Delta Tau PMAC2-PC Hardware Reference Manual
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Delta Tau PMAC2-PC Hardware Reference Manual

Delta Tau PMAC2-PC Hardware Reference Manual

Programmable multi-axis controllers
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Delta Tau PMAC2-PC Hardware Reference Manual

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Summary of Contents for Delta Tau PMAC2-PC

  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 HARDWARE REFERENCE MANUAL PMAC2-PC & PMAC2-PC LITE Programmable Multi-Axis Controllers 3xx-602598-xHxx January 28, 2003 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 3 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 4: Table Of Contents

    P/N 602398..............................4 P/N 602405..............................4 P/N 602705..............................4 Related Technical Documentation..........................5 CONNECTORS AND JUMPERS..........................7 PMAC2-PC AND PMAC2-Lite Connector Summary ....................7 J1 (JANA) Analog Input Port Connector ....................8 J2 (JTHW) Multiplexer Port Connector......................9 J3 (JI/O) General I/O Connector ......................10 J4 (JMACRO) 26-Pin Connector ......................11 J5 (JRS232) Serial Port Connector......................11...
  • Page 5 PMAC2-PC & Lite Hardware Reference Table of Contents Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 6: Introduction

    They utilize the latest developments in electronics, software, and modern control theory to bring motion control capabilities to a whole new level. The PMAC2-PC and PMAC2-Lite are designed as ISAbus expansion cards, but are capable of standalone operation. The configurations are: •...

  • Page 7: Dspgate2 I/O Asic

    PMAC2-PC Configuration A PMAC2-PC can have 1 or 2 DSPGATE1 ASICs; the first one is standard, and the second one comes if Option 1 is ordered. Each also has a DSPGATE2 ASIC supporting the non-servo I/O. PMAC2-Lite Configuration A PMAC2-Lite board (PC bus only) has a single DSPGATE1 ASIC on-board, supporting up to 4 axes of servo interfaces.

  • Page 8: Pmac2-Pc Setup

    80 MHz On the PMAC2-PC, I54 is read at power-up to set the baud rate clock. Because this clock is derived from the CPU clock frequency, the proper setting of I54 is dependent on the CPU clock frequency as set by E2 and E4.

  • Page 9: Pmac2 Cpus

    Note: The CPUs are only installed on the PMAC2-PC. P/N 602398 This is the original standard CPU board for the PMAC2-PC. It has a 20MHz clock and a battery backup RAM. P/N 602405 This is a flash memory CPU board with no battery backup. This board provides either a 40MHz or 60MHz clock.

  • Page 10: Related Technical Documentation

    Physically, the Option 16 memory is a 16k x 24 bank of battery-backed static RAM. It maps into the PMAC2-PC at addresses $A000 to $BFFF, on both the X and Y data buses, an 8k x 48 block of address space.
  • Page 11 PMAC2-PC & Lite Hardware Reference Introduction Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 12: Connectors And Jumpers

    CONNECTORS AND JUMPERS PMAC2-PC AND PMAC2-Lite Connector Summary The following paragraphs provide a brief description of each connector on the PMAC2-PC and PMAC2- Lite, its use, and individual pinout information (see Figure 2-1). P M A C 2 - P C Connectors and Jumpers Artisan Technology Group - Quality Instrumentation ...

  • Page 13: J1 (Jana) Analog Input Port Connector

    Output Negative Supply Voltage To power external circuitry The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2-PC and PMAC2- Lite. Note: This connector is only present if Option 12 is ordered. Connectors and Jumpers...

  • Page 14: J2 (Jthw) Multiplexer Port Connector

    PMAC2-PC & Lite Hardware Reference J2 (JTHW) Multiplexer Port Connector Front View Pin # Symbol Function Description Notes COMMON PMAC Common COMMON PMAC Common DAT0 INPUT Data-0 Input Data input from mux port accessories SEL0 OUTPUT Select-0 Output Address/data output for mux...

  • Page 15: J3 (Ji/O) General I/O Connector

    PMAC2-PC & Lite Hardware Reference J3 (JI/O) General I/O Connector Front View Pin # Symbol Function Description Notes I/O00 IN/OUT Digital I/O 0 Software direction ctrl. I/O01 IN/OUT Digital I/O 1 Software direction ctrl. I/O02 IN/OUT Digital I/O 2 Software direction ctrl.

  • Page 16: J4 (Jmacro) 26-Pin Connector

    +5Vdc Supply Power supply out This connector is present and operational on the standard PMAC2-PC or PMAC2-Lite. If the Option-9L RS-422 interface has been ordered, this connector is non-functional. The serial interface is made through one of the RS- 422 connectors on the Option-9L piggyback board.

  • Page 17: Jrs422 (26-Pin Connector)

    PMAC2-PC & Lite Hardware Reference 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 I/O high true...

  • Page 18: J6 (Jdisp) Display Connector

    PMAC2-PC & Lite Hardware Reference J6 (JDISP) Display Connector 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 19: J8 (Jequ) Position Compare Output Connector

    PMAC2-PC & Lite Hardware Reference J8 (JEQU) Position Compare Output 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...
  • Page 20 PMAC2-PC & Lite Hardware Reference ADC_DAA1+ INPUT Channel A ADC Serial Data MSB first ADC_DAA1- INPUT Channel A ADC Serial Data MSB first ADC_DAB1+ INPUT Channel B ADC Serial Data MSB first ADC_DAB1- INPUT Channel B ADC Serial Data MSB first...
  • Page 21 PMAC2-PC & Lite Hardware Reference CHW2 INPUT Channel 2 W Flag Hall effect, fault code, or sub- count CHT2 INPUT Channel 2 T Flag Fault code, or sub-count USER2 INPUT General Purpose Hardware capture flag, or sub- User Flag count...

