates to PMAC via a provided 50 pin flat cable Acc 24P Four Channel Expansion Board for the PC bus Comes with two 8 cm 3 cables one 50 pin and one 10 pin Acc 24V Four Channel Expansion Board for the VME bus Comes with two 8 cm 3 cables one 50 pin and one 10 pin OPT 1 Additional four channels on the board
36. an Machine Interface for PMAC Comes on one 3 5 diskette and is purchased as a Site License OPT 1 Executable code upgrade site license Acc 9DG PLC Program for GE Fanuc 90 70 interface to PMAC VME Accessory 12 Liquid Crystal Vacuum Fluorescent Display Acc 12 provides display capability for the PMAC independent of the host interface It connects to the J1 JDISP connector on PMAC The user can program through the DISPLAY command what is needed to show on the display The vacuum fluorescent VF display is larger and brighter than the liquid crystal LCD display Acc 12 2x24 character alphanumeric LCD display PMAC Basic Specifications 39 PMAC VME Hardware Reference Manual Acc 12A 2x40 character alphanumeric LCD display Acc 12C 2x40 character alphanumeric VF display Acc 12C1 Acc 12C with filter bezel standoffs and screws Includes differential line receivers that are latched and buffered Acc 12D compatible Acc 12CA 180 cm 6 14 pin cable and mounting PCB for separately purchased display Acc 12D Long distance display signal driver module to 180 m 600 for Acc 12F Includes 180 cm 6 14 pin cable to PMAC Requires Acc 12E with Option 1 OPT 1 DIN rail mount for Acc 12D Acc 12E Adapter and power driver for Acc 12F large vacuum fluorescent displays Includes 180 cm 6 14 pin cable to PMAC OPT 1 DB 25 connector no cable to Acc 12D No cable to PMAC OPT 2 DIN rail mount for Acc 12E Acc 12F
37. andard 20 MHz PMAC and those with Options 4A 5A and 5B 2 True only for PMACs with Option 5 Note If jumper E98 has been changed to connect pins 2 3 default is 1 2 the phase clock frequency is exactly 1 2 that shown in the above table Note If E40 E43 are set so that the card has a software address other than 0 the phase clock signal must be received over the serial port from card 0 so these jumpers have no effect E34 E38 Encoder Sampling Clock Frequency Control Jumpers E34 E38 control the encoder sampling clock SCLK used by the gate array ICs No more than 1 of these 5 jumpers may be on at a time E34 E35 E36 E37 E38 SCLK Clock Frequency Default and 19 6608 MHz 29 4912 Mhz Physical Layout Master Clock Master Clock See Note 1 See Note 1 ON OFF OFF OFF OFF 9 8304 MHz 14 7456 MHz E34 OFF ON OFF OFF OFF 4 9152 MHz 7 3728 MHz Ha E35 OFF OFF ON OFF OFF 2 4576 MHz 3 6864 MHz E36 OFF OFF OFF ON OFF 1 2288 MHz 1 8432 MHz Ha E37 OFF OFF OFF OFF ON External clock 1 to 30 mhz maximum z E38 input on CHC4 amp CHC4 Location All B4 1 True for standard 20 MHz PMAC and those with Options 4A 5A and 5B 2 True only for PMACs with Option 5 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E39 Reset From Bus Enable E Point and Location Description De
38. cations a ANA Ee KAN NG ER Ge Ve ER NAA NAA Ee 32 HEI oos io N OE ER EE OE EE OR RE EEr 33 Kier E EE 35 le 36 ede al AE EE AE EO OE EE EE OE N N 37 Accessory 1 5V Power Supplies and Boattertes esse sesse ese se ee GR ee RA Ge Se Ge Re Ge ee AR ee RA Ge Ge Re ee 37 Accessory 2 H 15V Power Supplies siririna oe seg ene Sage ede R EE E a 37 Accessory 3 Serial Communications Coable iese ee SA ee ee Se ee ee ee ee Ge ee AR AA Re ee ee ee 37 Accessory 4 Additional Instruction Menu 37 Accessory 6 Handwheel Encoder AAA 37 Accessory 3 Terminal Blocks aNG EE KEER 38 Accessory 9 IBM PE Software naaa RE EO ER EE SES 39 Accessory 12 Liquid Crystal Vacuum Fluorescent Display sesse sesse se ee ee ee Ge Ge GR Re anas Gee Gee Se ee de 39 Accessory 14 VO Expansion Rood 40 Accessory 16D Control Panel And Display Box 4 Accessory 17 PMACAD Cad Conversion Software nananana se ee ee ee ee ee ee Ge ee GR GRA Gee Gee Ge ee 41 Accessory l 7 DA E 41 Accessory 18 Thumbwheel Multiplexer Board 41 Accessory 20 Hand Held Terminal uie ss ese ese ese se ese see ese ee se ee Se ee Gee Be ee Se ee Se Se ee se ee Gee be AA Ge ee Ge ee ee 42 Accessory 21 I O Simulators and Cables iese sesse se se ee ee Ge ee GR ee Re Ge Ge Re Ge ee RA Re AE ee GR ee ed 42 Accessory 22 Extended WAAR ese iss ge Bes NG KI KGG 42 Table of Contents PMAC VME Hardware Reference Manual Accessory 24 gt AXIS Expansion Board EE 42 Accessory 25 Extended Servo Al
39. ce OPT 7 20cm 8 50 Pin 3 drop connector cable For use with Acc 14D V when PMAC Option 2 Acc 24P or Acc 36P is also used Purchasing the Proper Acc 14D V Configuration Acc 14D V s 48 bits of I O are grouped into two ports A and B each with its own connector J7 and J15 respectively Each port has a single high supply voltage and a single strobe source or lack of one Each port contains three bytes Port A has bytes 1 2 and 3 Port B has bytes 4 5 and 6 The I O can be specified by port standard or by byte custom as explained below Standard Configurations Three standard configurations of the Acc 14D V can be ordered These are specified as Options 1 to 3 Option 1 Port A is low true TTL inputs 24 Port B is low true TTL outputs 24 Typically this option is for use with OPTO 22 Option 2 Port A is low true 24V 100mA inputs 24 Port B is low true 24V 100mA outputs 24 Typically this option is for driving I O directly 40 PMAC Basic Specifications PMAC VME Hardware Reference Manual Option 3 Port A is high true latched TTL inputs 24 Port B is high true latched TTL inputs 24 Typically this option is for parallel feedback Option 4 Custom Configurations If one of the above configurations is not suitable a customized configuration is possible under Option 4 In selecting Option 4 each byte should be specified as to input option or output option These options are detailed as follows
40. common AGND Note 5 Leave floating if not used do not tie to AGND In this case AGND is the return line Note 6 Functional polarity controlled by jumper s E17 Choice between AENA and DIR use controlled by Ix02 and 1x25 Note 7 Functional polarity controlled by variable Ix25 Must be conducting to OV usually AGND to produce a 0 in PMAC software Automatic fault function can be disabled with Ix25 Note 8 Pins marked LIMn should be connected to switches at the positive end of travel Pins marked LIMn should be connected to switches at the negative end of travel Note 9 Must be conducting to OV usually AGND for PMAC to consider itself not into this limit Automatic limit function can be disabled with Ix25 Note 10 Functional polarity for homing or other trigger use of HMFL n controlled by Encoder Flag Variable 2 1902 1907 etc HMFL n selected for trigger by Encoder Flag Variable 3 1903 1908 etc Must be conducting to OV usually AGND to produce a 0 in PMAC software 30 PMAC VME Connector Pinouts PMAC VME Hardware Reference Manual PMAC BASIC SPECIFICATIONS Physical Specifications Size 33 5cm x 9 9cm x 3 8cm 13 2 x 3 9 x 1 4 PMAC PC 33 5cm x 12 0cm x 1 3cm 13 2 x 4 7 x 0 5 PMAC Lite 23 4cm x 16 0cm x 3 8cm 9 2 x 6 3 x 1 4 PMAC VME 15 6cm x 11 4cm x 3 2 4 8cm 6 1 x 4 4 x 1 2 1 8 PMAC STD Weight 0 5 0 7 kg 1
41. d Physical Layout Location A2 Description Jump pin to 2 to supply flags from A 15V input P2 pin C30 E90 must jump pins 1 to 2 to bring power to flags Jump pin 2 to 3 to supply flags from A V input on option 1V P2 pin C30 E90 must jump pins to 2 to bring power to flags See also E85 E87 E88 E89 and PMAC VME power supply connection diagram Default 1 2 Jumper installed E90 Host Supplied Switch Pull Up Enable E Point and Location Description Default Physical Layout E90 DI Jump pin 1 to 2 to allow A 15V OPT V on 1 2 Jumper installed BO P2 or P2A JMACH pin C30 also see E89 to supply flags Jump pin 2 to 3 to allow 12V from VME bus connector to supply flags Optical isolation is then lost See also E85 E87 E88 E89 and PMAC VME power supply connection diagram E93 E94 Compare Equal Output Voltage Configure E Point and Physical Layout E93 WOO E94 LOO Cog Location A3 Description Jump pin 1 to 2 to apply V 5V to 24V to pin 11 of U28 should be ULN2803A for sink output configuration Jump pin 2 to 3 to apply GND to pin 11 of U28 should be UDN2981A for source output configuration Also see E2 Jump pin 1 to 2 to apply GND to pin 10 of U28 Should be ULN2803A for sink output configuration
