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Delta Tau PMAC PCI LITE Reference Manual

1. 40 E100 Output Flag Supply Select eec 40 E101 E102 Motors 1 4 Amplifier Enable Output Configure seen en eren 40 E109 Reserved for Future Sp Ede 41 TIO Serial Port COR figure ot ute e m V eMe testes tos ee eee ee 41 E111 Clock Lines Output Enable ioter ce Re certes te ea Fede Ee eU EUR rene 41 E119 WATCHDOG DISABLE JUMPER 41 ii Table of Contents PMAC PCI Lite Hardware Reference Manual E122 XIN Fe attire Se DOE 41 MATING CONNECTORS c 43 Base Board Connectors P 43 JL SDISP DIS play ER 43 J24JPAN Control Panel teca a iini ieo eadi aee Fra eins 43 Mul tpl ener REB 43 JRS422 RS232 OR 422 Serial Communications eese eene ener trennen 43 aine ale eei ires aa bes 43 JO JXIO Expansion Board 43 J8 JMACH Machine 43 ISTAD TN Puls
2. 43 COMP OIE tee ln gente utr 43 JANA Analog Inputs Option assener reisas rein eene eee 44 CONNECTOR PINOUT cR 45 EVdldondGrviiueRP 45 J2 Control Panel Port Connector cot eie bte PRESE SABEN pose 46 J3 Multiplexer Port Connector esessessesseseeseee enne enne eene nennen nnne trennen 47 J4 Serial Port Connection M EE 48 Port Cm CEO Din De E e etiem aE o ctos 49 J6 Auxiliary Port Connector 2 50 18 Machine Port Comme ctor 51 18 Machine Port Connector ME 52 19 JEQU Position Compare Connector 53 J30 JANA Analog Input Port Connector 53 J31 JUSB Universal Serial Bus Port 54 Port 1 COB PCLOE steep ca gases heben potrete sas ior 54 JPWR External Power Supply 1 2 222 111 0 000400000000000000000000000000000000000000000000 enne 54
3. Front View Pin Symbol Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DATO Input Data 0 Input Data input from multiplexed accessory 4 SELO Output Select 0 Output Multiplexer select output 5 DATI Input Data 1 Input Data input from multiplexed accessory 6 SEL1 Output Select 1 Output Multiplexer select output 7 DAT2 Input Data 2 Input Data input from multiplexed accessory 8 SEL2 Output Select 2 Output Multiplexer select output 9 DAT3 Input Data 3 Input Data input from multiplexed accessory 10 SEL3 Output Select 3 Output Multiplexer select output 11 DATA Input Data 4 Input Data input from multiplexed accessory 12 SEL4 Output Select 4 Output Multiplexer select output 13 DATS Input Data 5 Input Data input from multiplexed accessory 14 SEL5 Output Select 5 Output Multiplexer select output 15 DAT6 Input Data 6 Input Data input from multiplexed accessory 16 SEL6 Output Select 6 Output Multiplexer select output 17 DAT7 Input Data 7 Input Data input from multiplexed accessory 18 SEL7 Output Select 7 Output Multiplexer select output 19 N C N C No Connection 20 GND Common PMAC Common 21 BRLD Output Buffer Request Low is buffer req 22 GND Common PMAC Common 23 IPLD Output In Position Low is in position 24 GND Common PMAC Common 25 5V Output 5 Supply Power supply out 26 INIT Input PMAC Reset Low is reset The JTHW multiplexer port provides eight inputs
4. ani Location Description Default Physical Layout E55 B6 Jump pin 1 to 2 to allow EQUA to interrupt host PC at No jumper installed PMAC interrupt level IR7 E57 B6 Jump pin 1 to 2 to allow EQU3 to interrupt host PC at No jumper installed PMAC interrupt level IR7 E58 B6 Jump pin 1 to 2 to allow MI2 to interrupt host PC at No jumper installed PMAC interrupt level IR6 E59 B6 Jump pin 1 to 2 to allow Axis Expansion 0 to No jumper installed interrupt host PC at PMAC interrupt level IR6 E61 B6 Jump pin 1 to 2 to allow 2 to interrupt host PC at No jumper installed PMAC interrupt level IR6 E62 B7 Jump pin 1 to 2 to allow to interrupt host PC at No jumper installed PMAC interrupt level IRS E63 B7 Jump pin 1 to 2 to allow Axis Expansion Int 1 to No jumper installed interrupt host PC at PMAC interrupt level IRS E65 B7 Jump pin 1 to 2 to allow EQUI to interrupt host PC at No jumper installed 9 interrupt level IR5 E Point Jumper Descriptions 37 PMAC PCI Lite Hardware Reference Manual E72 E73 Panel Analog Time Base Signal Enable E Point and Physical Layout Location Description Default E72 B9 Jump pin to 2 to allow V to F converter FOUT No jumper installed 2 derived from Wiper input on J2 to connect to CHA4 E73 B9 Jump pin 1 to 2 to allow V to F converter FOUT No jumper installed 2 derived from Wiper inpu
5. E73 X C00C Y 728 400723 25 KHz V E24 1 2 1915 4 Y 723 00C00C Y 729 Scaling 26 A Hardware Voltage to Software Configured Software Software Frequency Converter Hardware Counter Interpolation Differentiation To use this value for feedrate override for a coordinate system set the time base source address l Variable Ix93 for C S x to 1833 729 To use this value for some other purpose assign an M Variable to this register e g M60 gt X 729 0 24 U Scaling is set by the value in Y 729 for the default conversion table This value can be determined interactively by varying the input voltage and noting the effect Thumbwheel Multiplexer Port JTHW Port The Thumbwheel Multiplexer Port or Multiplexer Port on the JTHW J3 connector has eight input lines and eight output lines The output lines can be used to multiplex large numbers of inputs and outputs on the port and Delta Tau provides accessory boards and software structures special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisychained on the port in any combination e The Acc 18 Thumbwheel Multiplexer board provides up to 16 BCD thumbwheel digits or 64 discrete TTL inputs per board The TWD and TWB forms of M variables are used for this board e The Acc 34x family Serial I O Multiplexer boards provides 64 I O point per board optically isolated from PMAC The TWS f
6. 26 Hardware Reference Summary PMAC PCI Lite Hardware Reference Manual SDi G9609 ON ASSY YSNA Er 2 49 gt 9 9 9 dj 27 Hardware Reference Summary PMAC PCI Lite Hardware Reference Manual Connectors and Indicators J1 Display Port JDISP Port The JDISP connector allows connection of the Acc 12 or 12 liquid crystal displays or of the Acc 12C vacuum fluorescent display Both text and variable values may be shown on these displays using the DISPLAY command executing in either motion or PLC programs J2 Control Panel Port JPAN Port The JPAN connector is a 26 pin connector with dedicated control inputs dedicated indicator outputs a quadrature encoder input and an analog input requires PMAC Option 15 The control inputs are low true with internal pull up resistors They have predefined functions unless the control panel disable I variable I2 has been set to 1 If this is the case they may be used as general purpose inputs by assigning M variable to their corresponding memory map locations bits of Y address SFFCO J3 Thumbwheel Multiplexer Port JTHW Port The Thumbwheel Multiplexer Port or Multiplexer Port on the JTHW connector has eight input lines and eight output lines The output lines can be used to multiplex large numbers of inputs and outputs on the port and Delta Tau provides accessory boards and software st
7. E48 CPU Clock Frequency Control Option CPU Section E48 controls the CPU clock frequency only if the saved value of 146 is 0 If the saved value of 146 15 greater than 0 I46 controls the CPU frequency erbe p t Location Description Default E48 C5 Jump pins 1 and 2 to multiply crystal Jumper installed Option 5 2 frequency by three inside CPU for 60MHz 5B operaron Jumper not installed 1 Remove jumper to multiply crystal frequency Standard Option 4A 5A by two inside CPU for 40 MHz operation 36 E Point Jumper Descriptions PMAC PCI Lite Hardware Reference Manual E49 Serial Communications Parity Control hap and Location Description Default Physical Layout E49 5 Jump pin 1 to 2 for no serial parity Remove jumper for Jumper installed 2 Q odd serial parity E50 Flash Save Enable Disable E Point and Locatio Description Default Physical Layout n E50 C5 Jump pin 1 to 2 to enable save to flash memory Jumper installed Remove jumper to disable save to flash memory E51 Normal Re Initializing Power Up ron ave Location Description Default Physical Layout ESI B6 Jump pin 1 to 2 to re initialize on power up reset No jumper installed 2 Q Remove jumper for Normal power up reset E55 E65 Host Interrupt Signal Select
8. esses eene eene nhe eren eren 2 Option 15 V to F Converter for Analog 2 Option 16 Battery Backed Parameter Memory esee eene 2 enr 3 Power Supply Configuration Jumpers 3 Clock Configuration ime tenete Prem 4 Encoder Configuration iu een ui Us 4 Board Reset Save JutpetS RH Free se RR ER IR 5 Coinmubication 5 VO Configuration Jurnpets 2 ec Hera e ec pelea Dates e aed irat Der PO deep eR 5 Reserved Configuration Jumpets oxi chive Beb HERO ee Et Poe Pe PERI Ete ced RR EP e E 6 CPU imper Configuration sooo nondom eU 6 Resistor Pack Configuration Termination 510 6 7 Resistor Pack Configuration Differential or Single Ended Encoder Selection 7 MACHINE CONNECTIONS 9 Mounting a P EE 9 SUDDIIES E E 9 Digital Power Supply etes etiatn tete Sea ciae Re eta 9 Analog Power Supply 9 Overtravel Limits and Home Switches
9. eese eene enne entere nennen etre nennen nennen enne 10 Resistor Pack Configuration Flag and Digital Inputs Voltage Selection sene 10 Types of Overtravel Limilts 10 UH T 10 Motor Signals Connections 11 Incremental Encoder Connection sese eene nre nennen 11 Output Signals 11 Amplifier Enable Signal 12 Amplifier Fault Signal FAUL In nece re rete tese e tQ AP SEHE QUAND I 12 General Purpose Digital Inputs and Outputs JOPTO Port esses enne enne 13 Control Panel Port I O JP AN Port ect iie tree ne i E e RE e RH ER 14 Command Li puts cis ic ai epe MEQUE re 14 Selector Inputs E 15 Alternate Use iiie 15 Reset INU iiie OTRO HUGE 15 Handwheel Inputs iia D 15 Optional Voltage to Frequency Converter 15 Thumbwheel Multiplexer Port JTHW 16 Optional Analog Inputs
10. Machine Connections 17 PMAC PCI Lite Hardware Reference Manual a 1 L 1 DB 25 Female IDC 26 5 CTS aS 5 O 6 DSR 8 1 Do not connect wire 26 7 2 22 23 11 24 12 5 2 25 0 13 e 26 Nocomed 1 2 3 4 5 7 1 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Machine Connections PMAC PCI Lite Hardware Reference Manual Machine Connections Example Amplifier Load 15 Volts Power Motor Supply X Encoder 27 28 15 16 CHAn 43 44 29 30 DACn 45 46 31 32 DACY 49 50 35 36 58 58 58 58 AGND WENN ee NEN 59 15 PMAC installed in a desktop PC Note For this configuration jumpers E85 E87 E88 E89 and E90 are left at the default settings Machine Connections 19 PMAC PCI Lite Hardware Reference Manual 20 Software Setup PMAC PCI Lite Hardware Reference Manual SOFTWARE SETUP Note The PMAC PCI Lite requires the use of V1 17 or newer firmware There are few differences between the previous V1 16H firmware and the V1 17 firmware other than the addition of internal support for the Flex CPU design Communications Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32 bits Windows based computers With Pewin 32 Pro a PMAC PCI Lite board plug
11. Table of Contents iii PMAC PCI Lite Hardware Reference Manual Table of Contents PMAC PCI Lite Hardware Reference Manual INTRODUCTION The PMAC PCI Lite is a member of the PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands Its software is capable of eight axes of control although it can have only four channels of on board axis interface circuitry The PMAC PCI Lite is a full sized PCI bus expansion card While capable of PCI bus communications with or without the optional dual ported RAM it does not need to be inserted into a PCI expansion slot Communications can be done through an RS232 or RS422 serial port Standalone operation is possible The non Turbo version of the PMAC PCI Lite board does not include ICs U140 U143 or U147 ICs U140 U143 and U147 are not installed in the non Turbo version of the PMAC Lite PCI board Board Configuration Base Version The base version of the PMAC PCI Lite provides a 1 1 2 slot board with 40 MHz DSP563xx CPU 128k x 24 zero wait state flash backed SRAM 512k x 8 flash memory for f7irmware and user backup Latest released firmware version RS232 422 serial interface 33Mhz PCI bus interface Four channels axis interface circuitry each including e 16 bit 10V analog output e 3 channel differential single ended encoder input e Four input flags two output fla
