Delta Tau PMAC Pack Hardware Reference Manual
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Delta Tau PMAC Pack Hardware Reference Manual

Delta Tau PMAC Pack Hardware Reference Manual

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Delta Tau PMAC Pack Hardware Reference Manual

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  • 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 PMAC Pack Box PMAC-Lite PC 3xx-602476-xHxx June 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

    PMAC-Pack Table of Contents OVERVIEW ................................1 Introduction ................................1 Using This Manual ..............................1 Organization.................................1 Conventions Used in This Manual........................2 Related Technical Documentation ..........................2 Safety Summary ................................2 Keep Away From Live Circuits..........................2 Live Circuit Contact Procedures ..........................2 Electrostatic Sensitive Devices ..........................3 Technical Support ..............................3 By Telephone ................................3 By FAX and E-Mail ..............................3 Bulletin Board Service (BBS) and Web Site......................3...
  • Page 5 PMAC-Pack Verifying Position Feedback..........................28 Changing Position Direction ..........................28 Testing the Command Output and Polarity ......................28 Setting Up the Servo Loop ............................29 Closing the Loop..............................29 Servo Loop Tuning..............................29 Jogging the Motor ..............................30 Optimizing Jog Performance...........................30 Setting Velocity Feedforward Gain ........................30 Setting the Integral Gain.............................30 Power-Up Mode..............................30 Setting up a Homing Search Move..........................31 Connecting Machine I/O ............................31...
  • Page 6 PMAC-Pack Accessory 3: Serial Communications Cable.....................100 Accessory 4: Additional Instruction Manual ....................100 Accessory 6: Handwheel Encoder ........................100 Accessory 8: Terminal Block ..........................100 Accessory 9: IBM PC Executive Software Disks ....................101 Accessory 12: Liquid Crystal/Vacuum Fluorescent Display ................101 Accessory-14: I/O Expansion Board ........................101 Accessory 16D: Control Panel and Display Box....................102 Accessory 18: Thumbwheel Multiplexer Board ....................102 Accessory 20: Hand-Held Terminal .........................102...
  • Page 7 PMAC-Pack Figures Figure 1-1. PMAC-Pack Dimension ........................1-6 Figure 2-1. PMAC-Pack Mounting........................2-2 Figure 2-2. Encoder Connection Port Pinouts.......................2-6 Figure 2-3. PMAC-Pack/Amplifier Pinouts......................2-7 Figure 2-4. Flag Input In A Sinking Configuration....................2-8 Figure 2-5. Flag Input in Sourcing Configuration....................2-8 Figure 2-6. Flag Connection Pinouts........................2-9 Figure 2-6.
  • Page 8 PMAC-Pack Tables Table 1-1. PMAC-Pack Internal Options And Accessories ................1-15 Table 1-2. PMAC-Pack Connector Functions.....................1-16 Table 1-3. Expansion Pack Options And Accessories ..................1-18 Table 2-1. Software Address Control Switch Settings..................2-3 Table 2-2. Communications Control Switch Settings ...................2-4 Table 2-3. M-Variable Setup..........................2-20 Table 4-1.
  • Page 9 PMAC-Pack Table 6-1. Screw Terminal Blocks - Mating Connectors..................6-1 Table 6-2. PMAC-Pack Connectors - Mating Connectors...................6-2 Table 6-3. Encoder Terminal Block........................6-4 Table 6-4. Servo Terminal Block..........................6-4 Table 6-5. Flags Terminal Block ...........................6-5 Table 6-6. JOPT Output Terminal Block .......................6-5 Table 6-7. JOPT Input Terminal Block........................6-6 Table 6-8.
  • Page 10 PMAC-Pack Table of Contents...

  • Page 12: Overview

    Chapter 6 - PMAC-Pack Mating Connectors and Mating Connector Pinouts: This chapter provides a list of the mating connectors for PMAC-Pack ports, their function, the Delta Tau part numbers, and the true manufacturer’s part number to facilitate customer ordering. It also includes tables describing each PMAC-Pack connector pin by number, symbol, function, and description.

  • Page 13: Conventions Used In This Manual

    Interference Causing Equipment regulations. Related Technical Documentation The following technical manuals are required to successfully install and operate the Delta Tau PMAC- Pack. These manuals should be included in the technical documentation package you received with the PMAC-Pack, or with your software package(s). If any of these manuals are missing, please contact Delta Tau for a replacement before attempting installation.