42. e 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 18 PMAC VME Mating Connectors PMAC VME Hardware Reference Manual PMAC VME CONNECTOR PINOUTS J1 JDISP 14 Pin Connector 13 0000000 1 14 OO000000 2 Front View Pin Symbol Function Description Notes 1 VDD Output 5V Power Power supply out 2 VSS Common PMAC Common 3 RS Output Read Strobe TTL signal out 4 VEE Output Contrast Adjust Vee 0 TO 5 VDC 5 E Output Display Enable High is enable 6 R W Output Read or Write TTL signal out 7 DBI Output Display DATA 8 DBO Output Display DATAO 9 DB3 Output Display DATA3 10 DB2 Output Display DATA2 11 DB5 Output Display DATA5 12 DB4 Output Display DATA4 13 DB7 Output Display DATA7 14 DB6 Output Display DATA6 to the display See Also Note Controlled by potentiometer R2 Program Commands DISPLAY Accessories Acc 12 12A 12C Acc 16D Memory Map Y 0780 07D1 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 PMAC VME Connector Pinouts 19 PMAC VME Hardware Reference Manual J2 JPAN 26 Pin Connector 508099899899992 Front View P
43. e PMAC s DSPGATES are used already and yet there is an additional need for just one handwheel encoder input This accessory accepts one pair of A QUAD B encoder signals Both single ended A and B differential line driver encoder inputs A A and B B and complementary open collector encoder signals can be accepted The maximum rate is approximately 31 A B square waves per servo cycle With PMAC s default servo frequency of 2 26 kHz this translates to a maximum encoder line rate of 62 5 kHz The x4 circuitry provides a maximum of 250 000 counts per second at this servo frequency Acc 39 interfaces to PMAC through PMAC s front panel port JPAN via the supplied 26 pin flat cable When this accessory is installed then the normal PMAC panel functions cannot be used at the same time 12 should be set to 1 or 3 Acc 39 Handwheel encoder converter board w 60 cm 24 cable to JPAN OPT 1 Rail mount Accessory 40 On Site Field Service and Training Acc 40 On site field service training 2 day 16 hr minimum plus lodging travel cost and time Accessory 41 Servo Training Systems Acc 41A Servo training system torsional bar diskette mechanism PMAC not included Acc 41B Servo training system mass spring damper mechanism PMAC not included Future Accessories PMAC is constantly being upgraded with new capabilities options and accessories Contact the factory for the latest update 46 PMAC Basic Specifications
44. e Required for communications to an RS 422 host port The JRS422 connector provides the PMAC with the ability to communicate both in RS422 and RS232 In addition this connector is used to daisy chain interconnect multiple PMACs for synchronized operation Note Required for communications to an RS 422 or RS 232 host port Note Output on card 0 input on other cards These pins are for synchronizing multiple PMACs together by sharing their phasing and servo clocks The PMAC designated as card 0 0 by its jumpers E40 E43 outputs its clock signals Other PMACs designated as cards 1 15 1 F by their jumpers E40 E43 take these signals as inputs If synchronization is desired these lines should be connected even if serial communications is not used See Also Serial Communications Synchronizing PMAC to other PMACs 22 PMAC VME Connector Pinouts PMAC VME Hardware Reference Manual J5 JOPT 34 Pin Connector spoag0990999999999 2 Front View Pin Symbol Function Description Notes 1 MI8 Input Machine Input 8 Low is true 2 GND Common PMAC Common 3 MI7 Input Machine Input 7 Low is true 4 GND Common PMAC Common 5 MI6 Input Machine Input 6 Low is true 6 GND Common PMAC Common 7 MIS Input Machine Input 5 Low is true 8 GND Common PMAC Common 9 MI4 Input Machine Input 4 Low is t
45. e devices have 12 bit resolution with 1 2 LSB linearity specification PMAC Basic Specifications 45 PMAC VME Hardware Reference Manual The Acc 36P s design features make it an ideal analog data acquisition board for monitoring and collection of signals from a variety of sensors and transducers Up to 24 Acc 36Ps may be connected to PMAC providing up to 384 possible analog input channels This accessory s intended use differs from that of the PMAC s other ADC board Acc 28A Acc 28A has been designed for use in converting signals from analog transducers via the PMAC s DSPGATE gate array IC see the PMAC User Manual and the Acc 28A Manual As a result one PMAC Gate Array IC is required for each Acc 28A In contrast Acc 36P does not have this requirement and up to 24 Acc 36Ps may be connected to PMAC providing up to 384 possible analog input channels Acc 36P 16 Channel 12 bit A D converter board mountable in PC bus Acc 36V 16 Channel 12 bit A D converter board mountable in VME bus OPT 2 20 cm 8 50 pin 3 connector cable when Acc 36P is used with PMAC OPT 2 Acc 14D or Acc 24P Accessory 39 Handwheel Encoder Converter Board PMAC s Acc 39 is a small printed circuit board designed for the purpose of interfacing the PMAC controller with a handwheel or a slow time base encoder Acc 39 provides a cost effective solution for PMAC applications in which the four or the eight standard high speed encoder decode circuits on th
46. e ee ee ER Re E ee ee Ge ee ee ee 20 J3 JTHW Connector 26 Pin Connector esse ese ee se ee se ee ee ee ee Se ee Ee Re NASAAN KA ee ee Re ee ee ee ee ee 21 J4 IRS422 26 Pin Connector see ee ER Re RR ee GR AA ee ER Re ee Ee Re ee ee ee ee ER Re ee a Re ee ee Re ee ee Ee ee ee ee ee ee 22 T5 JOPT 34 Pin Connector iresi se ee ER ee Ge Re ini ee Re ee GE Ee Re ee NE SEEN 23 J6 JXIO 10 Pin Congector mana ER Re ER AKNG Ee Re ee GR ee ee ER Re ee ieser ee e ER Re ee Ee ee ee NASAAN ee ee ee ee ee ee ee 24 J7 JEOU 10 Pin Connector see ees se ee ee ee nb ba ee Ge ee ee Re ee ee ER Re ee Ge Ee Re ee ee ee ee ER Re ee Ee Re SNN 24 JIS ISI 16 Pin Header ainssi SIGA GIBAIN AG GA GU eege ect 24 PI JVME 96 Pin Header 25 P2 JMACHI 96 Pitt Header OR Re EE N 26 P2 JMACHI 96 Pin Header Continued Re ee ee Ge ee ee ee RA ee ee ee ee ee ee Ee Re ee ee ee ee ee 27 JI JS2 16 Pin Header on Option JA 28 P2A JMACH 2 96 Pin Header on Option JA 28 P2A JMACH2 96 Pin Header on Option IA Continued sccccccccceesceescesceesceeseesecesecuseceaecaecaceeaeesseeeseeeeeeeeeenees 29 P2A JMACH2 96 Pin Header on Option JA 29 P2A JMACH2 96 Pin Header on Option JA 30 PMAC BASIC SPECIFICATIONS cscsssssscssssssssssssscnsscsscssssscssenessesnssesssssssssssnessssnoscossessossssseesossnessessessoseoses 31 Physical EE 31 eie eie le IE aaa En AYANG NAAN OE EENS AA EE 31 Memory Speci Catt Ons EE GR AA Oe dE EES ENEE EE 31 VE Be EE 31 Perfomnance Specifi
