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Delta Data Systems PMAC PCI Hardware Reference Manual

3 pci-bus expansion w/piggyback cpu
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HARDWARE REFERENCE MANUAL
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PMAC PCI
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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PCI-Bus Expansion w/Piggyback CPU
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4A0-603588-100
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June 18, 2010
Power // Flexibility // Ease of Use

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  • Page 1 HARDWARE REFERENCE MANUAL PMAC PCI PCI-Bus Expansion w/Piggyback CPU 4A0-603588-100 June 18, 2010 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 © 2010 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues.
  • Page 3 REVISION HISTORY REV. DESCRIPTION DATE APPVD UPDATED JUMPER INFO & SOFTWARE SETUP 10/19/06 M. COGUR UPDATED JUMPER SETTINGS FOR E121 & E122 04/27/10 S. SATTARI Opt. 12, E17A – E17D description 07/21/15...

  • Page 5: Table Of Contents

    PMAC-PCI Hardware Reference Table of Contents INTRODUCTION ..............................1 Board Configuration ............................1 Base Version ..............................1 Option 1: Additional Four Channels Axis Interface Circuitry ................. 1 Option 2: Dual-Ported RAM.......................... 1 Option 2B: High-Speed USB Communications Interface ................1 Option 5x: CPU Type ............................
  • Page 6 PMAC-PCI Hardware Reference E1 - E2: Machine Output Supply Voltage Configure ..................14 E3 - E6: Servo Clock Frequency Control ..................... 15 E7: Machine Input Source/Sink Control....................... 15 E17A-D: Amplifier Enable/Direction Polarity Control ................. 16 E17E-H: Amplifier Enable/Direction Polarity Control .................. 16 E22 - E23: Control Panel Handwheel Enable ....................
  • Page 7 PMAC-PCI Hardware Reference Thumbwheel Multiplexer Port (JTHW Port) ..................... 35 Optional Analog Inputs (JANA Port) ........................ 35 Hardware Characteristics ..........................35 Multiplexing Principle..........................35 Analog Data Table ............................36 Compare Equal Outputs Port (JEQU Port) ......................38 Serial Port (JRS422 Port)..........................39 Machine Connections Example .........................
  • Page 8 PMAC-PCI Hardware Reference PMAC I-Variables ............................56 Operation of the Non-Turbo CPU ........................56 Configuring PMAC with Option-5C for 80 MHz Operation ................59 Option 16 Supplemental Memory ........................60 SCHEMATICS ..............................62 Table of Contents...
  • Page 9 PMAC-PCI Hardware Reference Table of Contents...

  • Page 11: Introduction

    PMAC-PCI Hardware Reference INTRODUCTION The PMAC PCI 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 8 axes of control. It can have up either eight or four channels of on-board axis interface circuitry.

  • Page 12: Option 5X: Cpu Type

    Option 15: V-to-F Converter for Analog Input The JPAN control panel port on the PMAC PCI has an optional analog input called WIPER (because it is often tied to a potentiometer’s wiper pin). PMAC PCI can digitize this signal by passing it through an optional voltage-to-frequency converter, using E-point jumpers to feed this into the Encoder 4 circuitry (no other use is then permitted), and executing frequency calculations using the “time base”...

  • Page 13: Pmac Connectors And Indicators

    The next machine interface connector is JMACH2, labeled J7 on the PMAC PCI. Essentially, it is identical to the JMACH1 connector for one to four more axes. It is present only if the PMAC card has been fully populated to handle eight axes (Option 1), because it interfaces the optional extra components.

  • Page 14: Js1/Js2 - Expansion Ports (Js1/Js2 Ports)

    This indicator is for diagnostic purposes only; it may not be present on your board. The PMAC PCI has an interlock circuit that drops out the ±15V supplies to the analog outputs through a fail-safe relay if any supply on PMAC is lost. In this case, the green LED D15 will be off. The D19 LED will be lit when 5V is applied to PMAC.

  • Page 15: Pmac Board Layout Part Number 603588-100

    PMAC-PCI Hardware Reference PMAC Board Layout Part Number 603588-100 Feature Location Feature Location E17A E17B E17C E17D E17E E17F E17G E17H E100 E101 E102 E109 E110 E111 E34A E114 E115 E121 E122 Introduction...
  • Page 16 PMAC-PCI Hardware Reference E17D E17C E17B E17A E34A Introduction...

