Delta Tau Turbo PMAC PCI-Lite Hardware Reference Manual
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Delta Tau Turbo PMAC PCI-Lite Hardware Reference Manual

Delta Tau Turbo PMAC PCI-Lite Hardware Reference Manual

Programmable multi-axis controller
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HARDWARE REFERENCE MANUAL
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Turbo PMAC PCI-Lite
Single Source Machine Control
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
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Programmable Multi-Axis Controller
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4xx-603657-THxx
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June 21, 2011
Power // Flexibility // Ease of Use

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Summary of Contents for Delta Tau Turbo PMAC PCI-Lite

  • Page 1 HARDWARE REFERENCE MANUAL Turbo PMAC PCI-Lite Programmable Multi-Axis Controller 4xx-603657-THxx June 21, 2011 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...
  • Page 2 Copyright Information © 2003 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not...
  • Page 3 REVISION HISTORY REV. DESCRIPTION DATE APPVD ADDED 33MHz PCI BUS SPEED, E44-E48 JUMPER SETTINGS, REV 105 LAYOUT & FEATURE TABLE 10/12/06 REMOVED: OPTION 2B USB, OPTIONS 5D0 & 5D3, OPTION 7 CORRECTED E122 JUMPERS to 1-2 ISOLATION JUMPERS IMAGE UPDATE 05/15/11...

  • Page 5: Table Of Contents

    Turbo PMAC PCI-Lite Table of Contents INTRODUCTION ..............................1 Board Configuration ............................... 1 Base Version ..............................1 Option 2: Dual-Ported RAM ..........................1 Option 5: CPU and Memory Configurations ...................... 2 Option 8: High-Accuracy Clock Crystal ......................2 Option 9T: Auxiliary Serial Port ........................2 Option 10: Firmware Version Specification .......................
  • Page 6 Turbo PMAC PCI-Lite HARDWARE REFERENCE SUMMARY ......................22 Board Dimensions (Part Number 603657-100) ...................... 22 Board Layout (Part Number 603657-100) ......................23 Board Dimensions (Part Number 603657-105) ...................... 24 Board Layout (Part Number 603657-105) ......................25 Connectors and Indicators............................. 26 J1 –...
  • Page 7 Turbo PMAC PCI-Lite J1 (JDISP)/Display ............................38 J2 (JPAN)/Control Panel ..........................38 J3 (JTHW)/Multiplexer Port ..........................38 J4 (JRS422)/RS232 OR 422/Serial Communications..................38 J5 (JOPT)/OPTO I/O ............................38 J6 (JXIO)/Expansion Board ..........................38 J8 (JMACH1)/1st Machine Connector....................... 38 JS1/A-D Inputs 1-4 ............................38 JEQU/Position Compare ..........................

  • Page 9: Introduction

    Turbo PMAC PCI Lite INTRODUCTION The Turbo PMAC PCI Lite is a member of the Turbo PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands. Its software is capable of 32 axes of control. It can have up to four channels of on-board axis interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its expansion port, connected to Acc-24P or Acc-24P2 boards.

  • Page 10: Option 5: Cpu And Memory Configurations

    Turbo PMAC PCI Lite Option 5: CPU and Memory Configurations The various versions of Option 5 provide different CPU speeds and main memory sizes integrated on the main board. Only one Option 5xx may be selected for the board. The CPU is a DSP563x IC as component U127. The CPU is available in different speeds and with different internal memory sizes.

  • Page 11: Option 15: V-To-F Converter For Analog Input

    Turbo PMAC PCI Lite Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U20 and connector J30. Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board is U22. Option 15: V-to-F Converter for Analog Input The JPAN control panel port on the Turbo PMAC PCI Lite has an optional analog input called Wiper (because it is often tied to a potentiometer’s wiper pin).

  • Page 12: Hardware Setup

    Turbo PMAC PCI Lite HARDWARE SETUP On the PMAC, there are many jumpers (pairs of metal prongs), called E-points. Some have been shorted together; others have been left open. These jumpers customize the hardware features of the board for a given application and must be setup appropriately.

  • Page 13: Clock Configuration Jumpers

    Turbo PMAC PCI Lite Clock Configuration Jumpers E3-E6: Servo Clock Frequency Control – The jumpers E3 – E6 determine the servo-clock frequency by controlling how many times it is divided down from the phase-frequency. The default setting of E3 and E4 OFF, E5 and E6 ON divides the phase-clock frequency by four, creating a 2.25 kHz servo-clock frequency.

  • Page 14: Board Reset/Save Jumpers

    Turbo PMAC PCI Lite Board Reset/Save Jumpers E50: Flash-Save Enable/Disable Control – If E50 is ON (default), the active software configuration of the PMAC can be stored to non-volatile flash memory with the SAVE command. If the jumper on E50 is removed, this Save function is disabled, and the contents of the flash memory cannot be changed.