12. E40 43 Servo and Phase Clock Direction Control Jumpers E40 E43 determine the direction of the phase and servo clocks all of these jumpers must be ON for the card to use its internally generated clock signals and to output these on the serial port connector If any of these jumpers is OFF the card will expect to input these clock signals from the serial port connector and its watchdog timer will trip immediately if it does not receive these signals The card number 0 15 for serial addressing of multiple cards on a daisychain serial cable is determined by the PMAC variable I0 See the Software Setup section in this manual for details E48 Option CPU Clock Frequency Control If variable 146 is saved at a value greater than 0 146 will determine the CPU s operational frequency recommended For backward compatibility if 146 is saved at a value of 0 the CPU will operate at 40MHz if E48 is OFF or at 60MHz if E48 is ON E98 DAC ADC Clock Frequency Control Leave E98 in its default setting of 1 2 which creates a 2 45MHz DCLK signal unless connecting an Acc 28 A D converter board In this case move the jumper to connect pins 2 and 3 which creates a 1 22MHz DCLK signal Encoder Configuration Jumpers Encoder Complementary Line Control The selection of the type of encoder used either single ended or differential is made through the resistor packs configuration and not through a jumper configuration as on older PMAC d
13. 14 DSR Bidirect Data Set Ready Tied to DTR 15 SDIO Bidirect Special Data Diff low true 16 SDIO Bidirect Special Data Diff I O high true 17 SCIO Bidirect Special Ctrl Diff low true 18 SCIO Bidirect Special Ctrl Diff I O high true 19 SCK Bidirect Special Clock Diff I O low true 20 SCK Bidirect Special Clock Diff I O high true 21 SERVO Bidirect Servo Clock Diff I O low true 22 SERVO Bidirect Servo Clock Diff I O high true 23 PHASE Bidirect Phase Clock Diff I O low true 24 PHASE Bidirect Phase Clock Diff I O high true 25 GND Common PMAC Common 26 5V Output 5Vdc Supply Power supply out The JRS422 connector provides the PMAC with the ability to communicate both in RS422 and RS232 In addition this connector is used to daisy chain interconnect multiple PMACs for synchronized operation Jumper E110 selects between RS232 or RS422 signal types Jumper E110 enables or disables the use of the Phase Servo and Init lines Note Required for communications to an RS422 host port Note Required for communications to an RS422 or RS232 host port Note Output on card with E40 E43 all ON Input on card with any of E40 E43 OFF These pins permit full synchronization of multiple PMACs through sharing of phase and servo clocks If synchronization is desired these lines should be connected even if serial communications is not used See Serial Communications Synchronizing PMAC to othe
14. 8 9 52 LIM2 Input Neg End Limit 2 8 9 53 LIM1 Input Pos End Limit 1 8 9 54 LIM2 Input Pos End Limit 2 8 9 55 HMFLI Input Home Flag 1 10 56 HMFL2 Input Home Flag 2 10 57 FEFCO Output FE Watchdog Out Indicator Driver 58 AGND Input Analog Common 59 A 15V OPT V Input Analog 15v Supply 60 A 15V Input Analog 15v Supply The J8 connector is used to connect PMAC to the first four channels Channels 1 2 3 and 4 of servo amps flags and encoders Note 1 In standalone applications these lines can be used as 5V power supply inputs to power PMAC s digital circuitry However if a terminal block is available on a version of PMAC it is preferable to bring the 5V power in through the terminal block Note 2 Referenced to digital common GND Maximum of 12V permitted between this signal and its complement Note 3 Leave this input floating if not used i e digital single ended encoders In this case jumper E18 21 E24 27 for channel should hold input at 2 5V Note 4 10V 10mA max referenced to analog common AGND Note 5 Leave floating if not used Do not tie to AGND In this case AGND is the return line Note 6 Functional polarity controlled by jumper s E17 Choice between AENA and DIR use controlled by Ix02 and Ix25 Note 7 Functional polarity controlled by variable Ix25 Must be conducting to usually AGND to produce a 0 in PMAC software Automatic fault function can be disabled with Ix25 Not
15. HARDWARE REFERENCE MANUAL PMAC PCI Lite 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 2007 Delta Tau Data Systems Inc rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions AII Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging com
16. Hardware Setup 5 PMAC PCI Lite Hardware Reference Manual E17A E17D Motors 1 4 Amplifier Enable Polarity Control Jumpers E17A through E17D control the polarity of the amplifier enable signal for the corresponding motor 1 to 4 When the jumper 15 OFF default the amplifier enable line for the corresponding motor is low true so the enable state is low voltage output and sinking current and the disable state is not conducting current If default ULN2803A sinking driver used by the PMAC is U37 this is the fail safe option This allows the circuit to fail in the disable state With this jumper ON the amplifier enable line is high true so the enable state 15 not conducting current and the disable state is low voltage output and sinking current This setting is not generally recommended E28 Following Error Watchdog Timer Signal Control With this jumper connecting pins 2 and 3 default the FEFCO output on pin 57 of the J8 JMACH servo connector outputs the watchdog timer signal With this jumper connecting pins 1 and 2 this pin outputs the warning following error status line for the selected coordinate system E101 E102 Motors 1 4 AENA EQU Voltage Configure U37 driver IC controls AENA and EQU signals of motors 1 4 With the default sinking output driver IC ULN2803A or equivalent in 1 37 these jumpers must connect pins 1 and 2 to supply the IC correctly If this IC is replaced with a sourcing output dri
17. 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 00 26 0 0 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 I O 1 Two 34 pin female flat cable connector Delta Tau P N 014 ROOF34 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 81 063 J6 JXIO Expansion Board 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0K0 T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J8 JMACH Machine Connector 1 Two 60 pin female flat cable connector Delta Tau P N 014 ROOF60 0K0 T amp B Ansley P N 609 6041 available as Acc 8P or 8D 2 171 60 T amp B Ansley standard flat cable stranded 60 wire 3 Phoenix varioface module type FLKM 60 male pins P N 22 81 09 2 Note Normally J8 15 used with Acc 8P Acc 8D with Option P which provides complete terminal strip fan out of all connections JS1 A D Inputs 1 4 1 Two 16 pin female flat cable connector Delta Tau P N 014 ROOF16 0K0 T amp B Ansley P N 609 1641 2 171 16 T amp B Ansley standard flat cable
18. 5V Output 5v Supply Power supply out 16 GND Common PMAC Common TB1 JPWR External Power Supply Connection TB1 JPWR Top View Pin Symbol Function Description Notes 1 GND Common Digital ground 2 5V Input 5v supply Ref to digital GND 3 12V Input 12v to 15v supply Ref to digital GND 4 12V Input 12 to 15v supply Ref to digital GND This terminal block may be used as an alternative power supply connector if PMAC is not installed in a PCI bus The 5V powers the digital electronics The 12V and 12V if jumpers E85 E87 and E88 are installed power the analog output stage This defeats the optical isolation on PMAC To keep the optical isolation between the digital and analog circuits on PMAC provide analog power 12V to 15V and AGND through the JMACH connector instead of the bus connector or this terminal block 54 Connector Pinouts
19. Axis 3 for resolver 7 E63 Input Interrupt IRA Interrupt from EXP BRD 8 E59 Input Interrupt IR5 Interrupt from EXP BRD 9 SCLK Output Encoder Clock Encoder sample rate 10 DCLK Output D to A A to D Clock DAC and ADC clock for all channels This connector is used for miscellaneous I O functions related to expansion cards that are used with PMAC 50 Connector Pinouts PMAC PCI Lite Hardware Reference Manual J8 Machine Port Connector J8 JMACH 60 Pin Header e OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOQ 2 Front View Pin Symbol Function Description Notes 1 T5V Output 5 power For encoders 1 2 5V Output 5v power For encoders 3 GND Common Digital common 4 GND Common Digital common 5 CHC3 Input Encoder C Ch Pos 2 6 CHC4 Input Encoder C Ch Pos 2 7 CHC3 Input Encoder C Ch Neg 2 3 8 CHC4 Input Encoder C Ch Neg 2 3 9 CHB3 Input Encoder B Ch Pos 2 10 4 Input Encoder B Ch Pos 2 11 CHB3 Input Encoder B Ch Neg 2 3 12 4 Input Encoder B Ch Neg 23 13 CHA3 Input Encoder A Ch Pos 2 14 4 Input Encoder A Ch Pos 2 15 CHA3 Input Encoder A Ch Neg 2 3 16 CHA4 Input Encoder A Ch Neg 2 3 17 CHCI Input Encoder C Ch Pos 2 18 CHC2 Input Encoder C Ch Pos 2 19 CHCI Input Encoder C Ch Neg 2 3 20 CHC2 Input Encode
20. E Point and Physical Layout Location Description Default E98 7 Jump 1 2 to provide 2 45MHz DCLK signal to DACs 1 2 Jumper installed Q Q and ADCs Jump 2 3 to provide a 1 22MHz 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 110 E100 Output Flag Supply Select E Point and Physical Layout Location Description Default E100 A3 Jump pin 1 to 2 to apply analog supply voltage 15 1 2 Jumper installed 996 to U37 flag output driver Jump pin 2 to 3 to apply flag supply voltage to U37 flag output driver IC E101 E102 Motors 1 4 Amplifier Enable Output Configure E Point and Physical Layout Location Description Default 629 4 Jump pin to 2 to apply 15 as by E100 to pin 10 of U37 AENAn and EQUn driver IC should ULN2803A for sink output configuration Jump pin 2 to 3 to apply GND to pin 10 of U37 should be UDN2981A for source output configuration Caution The jumper setting must match the type of driver IC or damage to the IC will result 1 2 Jumper installed CEA A4 Jump pin 1 to 2 to apply GND to pin 10 of U37 AENAn EQUn should ULN2803A for sink output configuration Jump pin 2 to 3
21. E17C Jump 1 2 for high true AENA3 No jumper installed S Remove jumper for low true AENA3 E17D Jump 1 2 for high true AENA4 No jumper installed 1 Remove jumper for low true 4 Note Low true enable is the fail safe option because of the sinking open collector ULN28034A output driver IC E18 E20 Power Up Reset Load Source E Point and Physical Layout Location Description Default E18 B4 Remove jumper E18 Jump E19 No E18 jumper Jump E20 to read flash IC on power up reset installed Jump E19 and E20 Other combinations are for factory use only the board will not operate any other configuration E Point Jumper Descriptions 33 PMAC PCI Lite Hardware Reference Manual E21 Power Up Reset Load Source E Point and n Physical Layout Location Description Default E21 B4 Jump pin 1 to 2 to reload firmware through serial or No jumper Remove jumper for normal operation E22 E23 Control Panel Handwheel Enable E Point and i ipti Default Physical Layout Location Description efau 22 Jump pin 1 to 2 to obtain handwheel encoder signal No jumper o from front panel at 12 16 for CHB2 ENC2 B E23 Jump pin 1 to 2 to obtain handwheel encoder signal No jumper from front panel at J2 22 for CHA2 ENC2 A Note With these jumpers ON no encoder should be wired into ENC2 on JMACHI Jumper E26 must connect
22. pins 1 2 because these are single ended inputs This function is unrelated to the encoder brought in on J2 through Acc 39 E28 Following Error Watchdog Timer Signal Control E Point and i Descripti Default Physical Layout escription efau E28 B7 Jump pin 1 to 2 to allow warning following error 2 3 Jumper installed Q Q Ix12 for the selected coordinate system to control FEFCO 18 57 Jump pin 2 to 3 to cause Watchdog timer output to control FEFCO Low TRUE output in either case 34 E Point Jumper Descriptions PMAC PCI Lite Hardware Reference Manual 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 Location E98 Connects E98 Connects Physical Pins 1 and 2 Pins 2 and 3 Layout On Off Off Off Off 2 26 kHz 1 13 kHz 29 8 Off On Off Off Off 4 52 kHz 2 26 kHz E30 8 Off Off On Off Off 9 04 kHz 4 52 kHz E31 8 Off Off Off On Off 18 07 kHz 9 04 kHz 20 E32 8 Off Off Off Off On 36 14 kHz 18 07 kHz E33 8 Note If E40 E43 are not all ON the phase clock is received from external source throug