  • Page 17: Pmac Connectors

    PMAC-PCI Hardware Reference PMAC Connectors Introduction...

  • Page 18: Jumper Summary

    E85, E87, E88: Analog Circuit Isolation Control – These jumpers control whether the analog circuitry on the PMAC PCI 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).

  • Page 19: Clock Configuration Jumpers

    PMAC-PCI Hardware Reference 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 4, creating a 2.25 kHz servo-clock frequency.

  • Page 20: Communication Jumpers

    With the default ULN2803A sinking driver used by the PMAC PCI on U37, this is the fail-safe option, allowing the circuit to fail in the disable state. With this jumper ON, the amplifier-enable line is high true so the enable state is not conducting current, and the disable state is low-voltage output and sinking current.

  • Page 21: Reserved Configuration Jumpers

    PMAC-PCI Hardware Reference 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 JMACH1 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.

  • Page 22: Power-Up State Jumpers

    PMAC-PCI Hardware Reference Power-Up State Jumpers Jumper E4 on the Non-Turbo CPU board must be OFF, jumper E5 must be ON, and jumper E6 must be ON, in order for the CPU to copy the firmware from flash memory into active RAM on power-up/reset. This is necessary for normal operation of the card.

  • Page 23: E-Point Descriptions

    PMAC-PCI Hardware Reference E-POINT DESCRIPTIONS CPU Board E-Point Descriptions The following jumper descriptions are for the PMAC CPU part number 602705-107. E1: Watchdog Disable Jumper E Point and Description Default Physical Layout Jump pin 1 to 2 to disable Watchdog timer (for test purposes only). No Jumper Remove jumper to enable Watchdog timer.

  • Page 24: Main Board E-Point Jumper Descriptions

    PMAC-PCI Hardware Reference Main Board E-Point Jumper Descriptions E0: Machine Output E Point and Location Description Default Physical Layout Jump pin 1 to 2 No jumper To provide use of 5V outputs E1 - E2: Machine Output Supply Voltage Configure E Point and Location Description...

  • Page 25: E3 - E6: Servo Clock Frequency Control

    PMAC-PCI Hardware Reference 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.

  • Page 26: E17A-D: Amplifier Enable/Direction Polarity Control

    PMAC-PCI Hardware Reference E17A-D: Amplifier Enable/Direction Polarity Control E Point and Location Description Default Physical Layout E17A Jump 1-2 for high-true AENA1. No jumper installed Remove jumper for low-true AENA1. E17B Jump 1-2 for high-true AENA2. No jumper installed Remove jumper for low-true AENA2. E17C Jump 1-2 for high-true AENA3.

  • Page 27: E22 - E23: Control Panel Handwheel Enable

    PMAC-PCI Hardware Reference E22 - E23: Control Panel Handwheel Enable E Point and Location Description Default Physical Layout Jump pin 1 to 2 to obtain handwheel encoder No jumper signal from front panel at J2-16 for CHB2 (ENC2-B). Jump pin 1 to 2 to obtain handwheel encoder No jumper signal from front panel at J2-22 for CHA2 (ENC2-A).

  • Page 28: E34 - E38: Encoder Sampling Clock Frequency Control

    PMAC-PCI Hardware Reference E34 - E38: Encoder Sampling Clock Frequency Control Jumpers E34 - E38 control the encoder-sampling clock (SCLK) used by the gate array ICs. No more than one of these six jumpers may be on at a time. E34A SCLK Clock Default and...

  • Page 29: E44 - E47: Serial Port Baud Rate

    PMAC-PCI Hardware Reference E44 - E47: Serial Port Baud Rate Jumpers E44 - E47 control what baud rate to use for serial communications. Any character received over the bus causes PMAC to use the bus for its standard communications. The serial port is disabled if E44- E47 are all on.

  • Page 30: E49: Serial Communications Parity Control

    PMAC-PCI Hardware Reference E49: Serial Communications Parity Control E Point and Location Description Default Physical Layout Jump pin 1 to 2 for NO serial parity. Remove Jumper installed jumper for ODD serial parity. E50: Flash Save Enable/Disable E Point and Location Description Default...