47. ed Disabled Disabled E46 OFF ON ON ON 300 600 900 og E47 ON OFF ON ON 4004 8004 1200 OFF OFF ON ON 600 1200 co fo SDS icture is for a PMAC with a ON ON OFF ON 800 1600 2400 Standard or Option 5A OFF ON OFF ON 1200 2400 3600 CPU ON OFF OFF ON 1600 3200 4800 OFF OFF OFF ON 2400 4800 7200 ON ON ON OFF 3200 6400 9600 Options 5 5B OFF ON ON OFF 4800 9600 14400 Std Opt 5A ON OFF ON OFF 6400 12800 19200 OFF OFF ON OFF 9600 19200 28800 Option 4A ON ON OFF OFF 12800 25600 38400 OFF ON OFF OFF 19200 38400 57600 ON OFF OFF OFF 25600 51200 76800 OFF OFF OFF OFF 38400 76800 115200 These jumpers are used only to set the baud rate at power on reset Non standard baud rates E48 RAM Wait State Control Standard CPU Section E48 controls the memory wait states only on PMACs with a standard CPU section using battery backup This CPU section is used on PMACs ordered with no CPU or memory options and Option 5 not Opt 4A 5A or 5B E Point and Location Description Default Physical Layout E48 C2 Jump pin 1 to 2 for zero wait state No jumper installed 2 operation remove jumper for one wait standard configuration O state operation Jumper installed Option 5 PMAC VME E Point Descriptions 7 PMAC VME Hardware Reference Manual E48 CPU Clock Frequency Control Option CPU Section E48 controls the CPU clock frequency o
48. eight total OPT 2 20 cm 8 50 pin 3 drop connector cable When Acc 24 is used with PMAC OPT 2 Acc 14D V or Acc 36P 42 PMAC Basic Specifications PMAC VME Hardware Reference Manual Accessory 25 Extended Servo Algorithm Tuning Software PMAC s Acc 25 is software for the IBM PC to be used with PMAC OPT 6 the Extended Servo Algorithm This software allows the user to setup and tune a PMAC that has the Extended Servo Algorithm Comes on one 3 5 diskette and is purchased as a Site License OPT 1 Executable code upgrade and site license Accessory 26A Serial Communications Converter PMAC s Acc 26A is a small circuit board that converts the RS 232 serial communications of the host computer to the RS 422 serial communications format that PMAC uses This conversion is performed through an optically isolated link enhancing the noise immunity of the communications and separating the GND of PMAC from that of the host A cable is provided for easy connection to PMAC Standard serial connectors DB 9 or DB 25 can be used to connect the Acc 26 to the host computer Most host computers with RS 232 can do reasonable communications directly with PMAC s RS 422 port straight over the Acc 3D cable PMAC s receivers take RS 232 signals robustly most host RS 232 receivers take RS 422 signals but with limited noise margin Some cannot accept RS 422 at all Acc 26 is for those users who cannot communicate without it or for those who wan
49. fault Physical Layout E39 B5 Jump pin 1 to 2 to permit VME bus reset 1 2 jumper installed OO line to reset PMAC VME Remove jumper so that the VME bus reset line does not reset PMAC VME E40 E43 Software Address Control Jumpers E40 E43 control the software address of the card for serial addressing and for sharing the servo clock over the serial connector Card 0 sends the clock and cards 1 F receive the clock Card Address Control E Points Default and Wel E40 Physical Layout ee E42 E43 E40 E41 E42 E43 aie ad ON 0 OFF ON ON OFF ON OFF ON OFF OFF ON OFF OFF ON OFF OFF ON OFF OFF OFF ON OFF OFF OFF The card must either be set up as 0 or receiving clock signals over the serial port from another card that is set up as 0 or the Watchdog timer will trip red light ON and the card will shut down 6 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E44 E47 Communications Control Jumpers E44 E47 control what baud rate to use for serial communications Any character received over the bus causes PMAC to use the bus for its standard communications The serial port is disabled if E44 E47 are all on Baud Rate Control E Points Baud Rate Default and Physical Layout E44 E45 E46 E47 Option 4A Standard Option 5 rel E44 Option 5A Option 5B E45 ON ON ON ON Disabl
50. gorithm Tuning Software iis esse sesse se se se Ge ee Ge ee Re Ge ASe ee Ge ee ee ee 43 Accessory 26A Serial Communications Converter 43 Accessory 27 Optically Isolated VO Board 43 Accessory 28 A D Conversion Board 43 Accessory 29 Magnetostrictive Linear Displacement Transducer Interface Board 44 Accessory 31 PMAC Demonstration Box Unit 44 Accessory 32 PMAC Software Upgrade Update Ki 44 Accessory 33 PMAC NC Software Library 44 Accessory 34 Multiplexed I O Expansion Bord 44 Accessory 35 Multiplexer Port Line Driver and Recefuer uses se ese se se Se Ge Re Ge ee RA Re ASe Re Ge ee Re ee 45 Accessory 36 Analog to Digital Converter Board 45 Accessory 39 Handwheel Encoder Converter Board 46 Accessory 40 On Site Field Service and Troatning sesse see se GR ee Ge AA Ge Re Ge ee RA Re AA Ge Re Ge ee Re ee 46 Accessory 41 Servo Training Systems eeuse esse esse ese ee se se Se SA Ge Gee Gee Gee Ge ee ee ee ee AE ee ee RA Gee Gee ee ee ee 46 aa EE 46 Table of Contents iii PMAC VME Hardware Reference Manual Table of Contents PMAC VME Hardware Reference Manual PMAC VME E POINT DESCRIPTIONS PMAC VME Bottom Board E Point and Location Description Default Physical Layout E0 B5 For future use No jumper O E1 E2 Machine Output Supply Voltage Configure E Point and Location Descri
51. i drop versions of the cable are available for daisy chained PMAC systems Acc 3D Single drop 3 meter DB 25 to IDC 26 flat cable PC VME Acc 3E One additional PMAC drop on Acc 3D Acc 3L Single drop 3 meter DB 9 to IDC 10 flat cable Lite Acc 3S Single drop 3 meter DB 25 to SIP 5 cable STD Accessory 4 Additional Instruction Manual This accessory provides an additional instruction manual for the PMAC Normally one manual is provided with every four PMACs or fraction thereof shipped together Acc 4 PMAC Family User Manual and Software Reference Manual Acc 4P PMAC PC Hardware Reference Manual Acc 4S 1 PMAC STD Hardware Reference Manual Acc 4V PMAC VME Hardware Reference Manual Acc 4L PMAC Lite Hardware Reference Manual Acc 4AG GE Fanuc 90 70 PLC Interface Manual Accessory 6 Handwheel Encoder This is a Hewlett Packard HEDS 7501 rotary pulse generator or handwheel encoder with 256 lines per revolution A six foot flat cable is provided with the encoder PMAC Acc 8D has matching sockets for this cable PMAC Basic Specifications 37 PMAC VME Hardware Reference Manual Accessory 8 Terminal Block The Acc 8 family of terminal blocks provides an easy means of connecting the lines from the control system to PMAC s machine connector One Acc 8 provides all the pinouts from a single JMACH connector on PMAC The screw down terminal points on the board give a quick yet reliable connection Acc 8P OPT P OPT V
52. in Symbol Function Description Notes 1 5V Output 5V Power For remote panel 2 GND Common PMAC Common 3 FPD0 Input Motor C S Select Bit 0 Low is True 4 JOG Input Jog In DIR Low is JOG 5 FPD1 Input Motor C S Select Bit 1 Low is True 6 JOG Input Jog In DIR Low is JOG 7 PREJ Input Return to Pre Jog Position Low is Return Equiv to J CMD 8 STRT Input Start Program Run Low is Start Equiv to R CMD 9 STEP Input Step Through Program Low is Step Equiv to S or Q 10 STOP Input Stop Program Run Low is Stop Equiv to A 11 HOME Input Home Search Command Low is Go Home Equiv to HM 12 HOLD Input Hold Motion Low is Hold Equiv to H 13 FPD2 Input Motor C S Select Bit 2 Low is True 14 FPD3 Input Motor C S Select Bit 3 Low is True 15 INIT Input Reset PMAC Low is Reset Equiv to 16 HWCA Input Handwheel Enc A Channel 5V TTL SQ pulse must use E23 CHA 2 17 IPLD Output In Position Ind C S Low lights LED 18 BRLD Output Buffer Request Ind Low lights LED 19 ERLD Output Fatal Follow Err C S Low lights LED 20 WIPER Input Feed Pot Wiper 0 to 10V input must use E72 E73 CHA4 21 SPARE N C 22 HWCB Input Handwheel Enc B Channel 5V TTL SQ pulse must use E22 CHB2 23 FILD Output Warn Follow Err C S Low lights LED 24 F2LD Output Watchdog Timer Low lights LED 25 5V Output 5V Power For remote travel 26 GND Common PMAC Common The JPAN connector can be used to connect the Accessory 16 Control Panel