23. sourcing 26 GND Common PMAC Common 27 MO3 Output Machine Output 3 Low true sinking High true sourcing 28 GND Common PMAC Common 29 MO2 Output Machine Output 2 Low true sinking High true sourcing 30 GND Common PMAC Common 31 MOI Output Machine Output 1 Low true sinking High true sourcing 32 GND Common PMAC Common 33 TV Input Output V Power V 5 to 424v 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 be made sourcing with an IC U13 to UDN2981 and jumper E1 and E2 change E7 controls whether the inputs are pulled up or down internally Outputs are rated at 100mA per channel Connector Pinouts PMAC PCI Lite Hardware Reference Manual 96 Auxiliary I O Port Connector J6 JXIO 10 Pin Connector 9 1 2 Front View Pin Symbol Function Description Notes 1 CHAI Input Enc A Ch Pos Axis 1 for resolver 2 CHBI Input Enc B Ch Pos Axis 1 for resolver 3 CHCI 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
24. 1902 1907 1977 However for the following reasons the same type of switches used for overtravel limits are recommended e Normally closed switches are proven to have greater electrical noise rejection than normally open types e Using the same type of switches for every input flag simplifies maintenance stock and replacements 10 Machine Connections PMAC PCI Lite Hardware Reference Manual Motor Signals Connections JMACH Connectors Incremental Encoder Connection Each JMACH connector provides two 5V outputs and two logic grounds for powering encoders and other devices The 5V outputs are on pins 1 and 2 the grounds are on pins 3 and 4 The encoder signal pins are grouped by number all those numbered 1 CHA1 1 etc belong to encoder 1 Usually the encoder number matches the motor number but it is not necessary If the PMAC is not plugged into a bus and drawing its 5V and GND from the bus use these pins to bring in 5V and GND from the power supply Connect the A and B quadrature encoder channels to the appropriate terminal block pins For encoder 1 the CHA1 is pin 25 CHBI is pin 21 If there is a single ended signal leave the complementary signal pins floating do not ground them However if single ended encoders are used make sure the resistor packs are in the default position RP 60 62 66 68 For a differential encoder connect the complementary signal lines CHA1 is pin 27
25. 2 1200 10 19 200 3 1800 11 28 800 4 2400 12 38 400 5 3600 13 57 600 6 4800 14 76 800 7 7200 15 115 200 The CPU must be run at an exact multiple of 30MHz in order to use 115 200 baud serial communications Otherwise the baud rate will not be exact enough to ensure proper communications The card number 0 15 for serial addressing of multiple cards on a daisy chain serial cable 15 determined by variable 10 Jumpers E40 E43 determine the direction of the phase and servo clocks All of these 5 must be ON for the card to use its internally generated clock signals and to output these on the serial port connector If any of these jumpers is OFF the card will expect to input these clock signals from the serial port connector and its watchdog timer will trip immediately if it does not receive these signals Serial Addressing Card Number IO controls the card number for software addressing purposes on a multi drop serial communications cable If I2 is set to 2 the PMAC must be addressed with the n command where n matches the value of 10 on the board before it will respond If the PMAC receives the command where n does not match IO on the board it will stop responding to commands on the serial port No two boards on the same serial cable may have the same value of I0 If the command is sent over the serial port all boards on the cable will respond to action commands However only the board with 10 set t
26. for details E Point Jumper Descriptions 35 PMAC PCI Lite Hardware Reference Manual E Point and Physical Layout Location Description Default E40 B5 Install all of these jumpers for the card to use its Jumpers E40 E43 Ce internally generated clock signals and to output installed these on the serial port connector If any of these jumpers is OFF the card will expect to input these clock signals from the serial port connector 5528 43 44 47 Serial Port Baud Rate Jumpers E44 E47 control the baud rate for serial communications if the saved value of 146 15 0 and jumper E48 controls the CPU frequency If the saved value of 146 is greater than 0 146 controls the CPU frequency and 154 controls the baud rate Baud Rate Control E Points Baud Rate Default and Physical Layout eX 44 45 46 47 44 45 46 47 S x ip N 000 Loc BS B5 C5 C On On On On Disabled Disabled Off On On On 600 900 On Off On On 800 1200 Off Off On On 1200 1800 On On Off On 1600 2400 Off On Off On 2400 3600 On Off Off On 3200 4800 Off Off Off On 4800 7200 On On On Off 6400 9600 Off On On Off 9600 14400 On Off On Off 12800 19200 Off Off On Off 19200 28800 On On Off Off 25600 38400 Off On Off Off 38400 57600 Off Off Off 51200 76800 Off Off Off Off 76800 115200
27. kHz Note If E40 E43 are not all ON the phase clock is received from an external source through the J4 serial port connector and the settings of E3 E6 are not relevant E7 Machine Input Source Sink Control n ang Location Description Default Physical Layout E7 A6 Jump pin 1 to 2 to apply 5V to input reference resistor 1 2 Jumper SIP pack this will bias to MIS inputs to 5V for installed 1 OFF state then input must be grounded for ON state 2 Jump pin 2 to 3 to apply GND to input reference resistor SIP pack this will bias to MIS inputs to GND for OFF state then input must be pulled up for ON state 5V to 24V 32 E Point Jumper Descriptions PMAC PCI Lite Hardware Reference Manual E10A B C Flash Memory Bank Select E Point and T Physical Layout Location Description Default E10A A2 amp B2 Remove all three jumpers to select flash memory bank No jumpers installed with factory installed firmware Use other configurations to select one of the seven flash memory banks E10C E17A D Amplifier Enable Direction Polarity Control E Point and i Physical Lavout Location Description Default E17A Jump 1 2 for high true AENAI No jumper installed S Remove jumper for low true AENA1 E17B Jump 1 2 for high true AENA2 No jumper installed S Remove jumper for low true AENA2
28. mode it will automatically detect that the board is in bootstrap mode and ask what file to download as the new firmware Jumper E21 must be OFF during power up reset for the board to come up in normal operational mode E119 Watchdog Timer Jumper Jumper E119 must be OFF for the watchdog timer to operate This is a very important safety feature so it is vital that this jumper be OFF in normal operation E1 should only be put ON to debug problems with the watchdog timer circuit 6 Hardware Setup PMAC PCI Lite Hardware Reference Manual Resistor Pack Configuration Termination Resistors The PMAC provides sockets for termination resistors on differential input pairs coming into the board There are no resistor packs in these sockets when shipped If these signals are brought long distances into the PMAC board and ringing at signal transitions 15 a problem SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing termination resistor packs have independent resistors no common connection with each resistor using two adjacent pins The following table shows which packs are used to terminate each input device Device Resistor Pack Pack Size Encoder 1 RP61 6 pin Encoder 2 RP63 6 pin Encoder 3 RP67 6 pin Encoder 4 RP69 6 pin Resistor Pack Configuration Differential or Single Ended Encoder Selection The differential input signal pairs to the PMAC hav
29. t Default Physical Layout Location escription efau E119 Jump pin 1 to 2 to disable Watchdog timer for test No jumper purposes only Remove jumper to enable Watchdog timer E122 XIN Feature Selection E Point and oa i Default Physical Layout Location Description efau E122 B7 Jump 1 2 to bring the Power Good signal into register 2 3 Jumper installed 9 2 3 XIN7 at 801 bit 7 E Point Jumper Descriptions 41 PMAC PCI Lite Hardware Reference Manual 42 E Point Jumper Descriptions PMAC PCI Lite Hardware Reference Manual MATING CONNECTORS This section lists several options for each connector Choose an appropriate one for your application Base Board Connectors JDISP Display 1 Two 14 pin female flat cable connector Delta Tau P N 014 ROOF14 0K0 T amp B Ansley P N 609 1441 2 171 14 T amp B Ansley standard flat cable stranded 14 wire 3 Phoenix varioface modules type FLKM14 male pins P N 22 81 02 1 J2 JPAN Control Panel 1 Two 26 pin female flat cable connector Delta Tau P N 014 00 26 0 0 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 00 26 0 0 T amp B Ansley P N 609 2641 2 171 26 T amp B Ansley standard flat cable stranded 26 wire
30. type of input and for driving voltage to frequency V F converters such as PMAC s Acc 8D Option 2 board for running stepper motor drivers If using PMAC to commutate the motor use two analog output channels for the motor Each output may be single ended or differential just as for the DC motor The two channels must be consecutively numbered with the lower numbered channel having an odd number e g use DACI and DAC2 for a motor DAC3 and but not DAC2 and DAC3 or DAC2 and DAC4 For our motor 1 example connect DACI pin 43 and DAC2 pin 45 to the analog inputs of the amplifier If using the complements as well connect DACI pin 45 and DAC2 pin 46 minus command inputs otherwise leave the complementary signal outputs floating To limit the range of each signal to 5V use parameter Ix69 Any analog output not used for dedicated servo purposes may be utilized as a general purpose analog output Usually this is done by defining an M variable to the digital to analog converter register suggested M variable definitions M102 M202 etc then writing values to the M variable Machine Connections 11 PMAC PCI Lite Hardware Reference Manual The analog outputs are intended to drive high impedance inputs with no significant current draw The 2200 output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the output circuitry but any current draw above 10 mA can result in no
31. 1 to 2 for use of connector as RS232 Jump pin 2 to 3 for use of the J4 connector as RS422 This jumper must be set the same as E111 only RS 422 can output phase and servo E111 Clock Lines Output Enable Jump pin 2 to 3 to enable the Phase Servo and Init lines on the connector Jump pin 2 to 3 to disable the Phase Servo and Init lines on the J4 connector For daisy chained PMACS sharing the clock lines for synchronization E111 must be on positions 1 to 2 This jumper must be set the same as E110 only RS 422 can output phase and servo Configuration Jumpers 1 2 Machine Output Supply Configure With the default sinking output driver IC ULN2803A or equivalent in U13 for the J5 JOPTO port outputs these jumpers must connect pins 1 and 2 to supply the IC correctly If this is replaced with a sourcing output driver IC UDN2981A or equivalent these jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly Caution A wrong setting of these jumpers will damage the associated output IC E7 Machine Input Source Sink Control With this jumper connecting pins 1 and 2 default the machine input lines the JS JOPTO port are pulled up to 5V or the externally provided supply voltage for the port This configuration is suitable for sinking drivers If the jumper is changed to connect pins 2 and 3 these lines are pulled down to GND this configuration is suitable for sourcing drivers
32. 9 ee oon oon 52 ee HH ae HH 2 me 5 me ee e ee HH ee e 2 ee we ee ae ee 2 ee ee ee 28 45 ee 000000000000 oe ee 00000 coros 0 9000000000000000000000000 2900000000000000000000000 exu eco oon 225 22 ee meee 000 H eo ee 2 e ee ee ee Hardware Reference Summary 25 PMAC PCI Lite Hardware Reference Manual Board Layout Part Number 603657 10x Feature Location Feature Location EO A5 E55 B6 El AS E57 B6 E2 AS E58 B6 E3 8 59 B6 E4 8 E61 B6 E5 8 62 B7 E6 8 63 B7 E7 A6 E65 B7 E10A A2 E72 B9 10 2 73 B9 E10C B2 E74 B9 E17A 8 E75 B9 17 8 85 5 E17C 8 87 5 E17D 7 E88 A2 E18 B4 E89 B5 E19 B4 E90 B5 E20 B4 E98 7 21 B4 E100 A3 E22 A9 E101 4 23 A9 E102 4 28 7 109 B6 E29 8 E110 7 0 8 111 7 E31 8 119 E32 8 122 B7 E33 8 015 E34 8 020 2 E34A 8 D20A E35 8 D21 A2 E36 8 D21A E37 8 1 4 E38 8 4 40 B5 J2 B7 E41 B5 J3 B6 E42 B5 JA 7 43 B5 J5 5 44 5 6 A9 E45 B5 J8 B9 E46 C5 9 47 C5 J20 C3 E48 C5 J29 C5 E49 C5 TBI C6 E50 C5 E51 C5