  • Page 31: E72 - E73: Panel Analog Time Base Signal Enable

    PMAC-PCI Hardware Reference E54 - E65: Host Interrupt Signal Select E Point and Location Description Default Physical Layout Jump pin 1 to 2 to allow MI2 to interrupt host- No jumper PC at PMAC interrupt level IR6. installed Jump pin 1 to 2 to allow AXIS EXPANSION No jumper INT-0 to interrupt host-PC at PMAC interrupt installed...

  • Page 32: E74 - E75: Clock Output Control For Ext. Interpolation

    Default Physical Layout Jump pin 1 to pin 2 to allow A+14V to come No jumper from PC bus (ties amplifier and PMAC PCI power supply together. Defeats OPTO coupling.) Note that if E85 is changed, E88 and E87 must also be changed.

  • Page 33: E90: Host-Supplied Switch Pull-Up Enable

    PMAC-PCI Hardware Reference E90: Host-Supplied Switch Pull-Up Enable E Point and Physical Location Description Default Layout Jump pin 1 to 2 to use A+15V from J8 pin 59 1-2 Jumper as supply for input flags (E89 ON) {flags installed should be tied to AGND} or A+15V/OPT+V from J7 pin 59 as supply for input flags (E89 OFF) {flags should be tied to separate 0V reference}.

  • Page 34: E101 - E102: Motors 1-4 Amplifier Enable Output Configure

    PMAC-PCI Hardware Reference E101 - E102: Motors 1-4 Amplifier Enable Output Configure E Point and Physical Location Description Default Layout E101 1-2 Jumper CAUTION: installed The jumper setting must match the type of driver IC, or damage to the IC will result. Jump pin 1 to 2 to apply A+15V/A+V (as set by E100) to pin 10 of "U37"...

  • Page 35: E111: Clock Lines Output Enable

    PMAC-PCI Hardware Reference E111: Clock Lines Output Enable E Point and Physical Location Description Default Layout E111 Jump pin 1 to 2 to enable the PHASE, SERVO 2-3 Jumper and INIT lines on the J4 connector. Jump pin 2 installed to 3 to disable the PHASE, SERVO and INIT lines on the J4 connector.

  • Page 36: E121 - E122: Xin Feature Selection

    PMAC-PCI Hardware Reference E121 - E122: XIN Feature Selection E Point and Physical Location Description Default Layout E121 Jump 1-2 to bring the QuadLoss signal for 1-2 Jumper Encoder 7 into register XIN6 at Y:$E801 bit 6. installed Jump 2-3 to bring the QuadLoss signal for Encoder 6 into register XIN6 at Y:$E801 bit 6.

  • Page 37: Machine Connections

    PCI bus: To mount in the PCI bus, simply insert the P1 card-edge connector into PCI socket. If there is a standard PC-style housing, a bracket at the end of the PMAC PCI board can be used to screw into the housing to hold the board down firmly.

  • Page 38: Flags Power Supply (Optional)

    Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection The PMAC PCI is provided with 6-pin sockets for SIP resistor packs for the input flag sets. Each PMAC PCI is shipped with no resistor packs installed. If the flag or digital inputs circuits are in the 12V to 24V range, no resistor pack should be installed in these sockets.

  • Page 39: Home Switches

    As shipped, there are no resistor packs in these sockets. If these signals are brought long distances into the PMAC PCI board and ringing at signal transitions is a problem, SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing.

  • Page 40: Incremental Encoder Connection

    PMAC-PCI Hardware Reference If Pin 1 of the resistor pack, marked by a dot on the pack, matches Pin 1 of the socket, marked by a wide white line on the front side of the board, and a square solder pin on the back side of the board, then the pack is configured as a bank of pull-down resistors.

  • Page 41: Amplifier Enable Signal (Aenax/Dirn)

    PMAC-PCI Hardware Reference This magnitude-and-direction mode is suited for driving servo amplifiers that expect this 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 you are using PMAC to commutate the motor, you will use two analog output channels for the motor. Each output may be single-ended or differential, just as for the DC motor.

  • Page 42: Amplifier Fault Signal (Faultn)

    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 PCI:  16 I/O points. 100 mA per channel, up to 24V ...