53. ion 6 Extended Pole Placement Servo Algorithm Firmware option for servo filter more sophisticated than standard PID to be used with difficult to control systems resonances backlash friction disturbances changing dynamics Requires one time purchase of Acc 25A or Acc 25B Option 7 Mounting plate for PMAC PC Opt 7 or PMAC VME Opt 7V to provide support in standalone applications Option 8 Super high accuracy clock crystal lt 10 ppm for long term velocity accuracy Available for all CPU Options standard 4A 5A 5B and 5C with Opt 8A Option 9L RS 422 serial interface for PMAC Lite Replaces standard RS 232 interface Option 10 PROM Version Specification Permits customer to specify version of firmware to be installed onboard If this option is not selected newest firmware version is installed Option 14 Replacement of flag input opto isolators with socketed shunts This permits parallel sub count interpolation from Acc 8D Option 8 or equivalent or 5V level flag inputs from Opto 22 or equivalent modules Option 15 Voltage to frequency converter chip for Wiper analog input on JPAN connector 36 PMAC Basic Specifications PMAC VME Hardware Reference Manual Accessories Accessory 1 5V Power Supplies and Batteries These power supplies are needed only for stand alone applications of the PMAC when the cards are not getting their 5V supply from the bus
54. irements OPT 2A V to F converters 4 10 kHz max OPT 2B V to F converters 4 50 kHz max OPT 2C V to F converters 4 100 kHz max OPT 2D V to F converters 4 500 kHz max OPT 2E V to F converters 4 1 MHz max OPT 2F V to F converters 4 2 MHz max OPT 2G DIN rail mount for OPT 2 Family of four low power current loop transconductance amplifier circuits for driving hydraulic valves or very small DC motors This option is a small separate board with a built in heat sink and fan A voltage mode provides a proportional voltage output This option must be ordered as either 4 or 4A Comes with 1 40 cm 16 cable to Acc 8D OPT 4 Quad hydraulic valve driver 20W channel 30V max 1 0A cont 2 0A peak OPT 4A Quad motor driver 150W channel 48V max 3 0A cont 5 0A peak OPT 4B DIN rail mount for OPT 4 and 4A Provides a DIN rail mount for the Acc 8D board Provides optically isolated connection for four incremental encoders three channels each on a separate board Comes with 4 40 cm 16 cables to Acc 8D DIN rail mount for OPT 6 Provides two channels of 12 bit fixed resolution resolver to digital conversion on a separate board Two additional channels can be added to this board with sub option A Comes with two 10 pin 40 cm 16 cables to Acc 8D and one 26 pin 1 meter 3 cable to PMAC OPT A Provides two additional channels of resolver to digital conversion on the same board as OPT 7 Comes with two 1
55. ith a provided flat cable These inputs can be used for servo position feedback as from an LVDT or potentiometer or for general purpose use e g to monitor process variables such as pressure or tension to allow analog speed control or to monitor motor currents The analog inputs are optically isolated from the PMAC s digital circuits For each Acc 28 in the system there must be one DSP GATE IC on PMAC or its Acc 24 to process the converted digital signal from the A D OPT 2A DB 15 input connection OPT 2B 12 pin input terminal block default PMAC Basic Specifications 43 PMAC VME Hardware Reference Manual Accessory 29 Magnetostrictive Linear Displacement Transducer Interface Board This accessory is a 1 2 size IBM PC board and is designed to handle four or optionally eight channels of magnetostrictive linear displacement transducers MLDTs for PMAC These transducers operate on a principle that measures the time between an excitation pulse applied to the transducer and the reception of an echo generated by a magnet s position along the transducer s length Generally these transducers are environmentally tolerant and are used in rugged applications such as hydraulic controls Acc 29 4 channel MLDT interface board OPT 1 Additional four channels eight total Accessory 31 PMAC Demonstration Box Unit Acc 31 is used for the purpose of demonstration of PMAC s numerous motion control features This accessory is a very
56. mper for low TRUE AENA 1 4 E17C C2 Jump 1 2 for high TRUE AENA 1 4 No jumper installed 9 Remove jumper for low TRUE AENA 1 4 E17D C2 Jump 1 2 for high TRUE AENA 1 4 No jumper installed S Remove jumper for low TRUE AENA 1 4 Low true enable is the fail safe option because of the sinking open collector ULN2803A output driver IC E22 E23 Control Panel Handwheel Enable E Point and Location Description Default Physical Layout E22 C2 Jump pin 1 to 2 to obtain handwheel encoder signal No jumper S from front panel at J2 16 for CHB2 ENC2 B E23 C2 Jump pin 1 to 2 to obtain handwheel encoder signal No jumper a from front panel at J2 22 for CHA2 ENC2 A With these jumpers ON no encoder should be wired into ENC2 on JMACH1 Jumper E26 must connect pins 1 2 because these are single ended inputs This function is unrelated to the encoder brought in through Acc 39 on J2 E24 E27 Encoder Single Ended Differential Control E Point and Location Description Default Physical Layout E24 D2 ENC 4 through 1 1 2 Jumper ces Jump pin 1 to 2 to tie complementary encoder installed for E24 inputs to 2 5V E27 E25 D2 Jump pin 2 to 3 to tie complementary encoder E24 ENC4 DQG inputs to 5V E25 ENC 3 For no encoder connection Jump pin to 2 E26 ENC 2 E27 ENC 1 E26 D2 For single ended enc
57. n of data On PMAC VME this option is extra ICs on the baseboard On PMAC PC and Lite this option is a separate half size board This option is not available for PMAC STD Option 3 For PMAC VME enhanced front plate that provides more connectors for auxiliary VO on the front plate Option 4A Optional CPU section with 20 MHz CPU 128K x 24 bit zero wait state Static RAM 4 Mbit flash ROM for firmware and user program storage no battery on board buffers for expansion port Provides approximately 25 computational speed increase over base version Standard on all PMAC Packs purchased after July 1 1995 Option 5A Optional CPU section with 40 MHz CPU 128K x 24 bit zero wait state Static RAM 4 Mbit flash ROM for firmware and user program storage no battery on board buffers for expansion port Provides approximately 125 computational speed increase over base version Option 5B Optional CPU section with 60 MHz CPU 128K x 24 bit zero wait state Static RAM 4 Mbit flash ROM for firmware and user program storage no battery on board buffers for expansion port Provides approximately 250 computational speed increase over base version Option 5C Optional CPU section with 80 MHz CPU 128K x 24 bit zero wait state Static RAM 4 Mbit flash ROM for firmware and user program storage no battery on board buffers for expansion port Provides approximately 375 computational speed increase over base version Opt
58. ng MMI Man Machine Interface for PMAC Comes on one 3 5 diskette and is purchased as a Site License OPT 1 Executable code upgrade and Site License Acc 9L LIPS Library Interface for PMAC Systems Provides a set of high level communication functions functions such as Set Up Master Slave and Why Is My Motor Not Moving callable from DOS or Windows DLL based programs This software requires Acc 9C Comes on one 3 5 diskette and is purchased as a Site License OPT 1 Executable code upgrade and Site License The PMAC Executive Program for the IBM PC and compatibles is a DOS Windows based host computer program for the PMAC controller that is intended as a development tool in starting a PMAC application It provides a terminal emulator PMAC program editor with disk file functions and special screens for viewing PMAC variables status and tuning The program was written in the C programming language The program is not copy protected and comes on a 3 5 diskette Acc 9DA PMAC Executive PC Program for DOS on 3 5 diskette OPT 1 PMAC Executive Program upgrade site license Acc 9W PMAC Executive PC Program for Windows on 3 5 diskette OPT 1 Executable code upgrade site license Acc 9P PCOMM PMAC COMmunications written in C C provides a set of basic low level communications drivers linkable from DOS or Windows DLL based programs This software is recommended for any user who intends on developing custom MMI M