  • Page 15: Reserved Configuration Jumpers

    Turbo PMAC PCI Lite signal. With this jumper connecting pins 1 and 2, this pin outputs the warning following error status line for the selected coordinate system. E101-E102: Motors 1 - 4 AENA/EQU voltage configure – Caution: A wrong setting of these jumpers will damage the associated output IC. The U37 driver IC controls the AENA and EQU signals of motors 1 - 4.

  • Page 16: Resistor Pack Configuration: Flag And Digital Inputs Voltage Selection

    Turbo PMAC PCI Lite Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection The PMAC is provided with 6-pin sockets for SIP resistor packs for the input flag sets. Each PMAC is shipped with no resistor packs installed. If the flag or digital inputs circuits are in the 12V to 15V range, no resistor pack should be installed in these sockets.
  • Page 17 Turbo PMAC PCI Lite If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the two parallel 2.2 k resistors act as a single 1.1 k pull-up resistor, holding the line at +5V in the absence of an external signal.

  • Page 18: Machine Connections

    Turbo PMAC PCI Lite MACHINE CONNECTIONS Typically, the user connections are made to a terminal block that is attached to the JMACH connector by a flat cable (Acc-8D or 8P). The pinout numbers on the terminal block are the same as those on the JMACH connector.

  • Page 19: Machine Port Connections (Jmach Connector)

    Turbo PMAC PCI Lite Machine Port Connections (JMACH Connector) Overtravel Limits and Home Switches When assigned for the dedicated uses, these signals provide important safety and accuracy functions. +LIMn and -LIMn are direction-sensitive overtravel limits that must be actively held low (sourcing current from the pins to ground) to permit motion in their direction.

  • Page 20: Dac Output Signals

    Turbo PMAC PCI Lite 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.

  • Page 21: Amplifier Enable Signal (Aenax/Dirn)

    Turbo PMAC PCI Lite 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).

  • Page 22: General-Purpose Digital Inputs And Outputs (Jopto Port)

    Each input and each output has its own corresponding ground pin in the opposite row. The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Delta Tau’s Acc-21F is a six-foot cable for this purpose. Characteristics of the JOPTO port on the PMAC: 16 I/O points;...

  • Page 23: Control-Panel Port I/O (Jpan Port)

    Turbo PMAC PCI Lite Control-Panel Port I/O (JPAN Port) The J2 (JPAN) connector is a 26-pin connector with dedicated control inputs, dedicated indicator outputs, a quadrature encoder input, and an analog input. The control inputs are low-true with internal pull-up resistors.

  • Page 24: Thumbwheel Multiplexer Port (Jthw Port)

    The output lines can be used to multiplex large numbers of inputs and outputs on the port, and Delta Tau provides accessory boards and software structures (special M-variable definitions) to capitalize on this feature. Up to 32 of the multiplexed I/O boards may be daisy-chained on the port, in any combination.

  • Page 25: Compare Equal Outputs Port (Jequ Port)

    For serial communications, use a serial cable to connect the PC’s COM port to the PMAC’s J4 serial port connector. Delta Tau provides the Acc-3D cable that connects the PMAC PCI to a DB-25 connector. Standard DB-9-to-DB-25 or DB-25-to-DB-9 adapters may be needed for a particular setup. Jumper E110 selects between RS-232 or RS422 signals type for the J4 connector.
  • Page 26 Turbo PMAC PCI Lite PMAC (IDC-26) PMAC (DB-25) DB-25 Female IDC-26 2 (TXD) 3 (RXD) 4 (RTS) 5 (CTS) 6 (DSR) 7 (Gnd) 20 (DTR) Do not connect wire #26 No Connect Machine Connections...

  • Page 27: Machine Connections Example

    Turbo PMAC PCI Lite Machine Connections Example Amplifier Load Motor ±15 Volts Power Supply Flags Encoder ACC-8D or ACC-8P SYMBOL Pin # Pin # Pin # Pin # -LIMn HMFLn +LIMn AGND CHCn CHCn/ CHBn CHBn/ CHAn CHAn/ DACn DACn/ AENAn/DIRn FAULTn AGND...

  • Page 28: Software Setup

    Turbo PMAC PCI Lite SOFTWARE SETUP 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 Turbo PMAC PCI Lite board plugged in a PCI bus slot will be recognized by the operating system when the computer is boot up.
  • Page 29 Turbo PMAC PCI Lite If the host computer baud rate does not match the Turbo PMAC’s baud rate, either the Turbo PMAC’s baud rate must be changed through the bus communications port, or the Turbo PMAC must be re- initialized by resetting or powering up with the E51 jumper ON. This forces the Turbo PMAC to the default baud rate of 38,400.