33. CIbus To mount in the PCI bus simply insert the card edge connector into the PCI socket If there is a standard PC style housing a bracket at the end of the PMAC board can be used to screw into the housing to hold the board down firmly Standoffs At each of the four corners of the PMAC board there are mounting holes that can be used to mount the board on standoffs Power Supplies Digital Power Supply 2A 5V 5 10W Eight channel configuration with a typical load of encoders e host computer provides the 5V power supply if PMAC is installed in its internal bus With the board plugged into the bus it will pull 5V power from the bus automatically and it cannot be disconnected In this case there must be no external 5 supply or the two supplies will fight each other possibly causing damage This voltage could be measured between pins 1 and 3 of the terminal block e Ina stand alone configuration when PMAC is not plugged in a computer bus it will need an external 5V supply to power its digital circuits The 5 line from the supply should be connected to pin 1 or 2 of the JMACH connector usually through the terminal block and the digital ground to pin 3 or 4 Acc 1x provides different options for the 5V power supply Analog Power Supply 0 3A 12 to 15V 4 5W 0 25A 12 to 15V 3 8W The analog output circuitry on PMAC is optically isolated from the digital computation circuitry and so requi
34. Equiv To 16 HWCA Input Handwheel Encoder A Channel 5v Sq Pulse Must Use E23 Cha2 17 IPLD Output In Position Ind C S Low Lights Led 18 BRLD Output Buffer Request Ind Low Lights Led 19 ERLD Output Fatal Follow Err 5 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 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 23 T5V Output 5 power For Remote Panel 26 GND Common PMAC common The JPAN connector can be used to connect Acc 16 Control Panel or customer provided I O to the PMAC providing manual control of PMAC functions via simple toggle switches If the automatic control panel input functions are disabled 12 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 I2 Ix06 I O and Memory Map Suggested M variables M20 M32 46 Connector Pinouts PMAC PCI Lite Hardware Reference Manual J3 Multiplexer Port Connector J3 JTHW 26 Pin Connector 25 2888888888889 26 2
35. JANA 16 Compare Equal Outputs Port JEQU Port ceca ete eet Tace ee a Rte 17 Serial Port IRS422 Pott aede tne idt eau Cin ed ae eevee 17 Machine Connections Example ert riore tree oerte eds eget 19 SOFTWARE SETUP es t 21 Mmm 21 PMAG I Varlables se E 21 Table of Contents i PCI Lite Hardware Reference Manual Operational Frequency and Baud Rate Setup eere 21 Serial Addressing Card 22 Option 16 Supplemental Battery Backed Memory 23 HARDWARE REFERENCE SUMMARY eren e teen eene tata sene 25 Board Dimensions Part Number 603657 100 25 Board Layout Part Number 603657 10x 26 Connectors Indicatots are et petris ese ree o re Hle gode d gets scole nt ent 28 Display Port JDISP FOTU 28 J2 Control Panel Port 28 J3 Thumbwheel Multiplexer Port JTHW Port 28 J4 Serial Port 788422 28 J5 General Purpose Digital Inputs and Outputs JOPTO Port n se 28 J6 Expansion Port JXIO eese eee tete te
36. and 1 is pin 23 The third channel index pulse is optional for encoder 1 is pin 17 and CHC1 is pin 19 Example differential quadrature encoder connected to channel 1 DAC Output Signals If PMAC is not performing the commutation for the motor only one analog output channel is required to command the motor This output channel can be either single ended or differential depending on what the amplifier is expecting For a single ended command using PMAC channel 1 connect DACI pin 43 to the command input on the amplifier Connect the amplifier s command signal return line to PMAC s AGND line pin 58 In this setup leave the DACI pin floating Do not ground it For a differential command using PMAC channel 1 connect DACI pin 43 to the plus command input on the amplifier Connect DACI pin 45 to the minus command input on the amplifier PMAC s AGND should still be connected to the amplifier common If the amplifier is expecting separate sign and magnitude signals connect DACI pin 43 to the magnitude input Connect AENA1 DIR1 pin 47 to the sign direction input Amplifier signal returns should be connected to AGND pin 58 This format requires some parameter changes on PMAC See Ix02 and Ix25 Jumper E17 controls the polarity of the direction output This may have to be changed during the polarity test This magnitude and direction mode is suited for driving servo amplifiers that expect this
37. 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 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 Connector Pinouts 47 PMAC PCI Lite Hardware Reference Manual J4 Serial Port Connector J4 JRS422 26 Pin Connector 22222 2 2 Front View Pin Symbol Function Description Notes 1 CHASSI Common PMAC Common 2 S 5V Output 5Vdc Supply Deactivated by E8 3 RD Input Receive data Diff I O low true 4 RD Input Receive data Diff I O high true 5 SD Output Send data Diff I O low true 6 SD Output Send data Diff I O high true 7 CS Input Clear to send Diff I O high true 8 CS Input Clear to send Diff I O low true 9 RS Output Req To send Diff I O high true 10 RS Output Req To send Diff I O low true 11 DTR Bidirect Data term read Tied to DSR 12 INIT Input PMAC Reset Low is reset 13 GND Common PMAC Common TE
38. e 8 Pins marked L Mn 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 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 usually AGND to produce 0 in PMAC software 52 Connector Pinouts PMAC PCI Lite Hardware Reference Manual J9 JEQU Position Compare Connector 9 1 J9 JEQU 10 Pin Connector 2 Front View Pin Symbol Function Description Notes 1 EQUI Output Enc 1 comp EQ Low is true 2 2 Output Enc 2 comp EQ Low is true 3 EQU3 Output Enc 3 comp EQ Low is true 4 EQU4 Output Enc 4 comp EQ Low is true 5 EQUS Output Amp enable 1 Low is true 6 EQU6 Output Amp enable 2 Low is true 7 EQU7 Output Amp enable 3 Low is true 8 EQU8 Output Amp enable 4 Low is true 9 Supply Positive supply 5v to 424v 10 AGND Common Analog ground This connector provides the position compare outputs and the amplifier enable outputs for the four servo interface channels The board is equipped with ULN2803A or equivalent
39. e board as Card 0 Set IO to specify the card number software address that the board will have on the multi drop cable Also set I1 to 2 to enable the serial software addressing Store these values to the non volatile flash memory with the SAVE command Then turn off power If the board 15 to input its clocks remove any of the E40 E43 jumpers Connect the multi drop cable Restore power to the system Option 16 Supplemental Battery Backed Memory If Option 16 supplemental battery backed parameter memory is ordered an extra bank of memory with battery backup circuitry 15 provided This option can be ordered only if the main memory is flash backed Option 4A 5A 5B or 5C This memory is for user parameter storage only From PMAC programs it can be accessed with M variables only L variables also in compiled PLCs The on line direct memory read and write commands can be used from the host computer as well With M variable access arrays can be created with indirect addressing techniques by pointing a second M variable to the definition of a first M variable that points into this memory area For example with the M variable definitions 0 gt 1 5 000 151 long word of Opt 16 RAM floating point 10 gt 5 000 0 16 Low 16 bits of def with pointer address The following code segment could load a sine table into the first 360 words of the Option 16 RAM 1 0 WHILE 1 lt 360 M10 SA000 P1 Sets address that MO points t
40. e user configurable pull up pull down resistor networks to permit the acceptance of either single ended or differential signals in one setting or the detection of lost differential signals in another setting e The inputs of each differential pair each have a hard wired 1 pull up resistor to 5V This cannot be changed The inputs of each differential pair each have a hard wired 2 2 resistor to 5V also each has another 2 2 kQ resistor as part of a socketed resistor pack that can be configured as a pull up resistor to 5 or a pull down resistor to GND If this socketed resistor is configured as a pull down resistor the default configuration the combination of pull up and pull down resistors on this line acts as a voltage divider holding the line at 2 5V in the absence of an external signal This configuration is required for single ended inputs using the lines alone it is desirable for unconnected inputs to prevent the pick up of spurious noise it is permissible for differential line driver inputs If this socketed resistor is configured as a pull up resistor by reversing the SIP pack in the socket the two parallel 2 2 kQ resistors act as a single 1 1 kQ pull up resistor holding the line at 5V in the absence of an external signal This configuration is required if encoder loss detection is desired it is required if complementary open collector drivers are used it is permissible for differential li
41. eaches a pre loaded value This 15 useful for scanning and measurement applications Instructions for use of these outputs are presented in the PMAC s User Manual J17 Serial Port JRS232 Port This connector applies only to the turbo version of the PMAC PCI Lite board It allows PMAC to communicate through its auxiliary RS232 serial port J30 Optional Analog to Digital Inputs JANA Port This optional port is used to bring in the analog signals for the optional analog to digital inputs set This feature provides up to 16 analog inputs in the range of 0 to 5V unipolar or 2 5V bipolar 28 Hardware Reference Summary PMAC PCI Lite Hardware Reference Manual J31 Optional Universal Serial Bus Port JUSB Port This optional port allows communication with PMAC through a standard USB connection 951 Expansion Ports JS1 Port This port is used only when connecting to optional PMAC accessory boards TB1 Power Supply Terminal Block JPWR Connector This terminal block may be used as an alternative power supply connector if PMAC is not installed in a PCI bus LED Indicators D20 and D20A When these green LEDs are lit they indicate that power is applied to the 5V input D21 and D21A When these red LEDs are lit they indicate that the watchdog timer has tripped and shut down the PMAC D15 The PMAC has an interlock circuit that drops out the 15V supplies to the analog outputs through fail safe relay if any supply
42. en 28 J8 Machine Connectors JMACH 28 J9 Compare Equal Outputs Port JEQU 28 J17 Serial Port JRS232 28 J30 Optional Analog to Digital Inputs JANA sese eene 28 J31 Optional Universal Serial Bus Port JUSB essere eene nennen 29 JS1 Expansion Ports 29 TBI Power Supply Terminal Block JPWR Connector essere eene enne 29 LED Indicators 29 AY ee 29 E POINT JUMPER DESCRIPTIONS sisccsssssscosisessonsncessonsnsossonsnsessonsivossonsneessensteessenstsensseessensnerssensoerseesarsenortaresier 31 Reserved for USe rotten uet 31 E2 Machine Output Supply Voltage Configure enne 31 E6 Servo Clock Frequency Control enne ee rnnt eren enn 32 E7 Machine Input Source Sink 1 32 E10A B C Flash Memory Bank Select sss 33 E17A D Amplifier Enable Direction Polarity 33 E18 E20 Power Up Reset Load Source 33 E21 Power Up Reset Load enne 34 E22 E23 C
43. esigns E22 E23 Control Panel Handwheel Enable Putting these jumpers ON ties the handwheel encoder inputs on the JPAN control panel port to the Channel 2 encoder circuitry If the handwheel inputs are connected to Channel 2 no encoder should be connected to Channel 2 through the JMACH connector E72 E73 Control Panel Analog Input Enable Putting these jumpers ON ties the output of the Option 10 voltage to frequency converter that can process the Wiper analog input on the JPAN control panel port to the Channel 4 encoder circuitry If the frequency signal is connected to Channel 4 no encoder should be connected to Channel 4 through the JMACH connector E74 E75 Encoder Sample Clock Output Putting these jumpers ON ties the encoder sample clock signal to the CHC4 and CHC4 lines on the JMACH port This permits the clock signal to be used to synchronize external encoder processing devices like the Acc 8D Option 8 interpolator board With these jumpers ON no encoder input signal should be connected to these pins 4 Hardware Setup PMAC PCI Lite Hardware Reference Manual Board Reset Save Jumpers E50 Flash Save Enable Disable Control If E50 is ON default the active software configuration of the PMAC can be stored to non volatile flash memory with the SAVE command If the jumper on E50 is removed this SAVE function is disabled and the contents of the flash memory cannot be changed E51 Re Initialization on Reset Con