59. nly on PMAC with an option CPU section using flash memory backup no battery This CPU section is used on PMACs ordered with Opt 4A 5A or 5B not Option 5 E Point and Location Description Default Physical Layout E48 C2 Jump pins 1 and 2 to multiply crystal Jumper installed O frequency by 3 inside CPU for 60 MHz Option 5 5B operation Jumper not installed Remove jumper to multiply crystal frequency Standard Option by 2 inside CPU for 40 MHz operation 4A 5A It may be possible to operate a board with 40 MHz components Option 5A at 60 MHz under some conditions by changing the setting of jumper E48 However this operates the components outside of their specified operating range and proper execution of PMAC under these conditions is not guaranteed PMAC software failure is possible even probable under these conditions and this can lead to very dangerous machine failure Operation in this mode is done completely at the user s own risk Delta Tau can accept no responsibility for the operation of PMAC or the machine under these conditions E49 Serial Communications Parity Control E Point and Location Description Default Physical Layout E49 D3 Jump pin 1 to 2 for NO serial parity Jumper installed 2 Remove jumper for ODD serial parity
60. o be output installed DD on J4 5 Jump E9 1 to E10 1 to allow RD to be output on J4 3 jump E9 2 to E10 2 to allow SD to be input on J4 5 E11 E12 Jump E11 1 to E11 2 to allow RD to be input on 1 2 Jumper OE J4 4 jump E12 1 to E12 2 to allow SD to be installed DID output on J4 6 Jump E11 1 to E12 1 to allow RD to be output on J4 4 jump E11 2 to E12 2 to allow SD to be input on J4 6 E13 E14 D5 jump E13 1 to E13 2 to 1 2 allow CS to be 1 2 Jumper OE input jumper on J4 7 jump E14 1 to installed E14 installed OO 2 to allow RS to be output on J4 9 Jump E13 1 to E14 1 to allow CS to be output on J4 7 jump E13 2 to E14 2 to allow RS to be input on J4 9 E15 E16 A4 D5 jump E15 1 to E15 2 to allow CS to be input 1 2 Jumper OO on JA 8 installed OO Jump E16 1 to E16 2 to allow RS to be output on J4 10 Jump E15 1 to E16 1 to allow CS to be output on J4 8 jump E15 2 to E16 2 to allow RS to be input on J4 10 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E17A E17D Amplifier Enable Direction Polarity Control E Point and Location Description Default Physical Layout E17A B2 Jump 1 2 for high TRUE AENA 1 4 No jumper installed 9 Remove jumper for low TRUE AENA 1 4 E17B C2 Jump 1 2 for high TRUE AENA 1 4 No jumper installed 9 Remove ju
61. o produce a 0 in PMAC software PMAC VME Connector Pinouts 27 PMAC VME Hardware Reference Manual J1 JS2 16 Pin Header on Option 1A Labeled J9 of OPT 3 front panel 15 OOOOOO0OO 1 16 O00000000 2 Front View Pin Symbol Function Description Notes 1 DCLK Output D to A A to D Clock DAC and ADC Clock for Chan 5 6 7 8 2 BDATA2 Output D to A Data DAC Data for Chan 5 6 7 8 3 ASEL2 Output Chan Select Bit 2 Select for Chan 5 6 7 8 4 ASEL3 Output Chan Select Bit 3 Select for Chan 5 6 7 8 5 CNVRT23 Output A to D Convert ADC Convert Sig Chan 5 6 7 8 6 ADCIN2 Input A to D Data ADC data for Chan 5 6 7 8 7 OUTS Output Amp Enable Dir Amp Enable Dir for Chan 5 8 OUT6 Output Amp Enable Dir Amp Enable Dir for Chan 5 9 OUT7 Output Amp Enable Dir Amp Enable Dir for Chan 5 10 OUT8 Output Amp Enable Dir Amp Enable Dir for Chan 5 11 HF45 Input Amp Fault Amp fault input for Chan 5 12 HF46 Input Amp Fault Amp fault input for Chan 6 13 HF47 Input Amp Fault Amp fault input for Chan 7 14 HF48 Input Amp Fault Amp fault input for Chan 8 15 5V Output 5V Supply Power supply out 16 GND Common PMAC Common Miscellaneous I O P2A JMACH2 96 Pin Header on Option 1A B32 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOIBI EE SE A32 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO AM Front View
62. o tie complementary encoder E18 ENC 5 MOED inputs to 5V E19 ENC 6 For no encoder connection Jump pin to 2 E20 ENC 7 E21 ENC 8 E20 D2 For single ended encoders Jump pin to 2 009 For differential line driver encoders Do not care E21 D2 For complementary open collector encoders MOED Jump pin 2 to 3 12 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E185 E187 E188 Host Supplied Analog Power Source Enable E Point and Location Description Default Physical Layout E185 Jump pin to pin 2 to allow A 14V to come No jumper installed O from P1 ties amplifier and PMAC VME power supply together Defeats OPTO coupling Note that if E185 is changed E188 and E187 must also be changed Also see E190 E187 Jump pin 1 to pin 2 to allow analog GND to No jumper O come from P1 ties amplifier and PMAC VME GND together Defeats OPTO coupling Note that if E187 is changed E185 and E188 must also be changed Also see E190 E188 A2 Jump pin 1 to pin 2 to allow A 14V to come No jumper O from PI ties amplifier and PMAC VME power supply together Defeats OPTO coupling Note that if E188 is changed E187 and E185 must also be changed Also see E190 E189 Amplifier Supplied Switch Pull Up Enable E Point and Location Description Default Physical Layout E189 A2 Jump pin 1 to 2 to allow A 15V
63. oders Jump pin to 2 Cee For differential line driver encoders Do not care E27 D2 For complementary open collector encoders Jump MED pin 2 to 3 4 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E28 Warning Following Error Watchdog Timer Signal Control FEFCO on J8 57 Jump pin 2 to 3 to cause Watchdog timer output to control FEFCO low true output in either case E Point and Location Description Default Physical Layout E28 B3 Jump pin to 2 to allow warning following error 2 3 Jumper CDE Ix12 for the selected coordinate system to control installed E29 E33 Phase Clock Frequency Control Jumpers E29 through E33 control the speed of the phase clock and indirectly the servo clock which is divided down from the phase clock see E3 E6 No more than one of these five jumpers may be on at a time E29 E30 E31 E32 E33 Phase Clock Frequency Default and Physical Layout 19 6608 MHz 29 4912 MHz E33 E32 E31 E30 E29 Master Clock Master Clock EER ae See Note 1 See Note 2 Location All B4 ON OFF OFF OFF OFF 2 26 kHz 3 39 kHz OFF ON OFF OFF OFF 4 52 kHz 6 78 kHz OFF OFF ON OFF OFF 9 04 kHz 13 55 kHz OFF OFF OFF ON OFF 18 07 kHz 27 10 kHz OFF OFF OFF OFF ON 36 14 kHz 54 21 kHz 1 True for st
64. option 5 only ON OFF OFF ON N divided by 7 OFF OFF OFF ON N divided by 8 ON ON ON OFF N divided by 9 OFF ON ON OFF N divided by 10 ON OFF ON OFF N divided by 11 OFF OFF ON OFF N divided by 12 ON ON OFF OFF N divided by 13 OFF ON OFF OFF N divided by 14 ON OFF OFF OFF N divided by 15 OFF OFF OFF OFF N divided by 16 The setting of I variable 110 should be adjusted to match the servo interrupt cycle time set by E98 E3 E6 E29 E33 and the crystal clock frequency 110 holds the length of a servo interrupt cycle scaled so that 8 388 608 equals one millisecond Since I10 has a maximum value of 8 388 607 the servo interrupt cycle time should always be less than a millisecond unless you want to make your basic unit of time on PMAC something other than a millisecond To have a servo sample time greater than one millisecond the sampling may be slowed in software with variable Ix60 Frequency can be checked on J4 pins 21 and 22 It can also be checked from software by typing RX 0 in the PMAC terminal at 10 second intervals and dividing the difference of successive responses by 10000 The resulting number is the approximate servo clock frequency in kHz If E40 E43 are set up so that the card has a software address other than 0 the servo clock signal must be received over the serial port from card 0 so these jumpers have no effect All versions of the PMAC except Option 5 30MHz have a 19 6608MHz 20MHz