  • Page 30: Hardware Reference Summary

    Turbo PMAC PCI Lite HARDWARE REFERENCE SUMMARY Board Dimensions (Part Number 603657-100) Hardware Reference Summary...

  • Page 31: Board Layout (Part Number 603657-100)

    Turbo PMAC PCI Lite Board Layout (Part Number 603657-100) Feature Location Feature Location E10A E10B E10C E17A E17B E17C E17D E100 E101 E102 E109 E110 E111 E119 E122 E34A D20A D21A Hardware Reference Summary...

  • Page 32: Board Dimensions (Part Number 603657-105)

    Turbo PMAC PCI Lite Board Dimensions (Part Number 603657-105) Hardware Reference Summary...

  • Page 33: Board Layout (Part Number 603657-105)

    Turbo PMAC PCI Lite Board Layout (Part Number 603657-105) Feature Location Feature Location E10A E10B E10C E17A E17B E17C E17D E100 E101 E102 E109 E110 E111 E119 E122 E34A D20A D21A Hardware Reference Summary...

  • Page 34: Connectors And Indicators

    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 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.

  • Page 35: J32 - Expansion Port (Jexp Port)

    Turbo PMAC PCI Lite This optional port allows communicating with PMAC through a standard USB connection. J32 – Expansion Port (JEXP Port) This port is used to connect to PMAC accessory board that require data and address bus access. JS1 – External A/D Port (JS1 Port) This port is only used when connecting to Acc-28A/B analog-to-digital converter boards.

  • Page 36: E-Point Jumper Descriptions

    Turbo PMAC PCI Lite E-POINT JUMPER DESCRIPTIONS E0: Reserved for Future Use E Point and Location Description Default Physical Layout For future use. No jumper E1 - E2: Machine Output Supply Voltage Configure E Point and Location Description Default Physical Layout Jump pin 1 to 2 to apply +V (+5V to 24V) to pin 1-2 Jumper installed 10 of U13 (should be ULN2803A for sink output...

  • Page 37: E3 - E6: Servo Clock Frequency Control

    Turbo PMAC PCI Lite 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 E4 E5 E6 Servo Clock = Phase Clock...

  • Page 38: E7: Machine Input Source/Sink Control

    Turbo PMAC PCI Lite E7: Machine Input Source/Sink Control E Point and Location Description Default Physical Layout Jump pin 1 to 2 to apply +5V to input reference 1-2 Jumper installed resistor sip pack. This will bias MI1 to MI8 inputs to +5V for OFF state.

  • Page 39: E18 - E20: Power-Up/Reset Load Source

    Turbo PMAC PCI Lite E18 – E20: Power-Up/Reset Load Source E Point and Location Description Default Physical Layout To read flash IC on power-up/reset, remove jumper No E18 jumper E18. Jump E19. Jump E20. installed; Other combinations are for factory use only. The Jump E19 and E20 board will not operate in any other configuration.

  • Page 40: E29 - E33: Phase Clock Frequency Control

    Turbo PMAC PCI Lite E29 - E33: Phase Clock Frequency Control Jumpers E29 through E33 control the speed of the phase clock, and, indirectly, the servo clock, which is divided down from the phase clock (see E3 - E6). No more than one of these five jumpers may be on at a time.

  • Page 41: E44-E50: Reserved For Future Use

    Turbo PMAC PCI Lite E44-E50: Reserved for Future Use E Point and Location Description Default Physical Layout Reserved for future use No jumper E44 E45, etc. E51: Normal/Re-Initializing Power-Up E Point and Location Description Default Physical Layout Jump pin 1 to 2 to re-initialize ON power-up/reset. No jumper installed Remove jumper for normal power-up/reset.

  • Page 42: E72 - E73: Panel Analog Time Base Signal Enable

    Turbo PMAC PCI Lite E72 - E73: Panel Analog Time Base Signal Enable E Point and Location Description Default Physical Layout Jump pin 1 to 2 to allow V to F converter FOUT No jumper installed derived from wiper input on J2 to connect to CHA4.

  • Page 43: E87 - E88: Host-Supplied Analog Power Source Enable

    Turbo PMAC PCI Lite E87 - E88: Host-Supplied Analog Power Source Enable E Point and Location Description Default Physical Layout Jump pin 1 to pin 2 to allow AGND to come from No jumper PC bus (ties amplifier and PMAC GND together. Defeats OPTO coupling.).