  • Page 14: Electrostatic Sensitive Devices

    Plus or similar communications program. Many Download-Upload Protocols such as Z-Modem are supported. Our BBS is also linked to the Delta Tau Internet site. It is possible to download BBS files via FTP and your Internet connection, saving log-distance phone charges. For additional information, visit our web site at www.deltatau.com.

  • Page 15: Pmac-Pack Basic Specifications

    PMAC-Pack PMAC-Pack Basic Specifications Physical Specifications (See Figure 1-1) Size: • 40.6cm x 10.8cm x 23cm (16" x 4.25" x 9") PMAC-Pack • 40.6cm x 21.8cm x 23cm (16” x 9.6” x 9”) w/ Expansion Pack Weight: • 5.0 kg (11 lb) PMAC-Pack (standard) •...

  • Page 16: Figure 1-1. Pmac-Pack Dimension

    PMAC-Pack Figure 1-1. PMAC-Pack Dimension Overview...

  • Page 17: Memory Specifications

    PMAC-Pack Internal Power Supply: • Mfg./Model - Lambda LVT-3H-322 (or equivalent) • Input Voltage - 85 to 265 VAC • Output (w/o options) - 5A @ + 5V (±5%) • @ +12V (±5%) • @ -12V (±5%) • Output (with options) - 8A @ + 5V (±5%) •...

  • Page 18: Performance Specifications

    PMAC-Pack Performance Specifications SERVO Cycle Time: (Settable with hardware jumpers) • Standard CPU - Minimum of 55 microseconds per axis controlled (110 usec for two axes; 440 usec for eight axes) • Optional CPUs • Option 5A (40mHz): Minimum of 28 microseconds per axis controlled •...

  • Page 19: I/O Specifications

    PMAC-Pack Position Accuracy: • 1 count. Sub-count interpolation possible with automatic 1/T decoding of incremental encoder signal, or with parallel input lines from A/D converter processing analog signal from which quadrature is derived. Position Capture Accuracy: • 1 count at any speed Position Compare Accuracy: (signal output on reaching preset position) •...
  • Page 20 PMAC-Pack On-Board Analog Input (JPAN) • 1 input, 0 to +10V, converted to frequency at 25 kHz/V (On PMACLite)10V, converted to sign and frequency). • Can be jumpered to Encoder 4 counter "time-base" conversion of counter yields 24-bit register value proportional to voltage.
  • Page 21 Totem-pole +5V outputs available Note: I/O expansion is most easily accomplished with an ACC-34 product, using JEXP for purposes other than connection of the PMAC-Pack Expansion Pack. The Expansion Pack may require modification of PMAC-Pack. Contact Delta Tau for details. Overview...

  • Page 22: Software Specifications

    PMAC-Pack Software Specifications Constants: • Specifiable in hexadecimal (with '$' prefix) or decimal (without prefix) • Range depends on use, but can be up to full range of 48-bit floating point range (36-bit mantissa, 12- bit exponent). Variables: • 1024 I-Variables - Pre-defined meaning for initialization and setup (gains, limits, modes, etc.) •...

  • Page 23: Standard Pmac-Pack

    PMAC-Pack Standard PMAC-Pack A standard PMAC-Pack provides four encoder inputs and four Digital to Analog Converter (DAC) outputs, which may be used for control of up to four noncommutated axes or two commutated axes. Figure 6-1, 4-Axis Non-Commutated System Interconnection Diagram, shows the connections necessary for a typical installation.

  • Page 24: Switches And Indicators

    PMAC-Pack Table 1-2. PMAC-Pack Connector Functions Connector Description Function Encoder Incremental quadrature encoder feedback input 9-Pin Screw Terminal Amplifier command output (DAC )), amp enable output, and amp fault input Servo 6-Pin Screw Terminal Flags 5-Pin Screw Terminal Axis overtravel limits & home flag input JOPT Output 11-Pin Screw Terminal Eight general purpose outputs...

  • Page 25: Enhancements

    PMAC-Pack Enhancements PMAC-Packs produced after August 1995 are enhanced with several improvements as standard equipment. These improvements have been added: • PMAC-Lite equipped with Flash memory and buffered JEXP port (OPT 4A), thus eliminating any battery replacement maintenance concerns over the lifetime of the controller. SwitchBank Baud Rate settings and SAVE command are effected by this change.