44. ged in a PCI bus slot will be recognized by the operating system when the computer is booted up The available PCI address dual ported RAM address and Interrupt lines are set automatically by the operating system and can be checked but not modified in the resources page of the device manager PMAC I Variables PMAC has a large set of Initialization parameters I variables that determine the personality of the card for a specific application Many of these are used to configure a motor properly Once set up these variables may be stored in non volatile EAROM memory using the SAVE command so the card is always configured properly PMAC loads the EAROM I variable values into RAM on power up The easiest way to program set up and troubleshoot PMAC 15 by using the PMAC Executive Program Pewin and its related add on packages P1Setup and PMAC Plot These software packages are available by ordering Acc 9WN The programming features and configuration variables for the PMAC are fully described in the PMAC User and Software manuals Operational Frequency and Baud Rate Setup Note Older PMAC boards required a start up PLC for setting the operational frequency at 80 MHz This method is not compatible with the PMAC PCI Lite board and when used will shut it down The operational frequency of the CPU is set in software by the PMAC 146 I variable If this variable is set to 0 PMAC firmware looks at the jumper E48 to set the operatio
45. gs e Interface to external 16 bit serial ADC Display control panel mixed I O direct I O interface ports Buffered expansion port Clock crystal with 100 ppm accuracy PID notch feedforward servo algorithms 1 year warranty from date of shipment One manuals CD per set of one to four PMACs in shipment cables mounting plates mating connectors not included Option 2 Dual Ported RAM Dual ported RAM provides a high speed communications path for bus communications with the host computer through a bank of shared memory DPRAM is advised if more than about 100 data items per second are to be passed between the controller and the host computer in either direction e Option 2 provides an 8k x 16 bank of on board dual ported RAM The key component on the board is U1 Option 5xF CPU Speed Options The base PMAC PCI Lite version has a 40 MHz DSP563xx CPU This is Option SAF which is provided automatically if no CPU speed option is specified e Option 5AF 40 MHz DSP563xx CPU 80 MHz 56002 equivalent This is the default CPU speed e Option 5CF 80 MHz DSP563xx CPU 160 MHz 56002 equivalent e Option 5EF 160 MHz DSP563xx CPU 320 MHz 56002 equivalent Introduction 1 PMAC PCI Lite Hardware Reference Manual Option 6 Extended Servo Algorithm Firmware e Option 6 provides an Extended Pole Placement Servo Algorithm firmware instead of the regular servo algorithm firmware This is required only in difficult to control systems re
46. h an optional voltage to frequency converter using E point jumpers to feed this into the Encoder 4 circuitry no other use is permitted then and executing frequency calculations using the time base feature of the encoder conversion table The key component on the board is U18 Option 15 provides a voltage to frequency converter that permits the use of the WIPER input on the control panel port Option 16 Battery Backed Parameter Memory The contents of the standard memory are not retained through a power down or reset unless they have been saved to flash memory first Option 16 provides supplemental battery backed RAM for real time parameter storage that is ideal for holding machine state parameters in case of an unexpected power down This memory appears at addresses A000 BBFF The key components on the board U142 0145 0149 and e Option 16A provides a 16k x 24 bank of battery backed parameter RAM 2 Introduction PMAC PCI Lite Hardware Reference Manual HARDWARE SETUP On the PMAC there are many jumpers pairs of metal prongs called E points Some have been shorted together others have been left open These jumpers customize the hardware features of the board for a given application and must be set up appropriately The following is an overview of the several PMAC jumpers grouped in appropriate categories For a complete description of the jumper setup configuration refer to the CPU Board E Point De
47. h the J4 serial port connector and the settings of E29 E33 are not relevant E34A E38 Encoder Sampling Clock Frequency Control Jumpers E38 control the encoder sampling clock SCLK used by the gate array ICs No more than one of these six jumpers may be on at a time E34 E35 E36 E37 E38 SCLK Clock Frequency Default and Physical Layout E34A E34 E35 E36 E37 E38 8 8 8 8 8 8 Off Off Off Off Off 19 6608 MHz Off On Off Off Off Off 9 8304 MHz E34 ON Off Off On Off Off Off 4 9152 MHz Off Off Off On Off Off 2 4576 MHz Off Off Off Off On Off 1 2288 MHz Off Off Off Off Off On External Clock 1 to 30MHz maximum input on amp CHC4 E40 E43 Clock Direction Control Jumpers E40 E43 determine the direction of the phase and servo clocks All of these jumpers must be ON for the card to use its internally generated clock signals and to output these on the serial port connector If any of these jumpers is OFF the card will expect to input these clock signals from the serial port connector and its watchdog timer will trip immediately if it does not receive these signals The card number 0 15 for serial addressing of multiple cards on a daisy chain serial cable is determined by the PMAC variable IO See the Software Setup section in this manual
48. her Defeats OPTO coupling Note If E87 is changed E85 and E88 must be changed also See E90 E88 A2 Jump pin 1 to pin 2 to allow A 14V to come from PC No jumper bus Ties amplifier and PMAC power supply together Defeats OPTO coupling Note Note that 1f E88 1s changed E87 and E85 must be changed also See E90 E89 Amplifier Supplied Switch Pull Up Enable E Point and Physical Layout Location Description Default E89 B5 Jump pin 1 to 2 to use 15 on J8 JMACH1 pin 59 Jumper installed as supply for input flags Remove jumper to use A 15V OPT V from J9 pin 9 as supply for input flags Note This jumper setting 1s only relevant if E90 connects pin 1 to 2 E90 Host Supplied Switch Pull Up Enable E Point and 0 Physical Layout Location Description Default E90 B5 Jump pin 1 to 2 to use A 15V from J8 pin 59 as supply 1 2 Jumper installed Q Q for input flags E89 ON flags should be tied to AGND 15 from J8 pin 11 as supply for input flags E89 OFF flags should be tied to separate OV reference Jump pin 2 to 3 to use 12V from PC bus connector P1 pin 09 as supply for input flags flags should be tied to GND See E85 E87 E88 and PMAC Opto isolation diagram E Point Jumper Descriptions 39 PMAC PCI Lite Hardware Reference Manual E98 DAC ADC Clock Frequency Control
49. l circuitry The JANA connector provides the inputs for the eight or 16 optional analog inputs on the PMAC2 Only present if Option 12A ordered Connector Pinouts 53 PMAC PCI Lite Hardware Reference Manual J31 JUSB Universal Serial Bus Port Optional JS1 A D Port 1 Connector Pin Symbol Function 1 VCC N C 2 D Data 3 D Data 4 GND GND 5 Shell Shield 6 Shell Shield JS1 16 Pin Header 42 1 2 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 4 2 BDATAI Output D to A Data DAC data for chan 1 2 3 4 3 ASELO Output Chan Select Bit 0 Select for chan 1 2 3 4 4 ASEL1 Output Chan Select Bit 1 Select for chan 1 2 3 4 5 CNVRTO01 Output A to D Convert ADC convert sig Chan 1 2 3 4 6 ADCINI Input A to D Data ADC data for chan 1 2 3 4 7 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 41 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 44 Input Amp Fault Amp fault input for chan 4 15
50. larity is programmable with I variable Ix25 1125 for motor 1 and the return signal is analog ground AGND FAULTI is pin 49 With the default setup this signal must be actively pulled low for a fault condition In this setup 1f nothing is wired into this input PMAC will consider the motor not to be in a fault condition The amplifier fault signal could be monitored using the properly defined Mx23 variable 12 Machine Connections PMAC PCI Lite Hardware Reference Manual JMACH1 JEQU PIN 9 FAULT1 Connect to the amplifier fault output Bus Connect to the AGND o aa amplifier fault output 49 FAULT1 12 15 Volts signal E100 on 1 2 15 24 Volts signal E100 on 2 3 Some amplifiers share the fault output with the enable disable status output In this case a special PLC code must be written with the following sequence Disable the amplifier fault input see Ix25 Enable the motor J command Wait for the amplifier fault input to be false monitor 23 Re enable the amplifier fault input see Ix25 General Purpose Digital Inputs and Outputs JOPTO Port PMAC s J5 or JOPTO connector provides eight general purpose digital inputs and eight general purpose digital outputs Each input and each output has its own corresponding ground pin in the opposite row The 34 pin connector was designed for easy interface to OPTO 22 or equivalent optically isolated I O modules Delta Tau s Acc 21F is a six f
51. meter The JDISP connector is used to drive the 2 line x 24 character Acc 12 2 x 40 Acc 12A LCD or the 2 x 40 vacuum fluorescent Acc 12C display unit The DISPLAY command may be used to send messages and values to the display See Program Commands DISPLAY Accessories Acc 12 12A 12 Acc 16D Memory Y 0780 07DI Connector Pinouts 45 PMAC PCI Lite Hardware Reference Manual J2 Control Panel Port Connector J2 JPAN 26 Pin Connector 2 2 26 Front View Pin Symbol Function Description Notes 1 T5V Output 5V power For Remote Panel 2 GND Common PMAC common 3 0 Input Motor C S Select Bit 0 Low Is True 4 JOG Input Jog In Dir Low Is Jog 5 FPDI Input Motor C S Select Bit 1 Low Is True 6 JOG Input Jog In Dir Low Is Jog 7 PREJ Input Return to prejog 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 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
52. n E Point Jumper Descriptions 3l PMAC PCI Lite 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 E98 E29 E33 through a divide by N counter Jumpers E3 through E6 control this dividing function Default and Physical Layout E3 4 5 6 Servo Clock Phase Clock 4 5 E6 Divided 5 Location 8 A8 8 AS On Off On Off Only E5 and E6 ON On Off On Off On Off On Off On Off On Off Note Adjust the setting of I variable I10 to match the servo interrupt cycle time set by E98 E3 E6 E29 E33 and the crystal clock frequency 110 holds the length of a servo interrupt cycle scaled so that 8 388 608 equals one millisecond Since I10 has a maximum value of 8 388 607 the servo interrupt cycle time should always be less than a millisecond unless the basic unit of time on PMAC should be something other than a millisecond To have a servo sample time greater than one millisecond the sampling may be slowed in the software with variable Ix60 Frequency can be checked pins 21 amp 22 It can also be checked from the software by typing 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
53. nal 3 3 pull up resistor to go high RP18 A high side voltage 5 to 24V may be provided to pin 33 of the JOPTO connector and allow this to pull up the outputs by connecting pins 1 and 2 of jumper E1 In addition jumper E2 must connect pins 1 and 2 for a ULN2803A sinking output It is possible for these outputs to be sourcing drivers by substituting a UDN2981A IC for the ULN2803A This U13 IC is socketed and so may be replaced easily For this driver the internal resistor packs pull down instead With a UDN2981A driver IC Jumper E1 must connect pins 2 and 3 and Jumper E2 must connect pins 2 and 3 The outputs can be configured individually to a different output voltage by removing the internal pull up resistor pack RP18 and connecting a separate external pull up resistor to the desired voltage level to each output Example Standard configuration using the ULN2803A sinking open collector output IC JOPTO MM Input switch 15 Load 100 mA max Optional 5 to 24 Volts 31 01 t DC power supply 33 et 34 GND Control Panel Port I O JPAN Port The J2 JPAN connector is a 26 pin connector with dedicated control inputs dedicated indicator outputs a quadrature encoder input and an analog input The control inputs are low true with internal pull up resistors They have predefined functions unless the control panel disable I variable 12 has been set to 1 If this is the case they may be used as general pur