65. or 1 96 pin VME connector AMLAN P N C96F3LA B C P2 JMACH1 1st Machine Connector 96 pin VME connector AMLAN P N C96F3LA B C PMAC VME Mating Connectors 17 PMAC VME Hardware Reference Manual Note Normally P2 and P2A are used with Acc 8P or Acc 8D with Option V which provides complete terminal strip fan out of all connections Axis Expansion Piggyback Board Connectors P2A JMACH2 2nd Machine Connector 1 96 pin VME connector AMLAN P N C96F3LA B C Note Normally P2 and P2A are used with Acc 8P or 8D with Option V which provides complete terminal strip fan out of all connections J1 JS2 A D Inputs 5 8 J9 on Option 3 Front Panel 1 Two 16 pin female flat cable connector Delta Tau P N O14 ROOF16 0KO T amp B Ansley P N 609 1641 2 171 16 T amp B Ansley standard flat cable stranded 16 wire 3 Phoenix varioface module type FLKM 16 male pins P N 22 81 03 4 CPU Board Connectors J2 JEXP Expansion J10 on Option 3 Front Panel 1 Two 50 pin female flat cable connector Delta Tau P N 014 ROOF50 0KO T amp B Ansley P N 609 5041 2 171 50 T amp B Ansley standard flat cable stranded 50 wire 3 Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 used for daisy chaining Acc 14 1 0 23 A and D connectors 24 expansion J4 JDPRAM Dual Ported RAM 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0KO T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wir
66. 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 PMAC VME Hardware Reference Manual Table of Contents PMAC VME E POINT DESCRIPTIONS scssssssssssscsscsssssssscsssscssssnsssesessnsssesssssesssssnessssnessesscssessnssossscssosseseoss 1 PMAC VME Bottom Board ER RE N EE EE 1 El E2 Machine Output Supply Voltage Coufteure issue sesse ese esse esse ee se es se ee ee ee ee Se be Se GR RA GRA Gee Gee ee se ee 1 E3 E6 Servo Clock Frequency Control esse esse esse see see see sana sno suno sano Gee se ee ee ee ee Se be ee Guns sun GR ee anas sans Ged ee 2 E7 Machine Input Source Sink Control esse esse esse se se se suna Se bwas baa ee Ge ee ee ee ee ee Se Guns Re ee AR anas sans Gee ee 2 E8 RS232 Converter Power Supply Control see se wana anna sano Gee Ge ee ee ee ee be Se AR sun GRA Gee Gee ee se ee 3 E9 E16 Serial Interface Handshake Control 3 E17A E17D Amplifier Enable Direction Polarity Control 4 E22 E23 Control Panel Handwheel Euable AAA 4 E24 E27 Encoder Single Ended Differential Control 4 E28 Warning Following Error Watchdog Timer Signal Control 5 E2
67. ption Default Physical Layout CAUTION The jumper settings for both El and E2 must match the type of driver IC or damage to the IC will result E1 AS Jump pin 1 to 2 to apply V 45V to 24V 1 2 Jumper MO to pin 11 of U33 should be ULN2803A installed for sink output configuration JOPTO Machine outputs M01 M08 Jump pin 2 to 3 to apply GND to pin 11 of U33 should be UDN2981A for source output configuration E2 A5 Jump pin 1 to 2 to apply GND to pin 10 of 1 2 Jumper DQG U33 should be ULN2803A for sink installed output configuration Jump pin 2 to 3 to apply V 5V to 24V to pin 10 of U33 should be UDN2981A for source output configuration PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E3 E6 Servo Clock Frequency Control The servo clock which determines how often the servo loop is closed is derived from the phase clock see E29 E33 through a divide by N counter Jumpers E3 through E6 control this dividing function E3 K4 E5 E6 Servo Clock Phase Default and Physical Layout yi E3 E4 E5 E6 Clock Divided by N ogee Location B4 B4 B5 B5 ON ON ON ON N divided by 1 OFF ON ON ON N divided by 2 ON OFF ON ON N divided by 3 OFF OFF ON ON N divided by 4 Only E5 and E6 ON ON OFF ON ON N divided by 5 OFF ON OFF ON N divided by 6 Only E4 and E6 ON
68. rd E199 A2 Jump 1 to 2 to connect AGND on option IV No jumper installed piggyback board to main PMAC VME board Remove jumper to keep AGND isolated between main board and option 1V board 14 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual PMAC VME CPU BOARDS Current PMAC1 VME cards use the Flex CPU For information regarding the Flex CPU refer to the Flex CPU User manual For convenience two other versions of the CPU have been included in this manual Legacy PMAC Universal CPU 602705 10x The following jumper descriptions are for the PMAC CPU part number 602705 107 E1 Watchdog Disable Jumper Owe expansion board Remove jumper for normal operation E Point and ee Physical Layout Location Description Default El Jump pin 1 to 2 to disable watchdog timer for No jumper test purposes only Remove jumper to enable Watchdog timer E2 E3 Expansion Port Configure E Point and ES Physical Layout Location Description E2 No longer used No Jumper E3 No longer used No Jumper E4 Power Up Reset Load Source E Point and e E Physical Layout Location Description Default E4 Jump pin 1 to 2 to reload firmware through No jumper serial or bus port Must also install E51 jumper on baseboard Remove jumper for normal operation E8 Expansion Port Configure E Point and e
69. re control inputs and display outputs It has nine toggle switches for the hardware functions a 10 way rotary switch for motor coordinate system select 1 to 8 all and none a handwheel encoder an analog potentiometer a frequency generator a 2x40 character alphanumeric LCD display and five status LEDs Comes with two 180 cm 6 cables one 26 pin and one 16 pin Accessory 17 PMACAD Cad Conversion Software This accessory is a program for IBM PC and compatible computers that converts a CAD file to the PMAC motion language No PMAC need be attached for this conversion program to run The Acc 17 is a once per customer purchase OEMs wishing to re sell the program to their customers must purchase one copy for each customer Such OEMs should contact the factory for volume purchase agreements Accessory 17DA PMACAD Conversion Program on 3 5 diskette Accessory 18 Thumbwheel Multiplexer Board This accessory is a printed circuit board that provides the needed circuitry for PMAC to interface to 16 thumbwheel switches or similar inputs Up to 32 thumbwheel multiplexer boards can be daisy chained together to permit the reading of up to 512 thumbwheel digits or other TTL level inputs 256 bytes Thumbwheels may be mounted directly on the board or can be remotely connected to it Alternatively 8 position dip switches may be mounted on the board for input PMAC Basic Specifications 41 PMAC VME Hardware Reference Manual Acc 18 Thumb
70. ription Notes A01 5V Output 5V Power 1 A02 GND Common Digital Common A03 CHC4 Input Encoder C CH Pos 2 A04 CHC4 Input Encoder C CH Neg 2 3 A05 CHB4 Input Encoder B CH Pos 2 A06 CHB4 Input Encoder B CH Neg 2 3 A07 CHA4 Input Encoder A CH Pos 2 A08 CHA4 Input Encoder A CH Neg 2 3 A09 CHC2 Input Encoder C CH Pos 2 A10 CHC2 Input Encoder C CH Neg 2 3 All CHB2 Input Encoder B CH Pos 2 A12 CHB2 Input Encoder B CH Neg 2 3 A13 CHA2 Input Encoder A CH Pos 2 A14 CHA2 Input Encoder A CH Neg 2 3 Al5 DAC4 Output Analog Out Pos 4 4 A16 DAC4 Output Analog Out Neg 4 4 5 A17 AENA4 DIR4 Output Amp Ena Dir 4 6 A18 FAULT4 Input Amp Fault 4 T A19 LIM4 Input Neg End Limit 4 8 9 A20 LIM4 Input Pos End Limit 4 8 9 A21 HMFL4 Input HOME FLAG 4 10 A22 DAC2 Output Analog Out Pos 2 4 A23 DACH Output Analog Out Neg 2 4 5 A24 AENA2 DIR2 Output Amp Ena Dir 2 6 A25 FAULT2 Input Amp Fault 2 7 A26 LIM2 Input Neg End Limit 2 8 9 A27 LIM2 Input Pos End Limit 2 8 9 A28 HMFL2 Input Home Flag 2 0 A29 AGND Common Analog Common A30 A 15V Input Analog 15V Supply A31 GND Common Digital Common A32 5V Output 5V Power 1 C01 5V Output 5V Power 1 C02 GND Common Digital Common C03 CHC3 Input Encoder C Ch Pos 2 C04 CHC3 Input Encoder C Ch Neg 2 3 COS CHB3 Input Encoder B Ch Pos 2 C06 CHB3 Input Encoder B Ch Neg 2 3 C07 CHA3 Input Encoder A Ch Pos 2 C08 CHA3 Input Encoder A Ch Neg 2 3 CU CHC1 Input Encoder C Ch Pos 2 C1