  • Page 26: Acc-24Exp Expansion Pack

    PMAC-Pack ACC-24EXP Expansion Pack If more encoder inputs or DAC outputs are required, a 4-axis expansion pack, ACC24EXP, can be mounted alongside PMAC-Pack to provide additional encoder inputs and DAC outputs. This allows one PMAC-Pack to control up to 8 non-commutated axes or 4 commutated axes. The ACC24EXP Expansion Pack, in addition to the additional DACs and encoder channels it provides, may be ordered with the internal accessories shown in Table 1-3.
  • Page 27 PMAC-Pack Overview...

  • Page 28: Getting Started

    Unpack your PMAC-Pack. Examine the controller carefully for any signs of damage. If there is any damage, contact Delta Tau immediately to arrange for repair. Do not attempt to repair the unit yourself without first consulting Delta Tau factory support. Failure to do so may void the product warranty.

  • Page 29: Power Connection

    PMAC-Pack Figure 2-1. PMAC-Pack Mounting Power Connection Connect the power cord provided to the power port on the front of the PMACPack. A strain relief is provided underneath the power plug and should be utilized. PMAC-Pack's auto-ranging internal power supplies can accept 85 to 265 VAC (47-63Hz). The plug on the end of the power cord is a standard 115 VAC plug.

  • Page 30: Installing The Pmac Executive Program

    PMAC-Pack is set up and programmed serially through any IBM or 100% compatible personal computer (PC). Delta Tau's PMAC Executive for DOS (ACC9DA) or PMAC Executive for Windows (ACC-9W) software, or their accompanying PMAC Setup programs, PS or PSWIN, respectively, are recommended for use in the initial establishment of communications and software setup of PMAC.

  • Page 31: S5-S8: Communications Control

    PMAC-Pack S5-S8: Communications Control Switches S5-S8 on the front panel of the PMAC-Pack close or open jumpers E44-E47. These jumpers in turn control what baud rate to use for serial communications. If S5 - S8 are all on the serial port is disabled.

  • Page 32: Serial Port Connection

    Connect the cable that you will be using between your computer's COM port and PMAC- Pack. Delta Tau provides serial cables as Accessories for PMAC-Pack. ACC3PP232 is a 3m (10ft) RS232 cable. ACC3PP422 is a 3m (10ft) RS422 cable. Standard DB9-25 or DB25-9 adapters may be needed for your particular setup.

  • Page 33: Incremental Encoder Connection

    PMAC-Pack Incremental Encoder Connection Warning: Remove power from PMAC-Pack before connecting encoders Each axis of the PMAC-Pack has an encoder connection port. It also provides a +5V output and logic ground for powering the encoder. Pinouts are shown in Figure 2-2. When wiring, the encoder number does not have to match the axis number unless you want to use position capture features, but it usually does.

  • Page 34: Amplifier Connection (Brush Dc Motor Or Motor Commutated By The Amplifier)

    PMAC-Pack Amplifier Connection (Brush DC Motor or Motor Commutated by the Amplifier) PMAC-Pack interfaces to the system amplifiers through the "SERVO" port. Pinouts are shown in Figure 2-3. Each Axis has a SERVO port which serves to communicate amplifier command signals (Torque or Velocity), the amplifier enable signal, and amplifier fault signal.

  • Page 35: Amplifier Fault Signal (Fault/)

    PMAC-Pack Note: If PMAC is setup for Sign and Magnitude commands for Stepper motors, the AENA line functions as the direction line. See the PMAC User's Manual and V-F Converter manuals for further information on Stepper Motor interfacing. Amplifier Fault Signal (FAULT/) This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems, and can shut down action.

  • Page 36: Home Flag Signal (Home)

    PMAC-Pack Figure 2-4. Flag Input in A Sinking Configuration Figure 2-5. Flag Input in Sourcing Configuration Home Flag Signal (Home) As with the Limit inputs discussed above, a home switch can be wired between the Home Flag Input pin (HOME is pin 5 of each “Flags” port) and Fault Return (FRET). The switch may be normally open or normally closed;...

  • Page 37: Encoder Variable Setup

    PMAC-Pack Figure 2-6. Flag Connection Pinouts Encoder Variable Setup Several I-variables are linked to the encoder inputs, regardless of which motor the encoder is assigned to. These control how the encoder signal is interpreted. They are numbered in the 900s: I900-I904 belong to Encoder 1, I905-I909 belong to Encoder 2, and so on, to I975-I979 belonging to Encoder 16.