54. nal frequency If 146 is set to a value greater than 0 the operational frequency is set to 1OMHz 146 1 regardless of the jumper setting If the desired operational frequency is higher than the maximum rated frequency for that CPU the operational frequency will be reduced to the rated maximum It is possible to operate the Flex CPU board at a frequency below its rated maximum 146 is used only at power up reset To change the operational frequency set a new value of 146 issue a SAVE command to store this value in non volatile flash memory Then issue a command to reset the controller To determine the frequency at which the CPU 15 actually operating issue the TYPE command to the PMAC The PMAC will respond with five data items the last of which is CLK Xn in which n is the multiplication factor from the 20MHz crystal frequency not 10 2 n should be equivalent to 146 1 2 if 146 is not requesting a frequency greater than the maximum rated for that CPU board n will 2 for 40MHz operation 4 for 80 2 operation and 8 for 160MHz operation Software Setup 21 PMAC PCI Lite Hardware Reference Manual If the CPU s operational frequency has been determined by a non zero setting of 146 the serial communications baud rate 15 determined at power up reset by variable 154 alone according to the following table I54 Baud Rate 154 Baud Rate 0 600 8 9600 1 900 9 14 400
55. ncoder 4 for pulse and direction decode by setting 1915 to 0 or 4 A value of 4 is usually used because with CHBA direction unconnected a positive voltage causes the counter to count up The encoder conversion table can then take the difference in the counter each servo cycle and scale it providing a value proportional to frequency and therefore to the input voltage Usually this is used for feedrate override time base control but the resulting value can be used for any purpose The resulting value in the default setup can be found at X 729 24 Power Supply For the V F converter to work PMAC must have 12V supply referenced to digital ground If PMAC 15 in a bus configuration usually this comes through the bus connector from the bus power supply In a standalone configuration this supply must be brought through the bus connector or the supply terminal block or it must be jumpered over from the analog side with E85 E87 and E88 defeating the optical isolation on the board Machine Connections 15 PMAC PCI Lite Hardware Reference Manual Using PMAC s Control Panel Analog Wiper Input Optional user provided 10V Value Pulse Train Integer Interpolated Proportional Voltage 0 to 250 KHz Count to Voltage 0 to 40V di Count s 24 24 24 E72 1 T Time am 20 Decoder Encoder Base gt Conversion Conversion CHA4 Counter X37 mra
56. ne driver inputs even without encoder loss detection If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket marked by wide white square solder pin on the front side of the board then the pack is configured as a bank of pull down resistors If the pack is reversed in the socket it is configured as a bank of pull up resistors The following table lists the pull up pull down resistor pack for each input device Device Resistor Pack Pack Size Encoder 1 RP60 6 pin Encoder 2 RP62 6 pin Encoder 3 RP66 6 pin Encoder 4 RP68 6 pin Hardware Setup 7 PMAC PCI Lite Hardware Reference Manual Hardware Setup PMAC PCI Lite Hardware Reference Manual MACHINE CONNECTIONS Typically the user connections are made to a terminal block that is attached to the JMACH connector by a flat cable Accessory 8D or 8P The pin out numbers on the terminal block are the same as those on the JMACH connector The possible choices for breakout boards are Board Mounting Breakout Style Breakout Connector Notes Acc 8P DIN Rail Monolithic Terminal Block Simple Phoenix contact board Acc 8D DIN Rail Monolithic Terminal Block 4 Acc 8DCE DIN Rail Modular D sub connector Tot pas compliance Mounting The PMAC can be mounted in one of two ways in the PCI bus or using standoffs P
57. o MO SIN P1 Puts value in register that 0 points to P1 P1 1 ENDWHILE Note This technique 15 not possible with L variables in compiled PLCs However it is possible with M variables in compiled PLCs Physically the Option 16 memory is a 16k x 24 bank of battery backed static RAM It maps into the PMAC and PMAC2 at addresses A000 to BFFF on both the X and Y data buses an 8k x 48 block of address space Addresses 00 to Y BFFF are double mapped with the main flash backed RAM for the M variable definitions and should not be used for user parameter storage Any value written into the Option 16 memory will be retained automatically through a power down or reset no SAVE operation is required The power draw on the battery is low enough that typically battery life will be limited only by the quoted 10 year life of battery Software Setup 23 PMAC PCI Lite Hardware Reference Manual 24 Software Setup PMAC PCI Lite Hardware Reference Manual HARDWARE REFERENCE SUMMARY Board Dimensions Part Number 603657 100 900000000000000000000000000000 890000000000000000000000000000 us 000000099000 ee ee ee wes mo sene sene se 00 ee ee ee 99
58. o 0 will respond to the host with handshake characters and or data responses All boards on the cable will respond to control character action commands such as CTRL gt regardless of the current addressing Note RS422 serial interfaces must be used on all PMAC boards for multi drop serial communications This will not work with RS232 interfaces Typically multiple PMAC boards on the same serial cable will share servo and phase clock signals over the serial port cable for tight synchronization If the servo and phase clock lines are connected between multiple PMACs only one of the PMAC boards can be set up to output these clocks E40 E43 all ON for a PMAC PCI Lite All of the other boards in the chain must be set up to input these clocks one or more of the jumpers E40 E43 OFF for a PMAC PCI Lite Any PMAC PCI Lite board with one or more of E40 E43 OFF is expecting its Servo and Phase clock signals externally from a Card 0 If it does not receive these clock signals the watchdog timer will immediately shut down the board and the red LED will light If the PMAC PCI Lite 15 set to receive external Servo and Phase clock signals for synchronization purposes but is not using multi drop serial communications 10 does not need to be changed from 0 22 Software Setup PMAC PCI Lite Hardware Reference Manual To set up a board to communicate as Card 1 to Card 15 on a multi drop serial cable first communicate with th
59. on PMAC is lost In this case the green LED D15 will be off Fuse The 5V output through the 5 JOPTO connector 15 protected by F1 which is a 2 Amp fuse of the following type Manufacturer LittleFuse Part Number 021 273002 004 Hardware Reference Summary 29 PMAC PCI Lite Hardware Reference Manual 30 Hardware Reference Summary PMAC PCI Lite Hardware Reference Manual E POINT JUMPER DESCRIPTIONS 0 Reserved for Future Use E Point and Location Description Default Physical Layout 0 5 For future use No jumper E1 E2 Machine Output Supply Voltage Configure E Point and Location Description Default Physical Layout AS Jump pin 1 to 2 to apply V 5V to 24V to 1 2 Jumper pin 10 of U13 should be ULN2803A forsink installed output configuration JOPTO Machine outputs 01 08 1 000 The jumper setting must match type of driver IC or damage to the IC will result Jump pin 2 to 3 to apply GND to pin 10 of U13 should be UDN2981A for source output configuration 5 Jump pin 1 to 2 to apply GND to pin 10 of U13 1 2 Jumper should ULN2803A for sink output installed configuration E2 Caution 17272 jumper setting must match the type of driver IC or damage to the IC will result Jump pin 2 to 3 to apply V 5V to 24V to 10 of U13 should be UDN2981A for source output configuratio
60. ontrol Panel Handwheel Enable 34 E28 Following Error Watchdog Timer Signal Control 34 E29 E33 Phase Clock Frequency Control eese rennen 35 E38 Encoder Sampling Clock Frequency 35 E40 E43 Clock Direction Control sees ener 35 E44 EAT Serial Pott Baud Rate iet sent ECRIRE HE UR ERE aged Er e rete 36 E48 CPU Clock Frequency Control Option CPU Section 36 E49 Serial Communications Parity 1 37 E50 Flash Save Enable Disabl es 37 E51 Normal Re Initializing Power Up sees enne enne nre 37 E55 E65 Host Interrupt Signal Select Pee etre id 37 E72 E73 Panel Analog Time Base Signal Enable essere ener 38 E74 E75 Clock Output Control for External Interpolation 38 E85 Host Supplied Analog Power Source Enable 38 E87 E88 Host Supplied Analog Power Source Enable sse 39 E89 Amplifier Supplied Switch Pull Up Enable 39 E90 Host Supplied Switch Pull Up Enable ener 39 E98 DAC ADC Clock Frequency
61. oot cable for this purpose Characteristics of the JOPTO port on the PMAC e 161 0 points 100mA per channel up to 24V Hardware selectable between sinking and sourcing in groups of eight default is all sinking inputs can be changed simply by moving a jumper sourcing outputs must be special ordered or field configured e Eight inputs eight outputs only no changes Parallel fast communications to PMAC CPU Not opto isolated easily connected to Opto 22 PB16 or similar modules through Acc 21F cable Jumper E7 controls the configuration of the eight inputs If it connects pins 1 and 2 the default setting the inputs are biased to 5 for the OFF state and they must be pulled low for the ON state If E7 connects pins 2 and 3 the inputs are biased to ground for the OFF state and must be pulled high for the ON state In either case a high voltage 15 interpreted as a 0 by the PMAC software and a low voltage 15 interpreted as a 1 Caution Do not connect these outputs directly to the supply voltage or damage to the PMAC will result from excessive current draw Having Jumpers E1 and E2 set wrong can damage the IC The V output on this connector has a 2A fuse F1 for excessive current protection Machine Connections 13 PMAC PCI Lite Hardware Reference Manual PMAC is shipped standard with a ULN2803A sinking open collector output IC for the eight outputs These outputs can sink up to 100mA and have an inter
62. open collector driver IC on U37 It may be replaced with UDN28914A or equivalent open emitter driver E101 E102 must be changed or a 74ACT563 or equivalent 5V CMOS driver J30 JANA Analog Input Port Connector Optional Pin Symbol Function Description Notes 1 ANAIO0 Input Analog input 0 0 5v or 2 5v range 2 ANAIOI Input Analog input 1 0 5 or 2 5v range 3 ANAIO2 Input Analog input 2 0 5 or 2 5v range 4 103 Input Analog input 3 0 5 or 2 5v range 2 04 Input Analog input 4 0 5 or 2 5v range 6 ANAIO5 Input Analog input 5 0 5v or 2 5v range 7 ANAIO6 Input Analog input 6 0 5 or 2 5 range 8 ANAIO7 Input Analog input 7 0 5v or 2 5v range 9 ANAIOS Input Analog input 8 0 5 or 2 5v range 10 ANAIO9 Input Analog input 9 0 5 or 2 5v range 11 ANAIIO Input Analog input 10 0 5 or 2 5v range 12 Input Analog input 11 0 5 or 2 5v range 13 ANAII2 Input Analog input 12 0 5 or 2 5v range 14 ANAII3 Input Analog input 13 0 5 or 2 5v range 15 ANAII4 Input Analog input 14 0 5 or 2 5 range 16 5 Input Analog input 15 0 5 or 2 5v range 17 GND Common PMAC common Not isolated from digital 18 12V Output Pos supply voltage To power external circuitry 19 GND Common PMAC common Not isolated from digital 20 12V Output Neg supply voltage To power externa
63. orm of M variables is used for these boards e The Acc 8D Option 7 Resolver to Digital Converter board provides up to four resolver channels whose absolute positions can be read through the thumbwheel port The TWR form of M variables is used for this board Acc 8D Option 9 Yaskawa Absolute Encoder Interface board can connect to up to four of these encoders The absolute position is read serially through the multiplexer port on power up If none of these accessory boards is used the inputs and outputs on this port may be used as discrete non multiplexed I O They map into PMAC s processor space at Y address FFC1 The suggested M variable definitions for this use are M40 to M47 for the eight outputs and M50 to M57 for the eight inputs The Acc 27 Optically Isolated I O board buffers the I O in this non multiplexed form with each point rated to 24V and 100mA Optional Analog Inputs JANA Port The JANA port is present only if Option 12 is ordered for the PMAC Option 12 provides eight 12 bit analog inputs 100 107 Option 12A provides eight additional 12 bit analog inputs ANA08 5 for a total of 16 inputs The analog inputs can be used as unipolar inputs in the to 5V range or bi polar inputs in the 2 5V to 2 5V range The analog to digital converters on PMAC require 5 and 12V supplies These supplies are not isolated from digital 5V circuitry on PMAC If the PMAC is plugged into the PCI b