  • Page 44: E98: Dac/Adc Clock Frequency Control

    Turbo PMAC PCI Lite E98: DAC/ADC Clock Frequency Control E Point and Location Description Default Physical Layout Jump pin 1 to 2 to provide a 2.45 MHz DCLK 1-2 Jumper installed signal to DACs and ADCs. Jump pin 2 to 3 to provide a 1.22 MHz DCLK signal to DACs and ADCs.

  • Page 45: E109: Reserved For Future Use

    Turbo PMAC PCI Lite E109: Reserved for Future Use E Point and Location Description Default Physical Layout E109 For future use. No jumper E110: Serial Port Configure E Point and Location Description Default Physical Layout E110 Jump pin 1 to 2 for use of the J4 connector as RS- 1-2 Jumper installed 232.

  • Page 46: Mating Connectors

    Base Board Connectors J1 (JDISP)/Display 1. Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 – T&B Ansley P/N 609-1441 2. 171-14 T&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.

  • Page 47: Jequ/Position Compare

    Turbo PMAC PCI Lite JEQU/Position Compare Two 10-pin female flat cable connector Delta Tau P/N 014-R00F10-0K0 – T&B Ansley P/N 609-1041 171-10 T&B Ansley standard flat cable stranded 10-wire Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8 JANA/Analog Inputs Option Two 20-pin female flat cable connector Delta Tau P/N 014-R00F20-0K0 –...

  • Page 48: Connector Pinouts

    Turbo PMAC PCI Lite CONNECTOR PINOUTS J1: Display Port Connector J1 JDISP (14-Pin Connector) Front View Pin # Symbol Function Description Notes Output +5V power Power supply out Common PMAC common Output Read strobe TTL signal out Output Contrast adjust Vee 0 to +5 VDC * Output Display enable...

  • Page 49: J3: Multiplexer Port Connector

    Turbo PMAC PCI Lite J2 JPAN (26-Pin Connector) Continued Front View Pin # Symbol Function Description Notes HWCA Input Handwheel enc. A channel 5v TTL sq. pulse, must use E23 (CHA2) IPLD/ Output In position ind. (C.S.) Low lights LED BRLD/ Output Buffer request ind.

  • Page 50: J4: Serial Port Connector

    Turbo PMAC PCI Lite J3 JTHW (26-Pin Connector) Continued Front View Pin # Symbol Function Description Notes IPLD/ Output In position Low is In Position Common PMAC common Output +5Vdc supply Power supply out INIT/ Input PMAC reset Low is Reset The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels.

  • Page 51: J5: I/O Port Connector

    Turbo PMAC PCI Lite J4 JRS422 (26-Pin Connector) Continued Front View 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 RS-232 or RS-422 signal types.

  • Page 52: J6: Auxiliary I/O Port Connector

    Turbo PMAC PCI Lite J5 JOPT (34-Pin Connector) Continued Front View Pin # Symbol Function Description Notes Common PMAC common Output Machine output 2 Low-true (Sinking); High-true (Sourcing) Common PMAC common Output Machine output 1 Low-true (Sinking); High-true (Sourcing) Common PMAC common Input/ +V power I/O...

  • Page 53: J8: Machine Port 1 Connector

    Turbo PMAC PCI Lite J8: Machine Port 1 Connector J8 JMACH1 (60-Pin Header) Front View Pin # Symbol Function Description Notes Output +5V power For encoders, 1 Output +5V power For encoders, 1 Common Digital common Common Digital common CHC3 Input Encoder C channel positive CHC4...
  • Page 54 Turbo PMAC PCI Lite J8: Machine Port 1 Connector (Continued) J8 JMACH1 (60-Pin Header) Front View Pin # Symbol Function Description Notes HMFL4 Input Home-flag 4 DAC1 Output Analog out positive 1 DAC2 Output Analog out positive 2 DAC1/ Output Analog out negative 1 DAC2/ Output...

  • Page 55: J9 (Jequ): Position-Compare Connector

    Turbo PMAC PCI Lite J9 (JEQU): Position-Compare Connector J9 JEQU (10-Pin Connector) Front View Pin # Symbol Function Description Notes EQU1/ Output Encoder 1 comp-EQ Low is true EQU2/ Output Encoder 2 comp- EQ Low is true EQU3/ Output Encoder 3 comp- EQ Low is true EQU4/ Output...

  • Page 56: J31 (Jusb) Universal Serial Bus Port (Optional)

    Turbo PMAC PCI Lite J31 (JUSB) Universal Serial Bus Port (Optional) Pin # Symbol Function N.C. DATA- DATA+ Shell Shield Shell Shield JS1: A/D Port 1 Connector JS1 (16-Pin Header) Front View Pin # Symbol Function Description Notes DCLK Output D to A, A to D clock DAC and ADC clock for channel 1, 2, 3, 4 BDATA1...

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