71. rovides access to up to six Accessory 14 I O Expansion cards with 48 bits each of digital I O configurable to inputs or outputs by byte configurable to high voltage level by 24 bit word sinking or sourcing available with 5 to 24V high levels totem pole 5V outputs available Software Specifications Constants Specifiable in hexadecimal with prefix or decimal without prefix range depends on use but can be up to full range of 48 bit floating point range 36 bit mantissa 12 bit exponent Variables 1024 I Variables of pre defined meaning for initialization and setup gains limits modes etc 1024 P Variables general purpose user variables 48 bit floating point 36 bit mantissa 12 bit exponent format global meaning 1024 Q Variables general purpose user variables 48 bit floating point 36 bit mantissa 12 bit exponent format local to a coordinate system 1024 M Variables pointers to locations in PMAC s memory and I O space user defined address offset bit width decode 1 48 bit fixed and floating point For compiled PLC programs only 1024 L Variables pointers to locations in PMAC s memory and I O space 1 24 bit integer values only Operators For use in user programs add subtract multiply divide modulo amp bit by bit AND bit by bit OR A bit by bit XOR Comparators For use in conditional statements in programs equal to not equal to
72. rue 10 GND Common PMAC Common 11 MI3 Input Machine Input 3 Low is true 12 GND Common PMAC Common 13 MI2 Input Machine Input 2 Low is true 14 GND Common PMAC Common 15 MII Input Machine Input 1 Low is true 16 GND Common PMAC Common 17 MO8 Output Machine Output 8 If sinking output low is true If source output high is true 18 GND Common PMAC Common 19 MO7 Output Machine Output 7 Ges 20 GND Common PMAC Common 21 MO6 Output Machine Output 6 NG 22 GND Common PMAC Common 23 MOS Output Machine Output 5 S 24 GND Common PMAC Common 25 MO4 Output Machine Output 4 ins 26 GND Common PMAC Common 27 MO3 Output Machine Output 3 Ges 28 GND Common PMAC Common 29 MO2 Output Machine Output 2 NG 30 GND Common PMAC Common 31 MO Output Machine Output 1 o 32 GND Common PMAC Common 33 V Input Output V Power I O V 5V to 24V 5V out from PMAC 5 to 24V in from external source diode isolation from PMAC 34 GND Common PMAC Common This connector provides means for eight general purpose inputs and eight general purpose outputs Inputs and outputs may be configured to accept or provide either 5V or 24V signals Outputs can be made sourcing with an IC U11 to UDN2981 and jumper E1 amp E2 change E7 controls whether the inputs are pulled up or down internally PMAC VME Connector Pinouts 23 PMAC VME Hardware Reference Manual J6 JXIO 10 Pin Connector SJOOOOOI 10JOOOOO 2 Front View
73. s 13 DATS Input Data 5 Input Data input from thumbwheel switches 14 SEL A Output Select 5 Output Scanner output for reading TW switches 15 DAT6 Input Data 6 Input Data input from thumbwheel switches 16 SEL6 Output Select 6 Output Scanner output for reading TW switches 17 DAT7 Input Data 7 Input Data input from thumbwheel switches 18 SEL7 Output Select 7 Output Scanner output for reading TW switches 19 N C N C No Connection 20 GND Common PMAC Common 21 BRLD Output Buffer Request Low is Buffer Request 22 GND Common PMAC Common 23 IPLD Output In Position Low is In Position 24 GND Common PMAC Common 25 5V Output 5VDC Supply Power supply out 26 INIT Input PMAC Reset Low is Reset The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels While these I O can be used in un multiplexed form for 16 discrete I O points most users will utilize PMAC software and accessories to use this port in multiplexed form to greatly multiply the number of I O that can be accessed on this port In multiplexed form some of the SELn outputs are used to select which of the multiplexed I O are to be accessed See also I O and Memory Map Y FFC1 Suggested M variables M40 M58 M variable formats TWB TWD TWR TWS Acc 8D Opt 7 Acc 8D Opt 9 Acc 18 Acc 34x NC Control Panel PMAC VME Connector Pinouts 21 PMAC VME Hardware Reference Manual J4 JRS422 26 Pin Connector 2500000000000
74. sed Dual Ported RAM Option 2 Required 8K x 16 bits of dual ported RAM for PMAC PC Lite or VME Usable for binary data transmission in either direction Control Panel PAN Dedicated Inputs 9 dedicated manual control functions on low true 0 5V TTL inputs RUN STEP ABORT HOLD HOME JOG JOG PREJOG RESET intended for momentary toggle switches 4 motor coordinate system select lines BCD coded low true TTL that set what the above inputs affect 1 0 10V analog input for feedrate override control requires Option 15 1 2 channel handwheel encoder input TTL levels Discrete inputs may be used as general purpose inputs with I2 1 or with select lines at 0 Discrete outputs may be used as general purpose outputs with select lines at 0 Thumbwheel JTHW Multiplexer VO Eight TTL input lines eight TTL output lines Automatic firmware support for multiplexed I O accessories Acc 8D Opt 7 R D converters absolute serial data Acc 8D Opt 9 Yaskawa encoder interface absolute serial Acc 18 Thumbwheel Board Acc 34 Family of I O Boards Up to 16 of these boards may be multiplexed on the port Port may also be used as non multiplexed general purpose I O 34 PMAC Basic Specifications PMAC VME Hardware Reference Manual Display Outputs Connector to standard 2x24 or 2x40 character alpha numeric liquid crystal or vacuum fluorescent display Expansion Digital I O JEXP connector p
75. t El Jump pin 1 to 2 to disable watchdog timer for test purposes No jumper installed DQ only Remove jumper to enable watchdog timer E2 Remove jumper for use on first generation PMAC No jumper installed OO Jump pin 1 to 2 for use on second generation PMAC PMAC2 E3 Remove jumper for use on first generation PMAC No jumper installed Q Jump pin 1 to 2 for use on second generation PMAC PMAC2 Pins for jumpers E2 and E3 may not be installed on Option CPU boards for Ist generation PMACs 16 PMAC VME CPU Boards PMAC VME Hardware Reference Manual PMAC VME MATING CONNECTORS This section lists several options for each connector Choose an appropriate one for the application See attached PMAC mating connector sketch for typical connection Base Board Connectors J1 JDISP Display 1 Two 14 pin female flat cable connector Delta Tau P N 014 R00F14 0KO T amp B Ansley P N 609 1441 2 171 14 T amp B Ansley standard flat cable stranded 14 wire 3 Phoenix varioface modules type FLKM14 male pins P N 22 81 02 1 J2 JPAN Control Panel 1 Two 26 pin female flat cable connector Delta Tau P N 014 R00F26 0KO T amp B Ansley P N 609 2641 2 171 26 T amp B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J3 JTHW Multiplexer Port 1 Two 26 pin female flat cable connector Delta Tau P N 014 R00F26 0KO T amp B Ansley P N 60