64. ponents or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 1 DELETED OPTIONS 2B 7 8A UPDATED ALL 10 04 06 CP P SHANTZ JUMPER CONNECTOR INFO 2 CORRECTION TO E17A E17D CONTROL P 6 11 07 06 CP S SATTARI 3 CORRECTIONS TO E110 amp E111 JUMPER DESC 04 26 07 CP S MILICI 4 CORRECTION TO E122 XIN FEATURE P 41 08 14 07 CP B PEDERSEN PMAC PCI Lite Hardware Reference Manual Table of Contents TN TROD UCTION Force Rm 1 Board ConBbguratiom IM C D DE 1 Base 1 Option 2 Dual Ported 1 Option 5xF CPU Speed Options 1 Option 6 Extended Servo Algorithm Firmware eese eene eere 2 Option 6L Special Lookahead Firmware 2 Option 10 Firmware Version 2 Option 12 Analog to Digital Converters
65. pose inputs by assigning M variable to their corresponding memory map locations bits of Y address SFFCO Command Inputs JOG JOG PREJ return to pre jog position and HOME affect the motor selected by the FDPn lines see below The ones that affect a coordinate system are STRT run STEP STOP abort and HOLD feed hold affect the coordinate system selected by the FDPn lines Caution It is not a good idea to change the selector inputs while holding one of the jog inputs low for releasing the jog input will not stop the previously selected motor This can lead to a dangerous situation 14 Machine Connections PMAC PCI Lite Hardware Reference Manual Selector Inputs The four low true BCD coded input lines FDP0 LSBit FDP1 FDP2 and FDP3 MSBit form a low true BCD coded nibble that selects the active motor and coordinate system simultaneously Usually these are controlled from a single 4 bit motor coordinate system selector switch The motor selected with these input lines will respond to the motor specific inputs It will also have its position following function turned on Ix06 is set to 1 automatically the motor just de selected has its position following function turned off Ix06 15 set to 0 automatically Alternate Use If I2 has been set to 1 the discrete inputs can be used for parallel data servo feedback or master position The Acc 39 Handwheel Encoder Interface board provides 8 bi
66. r C Ch Neg 2 3 21 CHBI Input Encoder B Ch Pos 2 22 CHB2 Input Encoder B Ch Pos 2 23 1 Input Encoder B Ch Neg 2 3 24 CHB2 Input Encoder B Ch Neg 2 3 25 CHAI Input Encoder A Ch Pos 2 26 CHA2 Input Encoder A Ch Pos 2 27 1 Input Encoder A Ch Neg 2 3 28 2 Input Encoder A Ch Neg 2 3 29 DAC3 Output Ana Out pos 3 4 30 DAC4 Output Ana Out pos 4 4 31 DAC3 Output Ana Out neg 3 4 5 32 DAC4 Output Ana Out neg 4 4 5 33 AENA3 DIR3 Output Amp ENA dir 3 6 34 AENA4 DIR4 Output Amp ENA dir 4 6 35 FAULT3 Input Amp fault 3 7 36 FAULT4 Input Amp fault 4 7 37 LIM3 Input Neg end limit 3 8 9 38 LIM4 Input Neg end limit 4 8 9 39 LIM3 Input Pos end limit 3 8 9 Connector Pinouts 51 PMAC PCI Lite Hardware Reference Manual J8 Machine Port Connector J8 JMACH 5 60 Pin Header 000000000000000000000000 Front View Continued Pin Symbol Function Description Notes 40 LIM4 Input Pos End Limit 4 8 9 41 HMFL3 Input Home Flag 3 10 42 HMFL4 Input Home Flag 4 10 43 DACI Output Ana Out Pos 1 4 44 DAC2 Output Ana Out Pos 2 4 45 DACI Output Ana Out Neg 1 4 5 46 DAC2 Output Ana Out Neg 2 4 5 47 AENAI DIRI Output Amp ENA Dir 1 6 48 AENA2 DIR2 Output Amp ENA Dir 2 6 49 FAULTI Input Amp Fault 1 7 50 FAULT2 Input Amp Fault 2 7 51 LIM1 Input Neg End Limit
67. r PMACs 48 Connector Pinouts PMAC PCI Lite Hardware Reference Manual J5 Port Connector 5 34 x 259 3 OOOOOOOOOOOOOOOO00 2 Front View Pin Symbol Function Description Notes 1 MIS Input Machine Input 8 Low is true 2 GND Common PMAC Common 3 MI7 Input Machine Input 7 Low is true 4 GND Common PMAC Common 5 MI6 Input Machine Input 6 Low is true 6 GND Common PMAC Common 7 5 Input Machine Input 5 Low is true 8 GND Common PMAC Common 9 MI4 Input Machine Input 4 Low is true 10 GND Common PMAC Common 11 Input Machine Input 3 Low is true 12 GND Common PMAC Common 13 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 MOS Output Machine Output 8 Low true sinking High true sourcing 18 GND Common PMAC Common 19 MO7 Output Machine Output 7 Low true sinking High true sourcing 20 GND Common PMAC Common 21 MO6 Output Machine Output 6 Low true sinking High true sourcing 22 GND Common PMAC Common 23 MO5 Output Machine Output 5 Low true sinking High true sourcing 24 GND Common PMAC Common 25 4 Output Machine Output 4 Low true sinking High true
68. res a separate power supply Bring this in on the JMACH connector Bring the positive supply 12 to 15V in on the A 15V line on pin 59 Bring the negative supply 12 to 15V in on the A 15V line on pin 60 and the analog common in on the AGND line on pin 58 Typically this supply can come from the servo amplifier many commercial amplifiers provide such a supply or an external supply may be used Acc 2x provides different options for the 15V power supply Even with an external supply the AGND line should be tied to the amplifier common It is possible to get the power for the analog circuits from the bus but doing so defeats optical isolation In this case no new connections need to be made However be sure jumpers E85 E87 E88 E89 and E90 are set up for this circumstance The card is not shipped from the factory in this configuration Machine Connections 9 PMAC PCI Lite Hardware Reference Manual Overtravel Limits and Home Switches When assigned for the dedicated uses these signals provide important safety and accuracy functions LIMn and LIMn direction sensitive overtravel limits that must be actively held low sourcing current from the pins to ground to permit motion in their direction The direction sense of LIMn and LIMn is as follows LIMn should be placed at the negative end of travel and LIMn should be placed at the positive end of travel Resistor Pack Configuration Flag and Digital Inputs Vol
69. ructures special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination J4 Serial Port JRS422 Port For serial communications use a serial cable to connect the PC s COM port to the PMAC s serial port connector Delta Tau provides the accessory 3D cable for this purpose which connects PMAC to a DB 25 connector Standard DB 9 to DB 25 or DB 25 to DB 9 adapters may be needed for a particular setup J5 General Purpose Digital Inputs and Outputs JOPTO Port PMAC s JOPTO connector provides eight general purpose digital inputs and eight general purpose digital outputs Each input and each output has its own corresponding ground pin in the opposite row The 34 pin connector was designed for easy interface to OPTO 22 or equivalent optically isolated I O modules Delta Tau s Acc 21F is a six foot cable for this purpose J6 Expansion Port JXIO Port This port is used only when connecting to optional PMAC accessory boards J8 Machine Connectors JMACH Port The primary machine interface connector is JMACH labeled J8 on the PMAC It contains the pins for four channels of machine I O analog outputs incremental encoder inputs and associated input and output flags plus power supply connections J9 Compare Equal Outputs Port JEQU Port The compare equals EQU outputs have a dedicated use of providing a signal edge when an encoder position r
70. scriptions section of this manual Power Supply Configuration Jumpers 12 24V A V pin 9 J9 JEQU E89 e e 12V E85 15 gt e e 4 5V ls E100 5V e 344 ET 1 3 wi A Input Aang ee DACS e AGND Flags EQUs E87 e GND GND e e E88 12V 15 4 4 e e e gt P1 Bus TB1 JMACH1 E85 E87 E88 Analog Circuit Isolation Control These jumpers control whether the analog circuitry on the PMAC is isolated from the digital circuitry or electrically tied to it In the default configuration these jumpers are off keeping the circuits isolated from each other provided separate isolated supplies are used E89 E90 Input Flag Supply Control If E90 connects pins 1 and 2 and E89 is ON the input flags LIMn LIMn HMFLn are supplied from the analog A 15V supply which can be isolated from the digital circuitry If E90 connects pins 1 and 2 and E89 is OFF the input flags are supplied from a separate A V supply through pin 9 of the J9 JEQU connector This supply can be in the 12V to 24V range and can be kept 1solated from the digital circuitry If E90 connects pins 2 and 3 the input flags are supplied from the digital 12V supply and isolation from the digital circuitry is defeated E100 AENA EQU Supply Control If E100 connects pins 1 and 2 the circuits related
71. sonances backlash friction disturbances changing dynamics Option 6L Special Lookahead Firmware e Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profile execution With the lookahead firmware PMAC controls the speed along the path automatically but without changing the path to ensure that axis limits are not violated Option 10 Firmware Version Specification Normally the PMAC PCI Lite is provided with the newest released firmware version A label on the memory IC shows the firmware version loaded at the factory e Option 10 provides for a user specified firmware version Option 12 Analog to Digital Converters Option 12 permits the installation of 8 or 16 channels of on board multiplexed analog to digital converters One or two of these converters are read every phase interrupt The analog inputs are not optically isolated and each can have a 0 5V input range or 2 5V input range individually selectable e Option 12 provides an 8 channel 12 bit A D converter The key components on the board are U20 and connector J30 e Option 12A provides an additional 8 channel 12 bit A D converter The key component on the board is U22 Option 15 V to F Converter for Analog Input The JPAN control panel port on the PMAC PCI Lite has an optional analog input called Wiper because it 15 often tied to a potentiometer s wiper pin PMAC PCI Lite can digitize this signal by passing it throug
72. sters desired minus one the converted data can be found in registers 0708 to 070F See the PMAC Software Reference manual for further details JANA 1 ANADO 0 5 Volts unipolar 2 5 Volts unipolar GND Software selected 19 Compare Equal Outputs Port JEQU Port The compare equals EQU outputs have a dedicated use of providing a signal edge when an encoder position reaches a pre loaded value This is useful for scanning and measurement applications Instructions for use of these outputs are presented in the PMAC s User Manual JEQU Optional 5 to 2 Volts DC powe supply Ee p Outputs can be configured sinking or sourcing by replacing the chips U37 and configuring the jumpers E101 102 The voltage levels can be individually configured by removing resistor pack RP43 and connecting an external pull up resistor in each output to the desired voltage level Serial Port JRS422 Port For serial communications use a serial cable to connect the PC s COM port to the PMAC s serial port connector Delta Tau provides the Acc 3D cable to connect the PMAC PCI to a DB 25 connector Standard DB 9 to DB 25 or DB 25 to DB 9 adapters may be needed for a particular setup Jumper E110 selects between RS232 and RS422 signal types for connector If a cable needs to be made use flat cable prepared with flat cable type connectors as indicated in the following diagram
73. stranded 16 wire 3 Phoenix varioface module type FLKM 16 male pins P N 22 81 03 4 JEQU Position Compare 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOF10 0K0 T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire Mating Connectors 43 PMAC PCI Lite Hardware Reference Manual 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 JANA Analog Inputs Option 1 Two 20 pin female flat cable connector Delta Tau P N 014 00 20 0 0 T amp B Ansley P N 609 2041 2 171 20 T amp B Ansley standard flat cable stranded 20 wire 3 Phoenix varioface modules type FLKM20 male pins 44 Mating Connectors PMAC PCI Lite Hardware Reference Manual CONNECTOR PINOUTS J1 Display Port Connector J1 JDISP 14 Pin Connector 1 2 Front View Pin Symbol Function Description Notes 1 VDD Output 5 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 5Vdc 5 E Output Display enable High is enable 6 R W Output Read or write TTL signal out 7 DB1 Output Display Data 1 8 DBO Output Display Data 0 9 DB3 Output Display Data 3 10 DB2 Output Display Data 2 11 DB5 Output Display Data 5 12 DB4 Output Display Data 4 13 DB7 Output Display Data 7 14 DB6 Output Display Data 6 Controlled by potentio