  • Page 43: Control-Panel Port I/O (Jpan Port)

    PMAC-PCI Hardware Reference Do not connect these outputs directly to the supply voltage, or damage to the PMAC will result from excessive current draw. The user can provide a high-side voltage (+5 to +24V) into Pin 33 of the JOPTO connector, and allow this to pull up the outputs by connecting pins 1 and 2 of Jumper E1.

  • Page 44: Reset Input

    Optional Voltage to Frequency Converter The WIPER analog input (0 to +10V on PMAC PCI referenced to digital ground) provides an input to a voltage-to-frequency converter (V/F) with a gain of 25 kHz/Volt, providing a range of 0-250 kHz. The output of the V/F can be connected to the Encoder 4 counter using jumpers E72 and E73.

  • Page 45: Thumbwheel Multiplexer Port (Jthw Port)

    PMAC-PCI Hardware Reference 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.

  • Page 46: Analog Data Table

    PMAC-PCI Hardware Reference 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 (ANAI00- ANAI07) to be converted in unipolar mode (0V to +5V).
  • Page 47 PMAC-PCI Hardware Reference  A value of 0-7 in CONFIG_W2 tells PMAC1 PCI to read channel ANAI08-15, respectively, as a 0 to+5V input.  A value of 8-15 in CONFIG_W1 tells PMAC1 PCI to read ANAI08-15, respectively, as a -2.5 to +2.5V input.

  • Page 48: Compare Equal Outputs Port (Jequ Port)

    PMAC-PCI Hardware Reference OPEN PLC 1 CLEAR ; PLC 1 is first to run after power-up/reset M990=$008008 ; Select ANAI00 and ANAI08 (if present) bipolar M991=$009009 ; Select ANAI01 and ANAI09 (if present) bipolar M992=$00A00A ; Select ANAI02 and ANAI10 (if present) bipolar M993=$00B00B ;...

  • Page 49: Serial Port (Jrs422 Port)

    For serial communications, use a serial cable to connect your 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 and RS422 signals type for the J4 connector.

  • Page 50: Machine Connections Example

    PMAC-PCI Hardware Reference Machine Connections Example Mating Connectors...

  • Page 51: Mating Connectors

    PMAC-PCI Hardware Reference MATING CONNECTORS This section lists several options for each connector. Choose an appropriate one for your application. (See attached PMAC mating connector sketch for typical connection) Base Board Connectors J1 (JDISP)/Display 1. Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0, T&B Ansley P/N 609-1441 2.

  • Page 52: Js1/A-D Inputs 1-4

    PMAC-PCI Hardware Reference Note: Normally, J7 and J8 are used with Acc-8P or 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-R00F16-0K0, T&B Ansley P/N 609-1641 2.

  • Page 53: Base Board Connector Pinouts

    PMAC-PC Hardware Reference BASE BOARD 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 54: J2: Control Panel Port Connector

    PMAC-PC Hardware Reference J2: Control Panel Port Connector J2 JPAN (26-Pin Connector) Front View Pin # Symbol Function Description Notes Output +5V Power For remote panel Common PMAC Common FPD0/ Input Motor/C.S. Select Bit 0 Low is TRUE JOG-/ Input Job In - DIR.

  • Page 55: J3: Multiplexer Port Connector

    PMAC-PC Hardware Reference J3: Multiplexer Port Connector J3 JTHW (26-Pin Connector) Front View Pin # Symbol Function Description Notes Common PMAC Common Common PMAC Common DAT0 Input Data-0 Input Data input from multiplexed accessory SEL0 Output Select-0 Output Multiplexer select output DAT1 Input Data-1 Input...

  • Page 56: J4: Serial Port Connector

    PMAC-PC Hardware Reference J4: Serial Port Connector J4 JRS422 (26-Pin Connector) Front View Pin # Symbol Function Description Notes CHASSI Common PMAC Common S+5V Output +5VDC Supply Deactivated by E8 Input Receive Data Diff. I/O low TRUE ** Input Receive Data Diff.