76. t to increase their noise margins Anyone using the PMAC serial port in an actual industrial environment should either use an RS 422 port in their host computer or use a level converter such as the Acc 26 OPT 1 Host RS 232 to PMAC RS422 For PMAC PC VME STD and Lite with Option 9 IDC 26 pin 60 cm 24 serial cable provided for PMAC PC VME and Lite No cable provided for PMAC STD OPT 2 Host RS 232 to PMAC RS232 For PMAC STD and Lite IDC 10 pin 60 cm 24 serial cable provided for PMAC Lite No cable provided for PMAC STD OPT 3 Host RS 232 to PMAC RS422 For PMAC VME to GE 90 70 User specifies 10 or 15 pin 60 cm 24 serial cable provided Accessory 27 Optically Isolated UO Board PMAC s Acc 27 is a small circuit board that provides eight optically isolated inputs and eight optically isolated outputs The I O is rated to 24V and 100 mA The board is designed for easy connection through a provided flat cable to PMAC s JTHW port J3 This I O is intended for general purpose programmatic use on PMAC When Acc 27 is used no other JTHW port accessories may be used Acc 8D Opt 7 Acc 8D Opt 9 Acc 18 Acc 34 OPT 2A DB 25 input connection OPT 2B 18 pin input terminal block default Accessory 28 A D Conversion Board PMAC s Acc 28 Analog to Digital Conversion board has four channels of high speed 60 usec high resolution analog input in the 10V range It is a small DIN rail mountable board that connects to PMAC w
77. the IC used for each option is provided for reference Input Options Il 14 25V inverting unlatched inputs ULN2802A external voltage source required D 6 15V inverting unlatched inputs ULN2804A external voltage source required I3 5V non inverting unlatched inputs 74AC573 14 SV inverting unlatched inputs 74AC563 for input from OPTO 22 IS 5V non inverting edge triggered inputs 74AC574 for absolute encoders Output Options Ol 5 24V inverting open collector sinking outputs ULN2803A external source may be required O2 5 24V non inverting sourcing outputs UDN2981A external source may be required 03 5V non inverting sinking sourcing outputs 74AC573 04 5V inverting sinking sourcing outputs 74AC563 for output to OPTO 22 For example to use Port A for an absolute encoder input and Port B for 16 bits of OPTO 22 output and 8 bits of OPTO 22 input specify Acc 14D with Option 4 Bytes 1 I5 2 15 3 15 4 04 5 04 6 14 Of course it is possible to set up incompatible configurations for example I1 and O3 could not work on the same port together because of voltage differences A configuration sheet is available and should be completed by the customer when ordering a custom configuration in order to create a permanent configuration record as well as to avoid misunderstandings Accessory 16D Control Panel And Display Box The Acc 16D control panel provides all the means for using PMAC s dedicated hardwa
78. the Opto 32 Bit Input 32 Bit Output board Acc 35A is the local JTHW buffer board This board should be attached to PMAC s JTHW connector via the supplied 26 pin flat cable Acc 35B is the remote JTHW buffer board One Acc 35B is required per each cluster of the remotely positioned I O accessory boards Note that the recommended cable length for the direct connection of PMAC to any of the above accessories is less than 3 meters 10 feet However by buffering the signals through the Acc 35 pair and by using twisted pair wires with proper shielding cable lengths in excess on 100 meters may be used Acc 35A Thumbwheel port differential line driver w 1 26 pin 24 cable Requires OPT 1 or 2 Acc 35B Thumbwheel port buffer differential line receiver with 1 26 pin 24 cable Requires Option 1 or 2 OPT 1 DB37 connector for communication between the local and the remote buffers OPT 2 38 pin Phoenix terminal block connector for communication between the local and the remote buffers this is the default option OPT 3 A 6 ft daisy chain JTHW cable with four headers This provides for the connection of up to four I O accessory boards to a single Acc 35 Accessory 36 Analog to Digital Converter Board PMAC s Acc 36 is an analog data acquisition board capable of converting up to 16 analog input signals The Analog to Digital Converter ADC units used in Acc 36 are the MAX180 monolithic devices manufactured by Maxim Integrated Products Thes
79. umber in PMAC E74 E75 Clock Output Control for External Interpolation E Point and Location Description Default Physical Layout E74 C3 Jump pin 1 to 2 to allow SCLK to output on No jumper MO CHC4 installed E75 C3 Jump pin 1 to 2 to allow SCLK to output on No jumper OG CHC4 installed SCLK out permits synchronous latching of analog encoder interpolators such as Acc 8D Opt 8 E85 E87 E88 Host Supplied Analog Power Source Enable E Point and Location Description Default Physical Layout E85 B2 Jump pin to pin 2 to allow A 14V to come No jumper O from P1 ties amplifier and PMAC VME power supply together Defeats OPTO coupling Note that if E85 is changed E88 and E87 must also be changed Also see E90 E87 DI Jump pin 1 to pin 2 to allow analog GND to No jumper come from P1 ties amplifier and PMAC VME GND together Defeats OPTO coupling Note that if E87 is changed E85 and E88 must also be changed Also see E90 E88 A2 Jump pin 1 to pin 2 to allow A 14V to come No jumper O from P1 ties amplifier and PMAC VME power supply together Defeats OPTO coupling Note that if E88 is changed E87 and E85 must also be changed Also see E90 PMAC VME E Point Descriptions PMAC VME Hardware Reference Manual E89 Amplifier Supplied Switch Pull Up Enable E Point an
80. wheel Multiplexer Board bare Comes with 1 180 cm 6 26 pin cable OPT 1 Expansion Connector for daisy chain to next Acc 18 OPT 2 One 8 Position DIP Switch eight max in place of two thumbwheel digits OPT 4 One decimal thumbwheel digit 16 max specify location OPT 5 External Power Connector OPT 6 Molex connectors w mates 16 max for remote digit An Acc 18 configuration sheet is available and can be used to define the required options and the number and location of all the thumbwheel digits Accessory 20 Hand Held Terminal This accessory provides a TM200G 001 hand held or panel mountable 5 x 8 x 3 4 terminal for simple operational communications needs The terminal communicates with the serial port on the PMAC It provides a numeric keypad with 6 special programmable function keys also an alphanumeric 2 x 24 LCD display Comes with a 24 26 pin cable Accessory 21 VO Simulators and Cables Acc 21 is a family of I O simulators and cables for connection to the JS JOPT connector on PMAC Many users will purchase OPTO 22 boards and connect it to PMAC with an Acc 21 cable from Delta Tau Acc 21F 180 cm 6 50 pin card edge to 34 pin IDC header cable for connecting PMAC JOPTO connector to PB8 16 24 or equivalent boards Acc 21FH 180 cm 6 50 pin IDC header to 34 pin IDC header cable for connecting PMAC JOPTO connector to PB8 16 24H or equivalent boards Acc 21G 180 cm 6 50 pin card edge to 50 pin IDC header c
81. y isolated I O board 64 bits total sourcing or sinking inputs and outputs rated to 100 mA per point 15V to 24V The points can be selected for input or output by software command sourcing or sinking in groups of eight by hardware configuration when ordering The default configuration for Acc 34A is 32 inputs and 32 outputs all sourcing Comes with 1 60 cm 24 cable to PMAC OPT 1 Custom configuration sinking sourcing in out Contact factory for form OPT 2 DIN Rail mount OPT 3 All sinking configuration 32 in 32 out Acc 34B Optically isolated I O board 64 bits total designed for easy connection to Opto 22 and compatible boards e g Opto 22 Models G4PB24 and G4PB16H via standard 50 pin flat cables see Acc 21 cables Both the inputs and the outputs are TTL compatible negative logic low true types OPT 1 DIN Rail mount Accessory 35 Multiplexer Port Line Driver and Receiver PMAC s Acc 35A and Acc 35B are two complementary printed circuit boards These boards are designed to provide differential signal transmission capability between PMAC and most of its accessories that communicate via its JTHW connector Currently this accessory pair enables the following PMAC accessories to communicate with PMAC via long distance cables Acc 8D Opt 7 Resolver to Digital converter board Acc 8D Opt 9 Yaskawa Encoder interface board Acc 18 the Thumbwheel Multiplexer Board Acc 34 the Opto 64 Bit input output Board Acc 34A

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