74. t on J2 to connect to CHA4 Note With these jumpers ON no encoder should be wired into ENC4 on JMACH E27 must connect pins 1 to 2 because these are single ended inputs Variable I915 should be set to 4 to create a positive voltage frequency number in PMAC E74 E75 Clock Output Control for External Interpolation E Point and n Physical Layout Location Description Default E74 B9 Jump pin 1 to 2 to allow SCLK to output on CHC4 No jumper installed E75 B9 Jump pin to 2 to allow SCLK to output on CHC4 No jumper installed Note SCLK out permits synchronous latching of analog encoder interpolators such as Acc 8D Option 8 E85 Host Supplied Analog Power Source Enable E Point and Physical Layout Location Description Default E85 AS Jump pin to pin 2 to allow A 14V to come from PC No jumper bus Ties amplifier and PMAC power supply together Defeats OPTO coupling Note If E85 is changed E88 and E87 must also be changed See E90 38 E Point Jumper Descriptions PMAC PCI Lite Hardware Reference Manual E87 E88 Host Supplied Analog Power Source Enable E Point and Physical Layout Location Description Default E87 AS Jump pin 1 to pin 2 to allow AGND to come from PC No jumper bus Ties amplifier and PMAC GND toget
75. t parallel counter data from a quadrature encoder to these inputs Refer to the Acc 39 manual and the details on Parallel Position Feedback Conversion in the Setting up a Motor section for more details Reset Input Input INIT reset affects the entire card It has the same effect as cycling power or a host command It is hard wired so it retains its function even if I2 15 set to 1 Handwheel Inputs The handwheel inputs HWCA and HWCB can be connected to the second encoder counter on PMAC with jumpers E22 and E23 If these jumpers are ON nothing else should be connected to the Encoder 2 inputs The signal can be interpreted either as quadrature or as pulse HWCA and direction HWCB depending on the value of I905 1905 also controls the direction sense of this input Make sure that the Encoder 2 jumper E26 15 set for single ended signals connecting pins 1 and 2 Optional Voltage to Frequency Converter The Wiper analog input 0 to 10V on PMAC referenced to digital ground provides an input to a voltage to frequency converter V F with a gain of 25kHz V providing a range of 0 250kHz output of the V F can be connected to the Encoder 4 counter using jumpers E72 and E73 If these jumpers are ON nothing else should be connected to the Encoder 4 inputs Make sure that the Encoder 4 jumper E24 is set for single ended signals connecting pins 1 and 2 This feature requires Optionl5 Frequency Decode When used in this fashion set up E
76. tage Selection The PMAC is provided with 6 pin sockets for SIP resistor packs for the input flag sets Each PMAC is shipped without resistor packs installed If the flag or digital inputs circuits are in the 12V to 15V range no resistor pack should be installed in these sockets For flags or digital inputs at 5V levels quad 1kQ SIP resistor packs 1KSIP6C should be installed in these sockets The following table lists the voltage selection resistor pack sockets for each input device Device Resistor Pack Flags 1 77 Flags 2 RP83 Flags 3 RP89 Flags 4 RP94 Types of Overtravel Limits PMAC expects a closed to ground connection for the limits to be considered not on fault This arrangement provides a failsafe condition and therefore it cannot be reconfigured differently in PMAC Usually a passive normally closed switch is used If a proximity switch is needed instead use a 15V normally closed to ground NPN sinking type sensor JMACH1 JMACH JMACH1 51 Lim 2 PIN 59 12 24V DC 54 Lim Dry Contact 15 Volts proximity 15 24 Volts proximity Jumper E89 E90 and E100 must be set appropriately for the type of sensor used Home Switches While normally closed to ground switches are required for the overtravel limits inputs the home switches could be either normally closed or normally open types The polarity is determined by the home sequence setup through the I variables
77. ticeable signal distortion Example JMACH1 Connect to the amplifier 10V command input Amplifier Enable Signal AENAx DIRn Most amplifiers have an enable disable input that permits complete shutdown of the amplifier regardless of the voltage of the command signal PMAC s AENA line is meant for this purpose If not using a direction and magnitude amplifier or voltage to frequency converter use this pin to enable and disable the amplifier wired to the enable line AENA1 DIR1 is pin 47 This signal is an open collector output with a 3 3 pull up resistor to V which is a voltage selected by jumper E100 The pull up resistor packs are RP43 for channels 1 4 For early tests this amplifier signal should be under manual control JMACH1 1 Connect to the AGND amplifier enable input This signal could be either sinking or sourcing as determined by chips U37 See jumpers E100 E102 For 24V operation E100 must connect pins 2 3 and a separate power supply must be brought on pins 9 7 of the J9 JEQU connector The polarity of the signal 15 controlled by jumpers E17A to E17D The default is low true conducting enable In addition the amplifier enable signal could be controlled manually by setting Ix00 0 and using the suggested definition of the Mx14 variable Amplifier Fault Signal FAULTn This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems and can shut down action The po
78. to apply 15 as set by E100 to pin 10 of U37 should be UDN2981A for source output configuration Caution The jumper setting must match the type of driver IC or damage to the IC will result 1 2 Jumper installed 40 E Point Jumper Descriptions PMAC PCI Lite Hardware Reference Manual E109 Reserved for Future Use E Point and i t Default Physical Layout Location Description efau E109 B6 For future use No jumper 110 Serial Port Configure E Point and n Jump pin 1 to 2 to use J4 connector as RS232 Jump pin 2 to 3 to use connector as RS422 This jumper must be set the same as E111 only RS 422 can output phase and servo E111 Clock Lines Output Enable 1 2 Jumper installed E Point and 1 Default Physical Layout Location Description efau 7 Jump pin 1 to 2 to enable the Phase Servo and Init 2 3 Jumper installed 9 2 3 lines on connector Jump pin 2 to 3 to disable the Phase Servo and Init lines on the J4 connector E111 on positions 1 to 2 is necessary for daisy chained PMACS sharing the clock lines for synchronization This jumper must be set the same as E111 only RS 422 can output phase and servo E119 WATCHDOG DISABLE JUMPER E Point and D
79. to the AENAn EQUn and FAULTn signals will be supplied from the analog A 15V supply which can be isolated from the digital circuitry If E100 connects pins 2 and 3 the circuits will be supplied from a separate A V supply through pin 9 of the 9 JEQU connector This supply can be in the 12V to 24V range and can be kept isolated from the digital circuitry Hardware Setup 3 PMAC PCI Lite Hardware Reference Manual Clock Configuration Jumpers E3 E6 Servo Clock Frequency Control Jumpers determine the servo clock frequency by controlling how many times it is divided down from the phase frequency The default setting of E3 and E4 OFF ES and E6 ON divides the phase clock frequency by four creating a 2 25kHz servo clock frequency This setting is seldom changed E29 E33 Phase Clock Frequency Control Only one of the jumpers E29 E33 which select the phase clock frequency may be on in any configuration The default setting of E31 ON which selects a 9kHz phase clock frequency is seldom changed E34 E38 Encoder Sample Clock Only one of the jumpers E34 E38 which select the encoder sample clock frequency may be on in any configuration The frequency must be high enough to accept the maximum true count rate no more than one count in any clock period but a lower frequency can filter out longer noise spikes The anti noise digital delay filter can eliminate noise spikes up to one sample clock cycle wide
80. trol If E51 is OFF default PMAC executes a normal reset loading active memory from the last saved configuration in non volatile flash memory If E51 is ON PMAC re initializes on reset loading active memory with the factory default values Communication Jumpers PCI Bus Base Address Control The selection of the base address of the card in the I O space of the host PC s expansion bus is assigned automatically by the operating system and is not selected through a jumper configuration as ISA bus address would be 44 47 Serial Baud Rate Selection If the saved value of 146 15 0 the CPU s operational frequency 15 determined by the E48 jumper settings Then the serial baud rate is determined by a combination of the setting of jumpers E44 E47 and the CPU frequency on a PMAC 1 board If the CPU s operational frequency has been determined by a non zero setting of 146 the serial communications baud rate 15 determined only by variable 154 at power up reset See the Software Setup section of this manual for details E49 Serial Communications Parity Control Jump pin 1 to 2 for NO serial parity remove jumper for ODD serial parity E54 E65 Interrupt Source Control These jumpers control which signals are tied to interrupt lines 5 IR6 and IR7 on PMAC s programmable interrupt controller PIC as shown in the interrupt diagram Only one signal may be tied into each of these lines E110 Serial Port Configure Jump pin
81. us the supplies are taken from the bus power supply In a standalone application the supplies must be brought in on terminal block TB1 The 12V and matching 12V supply voltages are available on J30 connector to supply the analog circuitry providing the signals 16 Machine Connections PMAC PCI Lite Hardware Reference Manual Only one pair of analog to digital converter registers is available to the PMAC processor at any given time The data appears to the processor at address Y FFC8 The data from the selected analog input 0 to 7 ANAI00 ANAIO7 appears in the low 12 bits the data from the selected analog input 8 to 15 08 5 appears in the high 12 bits this data is present only if Option 12A has been ordered The input is selected and the conversion is started by writing to this same word address Y FFC8 A value of 0 to 7 written into the low 12 bits selects the analog input channel of that number ANAIO0 ANAIO7 to be converted in unipolar mode to 5V A value of 0 to 7 written into the high 12 bits selects the analog input channel numbered eight greater ANAI08 ANAI15 in unipolar mode If the value written into either the low 12 bits or the high 12 bits is eight higher 8 to 15 the same input channel is selected but the conversion is in bipolar mode 2 5V to 2 5V PMAC variables 160 and 161 allow an automatic conversion of the analog inputs Setting 160 FFC8 and 161 with the number of converted regi
82. ver IC UDN2981A or equivalent these jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly Caution A wrong setting of these jumpers will damage the associated output IC E122 XIN7 Feature Selection Jump 2 3 to bring the Power Good signal into register XIN7 at Y SE801 bit 7 Reserved Configuration Jumpers E0 Reserved for future use E109 Reserved for future use CPU Jumper Configuration 10 10 Flash Memory Bank Select Jumpers The flash memory IC in location U146 on the PMAC PCI Lite board has the capacity for eight separate banks of firmware only one of which can be used at any given time The eight combinations of settings for jumpers E10A and E10C select which bank of the flash memory is used In the factory production process firmware is loaded only into Bank 0 which is selected by having all of these jumpers OFF 18 20 Power Up State Jumpers Jumper E18 must be OFF jumpers E19 and E20 must be ON in order for the CPU to copy the firmware from flash memory into active RAM on power up reset This is necessary for normal operation of the card Other settings are for factory use only E21 Firmware Load Jumper If jumper E21 is ON during power up reset the board comes up in bootstrap mode which permits the loading of new firmware into the flash memory IC on the board When the PMAC Executive program tries to establish communications with a board in this

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