  • Page 57: J5: I/O Port Connector

    PMAC-PC Hardware Reference J5: I/O Port Connector J5 JOPT (34-Pin Connector) Front View Pin # Symbol Function Description Notes Input Machine input 8 Low is TRUE Common PMAC common Input Machine input 7 Low is TRUE Common PMAC common Input Machine input 6 Low is TRUE Common...

  • Page 58: J6: Auxiliary I/O Port Connector

    PMAC-PC Hardware Reference J6: Auxiliary I/O Port Connector J6 JXIO (10-Pin Connector) Front View Pin # Symbol Function Description Notes CHA1 Input Enc. A Chan. Pos. Axis #1 for resolver CHB1 Input Enc. B Chan. Pos. Axis #1 for resolver CHC1 Input Enc.

  • Page 59: J7: Machine Port 2 Connector

    PMAC-PC Hardware Reference J7: Machine Port 2 Connector J7 JMACH2 (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 CHC7 Input Encoder C Chan.

  • Page 60: Continued

    PMAC-PC Hardware Reference J7 JMACH2 (60-Pin Header) Front View Continued Pin # Symbol Function Description Notes -LIM8 Input Positive End Limit 8 HMFL7 Input Home-Flag 7 HMFL8 Input Home-Flag 8 DAC5 Output Analog Out Pos. 5 DAC6 Output Analog Out Pos. 6 DAC5/ Output Analog Out Neg.

  • Page 61: J8: Machine Port 1 Connector

    PMAC-PC Hardware Reference 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 Chan.
  • Page 62 PMAC-PC Hardware Reference J8 JMACH1 (60-Pin Header) Front View (Continued) Pin # Symbol Function Description Notes -LIM4 Input Positive End Limit 4 HMFL3 Input Home-Flag 3 HMFL4 Input Home-Flag 4 DAC1 Output Analog Out Pos. 1 DAC2 Output Analog Out Pos. 2 DAC1/ Output Analog Out Neg.

  • Page 63: J9 (Jequ): Position-Compare Connector

    PMAC-PC Hardware Reference 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 64: J31 (Jusb) Universal Serial Bus Port (Optional)

    PMAC-PC Hardware Reference 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 Chan.

  • Page 65: Js2: A/D Port 2 Connector

    Ref. to digital GND. This terminal block may be used as an alternative power supply connector if PMAC PCI is not installed in a PC- 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).

  • Page 66: Software Setup

    Pewin and its related add-on packages P1Setup and PMAC Plot. These software packages are available from Delta Tau, ordered through Acc-9WN. The programming features and configuration variables for the PMAC PCI are fully described in the PMAC User and Software manuals.
  • Page 67 PMAC-PCI Hardware Reference On a Flex CPU board configured for Option 5CF with 80 MHz maximum frequency, I46 should be set to 7 to operate the CPU at its maximum rated frequency. On a Flex CPU board configured for Option 5EF with 160 MHz maximum frequency, I46 should be set to 15 to operate the CPU at its maximum rated frequency.
  • Page 68 PMAC-PCI Hardware Reference  If the saved value of I46 is 0, so the CPU’s operational frequency is determined by 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, as shown in the following table. These settings maintain backward compatibility.

  • Page 69: Configuring Pmac With Option-5C For 80 Mhz Operation

    PMAC-PCI Hardware Reference For a PMAC2 board with a saved value of 0 for I46, the serial baud rate is determined by the combination of I54 and the CPU frequency on a PMAC2 board as shown in the following table. These settings maintain backward compatibility.

  • Page 70: Option 16 Supplemental Memory

    PMAC-PCI Hardware Reference To check the value of the multiplier, use the on-line command RHX:$FFFD and look at the last hexadecimal digit. The actual multiplier is one greater than the value in this last digit. Alternately, define an M-variable such as M99->X:$FFFD,0,4 and then read from or write to these bits with the M-variable. X:$FFFD;...
  • Page 71 PMAC-PCI Hardware Reference P1=0 WHILE (P1<360) M10=$A000+P1 ; Sets address that M0 points to M0=SIN(P1) ; Puts value in register that M0 points to P1=P1+1 ENDWHILE Note that this technique is not possible with L-variables in compiled PLCs (but it is possible with M- variables in compiled PLCs).

  • Page 72: Schematics

    PMAC-PCI Hardware Reference SCHEMATICS Schematics...
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