  • Page 22: J10 (Jmach2) Connector Description

    The JMACH1 connector provides the interface pins for channels 1 and 2. It is usually connected to a breakout board, such as one of the ACC-8 (Series) family of boards, or an application-specific interface board. Note: 100-pin male box header with center key, 0050" pitch. AMP part # 1-04068-7. Delta Tau part # 014- 00010-FPB.
  • Page 23 PMAC2-PC & Lite Hardware Reference FAULT3- INPUT Amplifier Fault Programmable polarity PWMATOP3+ OUTPUT Phase A Top CMD or DAC Programmable function control DAC_CLK3+ Clock PWMATOP3- OUTPUT Phase A Top CMD or DAC Programmable function control DAC_CLK3- Clock PWMABOT3+ OUTPUT Phase A Bottom CMD or DAC A...
  • Page 24 The JMACH2 connector provides the interface pins for channels 3 and 4. It is usually connected to a breakout board, such as one of the ACC-8(Series) family of boards, or an application- specific interface board. Note: 100-pin male box header with center key, 050" pitch. AMP part # 1-04068-7. Delta Tau part # 014-00010- FPB.

  • Page 25: J11 (Jmach3) Connector Description

    PMAC2-PC & Lite Hardware Reference J11 (JMACH3) Connector Description Pin# Symbol Function Description Notes OUTPUT / +5V Power For external circuit or from INPUT external supply OUTPUT / +5V Power For external circuit or from INPUT external supply COMMON Reference Voltage...
  • Page 26 PMAC2-PC & Lite Hardware Reference PWMBTOP5+ OUTPUT Phase B Top CMD or DAC Programmable function control DAC_STB5+ Strobe PWMBTOP5- OUTPUT Phase B Top CMD or DAC Programmable function control DAC_STB5- Strobe PWMBBOT5+ OUTPUT Phase B Bottom CMD or DAC B...
  • Page 27 ACC-8(Series) family of boards, or an application- specific interface board. Note: 100-pin male box header with center key, 0050" pitch. AMP part # 1-04068-7. Delta Tau part # 014- 00010-FPB.

  • Page 28: J12 (Jmach4) Connector Description

    PMAC2-PC & Lite Hardware Reference J12 (JMACH4) Connector Description Pin# Symbol Function Description Notes OUTPUT / +5V Power For external circuit or from INPUT external supply OUTPUT / +5V Power For external circuit or from INPUT external supply COMMON Reference Voltage...
  • Page 29 PMAC2-PC & Lite Hardware Reference PWMABOT7- OUTPUT Phase A Bottom CMD or DAC A Programmable function control DAC7A- Serial Data PWMBTOP7+ OUTPUT Phase B Top CMD or DAC Programmable function control DAC_STB7+ Strobe PWMBTOP3- OUTPUT Phase B Top CMD or DAC...
  • Page 30 INPUT external supply Note: 100-pin male box header with center key, 0050" pitch. AMP part # 1-04068-7. Delta Tau part # 014- 00010-FPB. The JMACH4 connector (Not present on PMAC2-Lite) provides the interface pins for channels 7 and 8. It is usually connected to a breakout board, such as one of the ACC-8(Series) family of boards, or an application- specific interface board.

  • Page 31: Tb1 (2/4-Pin Terminal Block)

    PMAC2-PC & Lite Hardware Reference TB1 (2/4-Pin Terminal Block) Front View Pin# Symbol Function Description Notes COMMON Reference Voltage INPUT Positive Supply Voltage Supplies all PMAC digital circuits +12V INPUT Positive Supply Voltage +12V to +15V; not required on- board; used on J1 to supply...

  • Page 32: Pmac2-Pc And Pmac2-Lite Jumper Summary

    PMAC2-PC & Lite Hardware Reference PMAC2-PC and PMAC2-Lite Jumper Summary Refer to the PMAC2-PC and PMAC2-Lite layout diagram (see Figure 2-1) for jumper locations. E Point & Physical Location Description Default Layout Card 0 Jumper: No Jumper Remove jumper to specify that this PMAC is Card 0, which generates its own phase and servo clock (default).
  • Page 33 PMAC2-PC & Lite Hardware Reference E Point & Physical Location Description Default Layout 1 - 2 Jumpered JEQU Port Configuration: Jump pins 1 to 2 for sinking driver (ULN2803A) on JEQU port (default configuration) Jump pins 2 to 3 for...

  • Page 34: Pmac2-Vme Cpu Connector Summary

    PMAC2-PC & Lite Hardware Reference PMAC2-VME CPU Connector Summary The following paragraphs provide a brief description of each connector on the PMAC2-PC CPUs (see Figure 2-2). Front View 36-pin header on backside for connection to main PMAC/PMAC2 board. J2 (JEXP) Front View 50-pin IDC header for connection to expansion port accessory boards.
  • Page 35 PMAC2-PC & Lite Hardware Reference P/N 602405 P/N 602705 Connectors and Jumpers Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 36: Pmac2-Pc Cpu Piggyback Board Jumpers

    PMAC2-PC & Lite Hardware Reference PMAC2-PC CPU Piggyback Board Jumpers E Point & Physical Location Description Default Layout D1 (602398) Remove jumper to enable watchdog timer No Jumper A1 (602405) operation. B1 (602705) Jump pins 1 to 2 to disable watchdog timer operation (for test purposes only).
  • Page 37 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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