  • Page 38: Motor Variable Setup

    PMAC-Pack Motor Variable Setup A PMAC-Pack can be attached to up to eight motors (with optional expansion Pack), called #1 to #8. A motor is defined in PMAC by setting up I-variables that tell the I/O addresses of the input and output data (where to look for the feedback position, and where to send the output command).

  • Page 39: Verifying Position Feedback

    PMAC-Pack Ix69 DAC Output Range Check the voltage range of the output command by looking at I169. This is the magnitude of the maximum value that can be written to the DAC, whose full range is -32,768 to +32,767 (16 bits for )10V).

  • Page 40: Setting Up The Servo Loop

    PMAC-Pack Setting Up the Servo Loop WARNING Make sure the motor is in open-loop mode before restoring the proportional gain. Otherwise, it may lurch to an old commanded position. The polarity test is enough to see that the motor is working. Make sure the motor can run free (preferably no load attached at this point) and that you will be able to stop things quickly so that no damage is caused if problems occur.

  • Page 41: Jogging The Motor

    PMAC-Pack Jogging the Motor With these two parameters (I130 and I131) at reasonable levels, you should get good performance in moves. Try a jog move first. Before doing the move, set up the jog speed (I122, in counts/msec) acceleration time (I120, in milliseconds), and S-curve time (I121, in msec) to desired values (to be safe, use low speed and long acceleration times at first).

  • Page 42: Setting Up A Homing Search Move

    PMAC-Pack Setting up a Homing Search Move To do a homing search move, first check your position-capture I-variables (I902 and I903 in our example). Make sure they are set up to capture the position where you want your home position. With a bare motor, we can probably only use the third channel of the encoder.

  • Page 43: Figure 2-6. General Purpose Output Connected In The Default Sinking Configuration

    PMAC-Pack Figure 2-6. General Purpose Output Connected in the Default Sinking Configuration Sourcing Outputs Caution: Having PMAC-Pack Backplane Jumpers E4 and E5 set wrong can damage the IC. It is possible for the general purpose outputs to be sourcing drivers by substituting a UDN2981A IC for the ULN2803A.

  • Page 44: Input Source/Sink Control

    PMAC-Pack Figure 2-7. General Purpose Output Connected in the Optional Sourcing Configuration Input Source/Sink Control The method of interconnection to the general purpose inputs (JOPT INPUTS) determines the sinking/sourcing configuration of the eight inputs. In the sinking configuration, the inputs are biased to +V for the “OFF”...

  • Page 45: Setting-Up Pmac To Read The I/O

    PMAC-Pack Figure 2-9. Connection of Input in Sourcing Configuration Setting-up PMAC to Read the I/O Machine inputs and outputs are typically accessed in software through the use of M-variables. In the suggested set of M-variable definitions (see Chapter 9 of PMAC Software manual), variables M1 through M8 are used to access outputs 1 through 8, respectively, and M11 through M18 to access inputs 1 through 8, respectively.

  • Page 46: Coordinate Systems And Programming

    PMAC-Pack Table 2-3. M-Variable Setup M-Variable I/O Point ; Machine Output 1 M1->Y:$FFC2,8,1 ; Machine Output 2 M2->Y:$FFC2,9,1 ; Machine Output 3 M3->Y:$FFC2,10,1 ; Machine Output 4 M4->Y:$FFC2,11,1 ; Machine Output 5 M5->Y:$FFC2,12,1 ; Machine Output 6 M6->Y:$FFC2,13,1 ; Machine Output 7 M7->Y:$FFC2,14,1 ;...
  • Page 47 PMAC-Pack Getting Started...

  • Page 48: Complying With European Community (Ce)

    PMAC-Pack COMPLYING WITH EUROPEAN COMMUNITY (CE) EMC REQUIREMENTS CE Compliance If the PMAC-Pack is installed in accordance with the following instructions, it will comply with Council Directive 89/336/EEC relating to Electromagnetic Compatibility: • All cables connected to the PMAC-Pack, with exception of the power supply cable, must be shielded •...

  • Page 49: Cables

    The exposed portion of signal cable shielding must be kept to a minimum, nominally 10 to 12 mm. If a backshell is being used, Delta Tau recommends pulling the shielding over the outer sheath, passing it through the backshell clamp, and then clamping it.

  • Page 50: Figure 3-2. Typical Cable/Connector Installation

    PMAC-Pack Figure 3-2. Typical Cable/Connector Installation Complying with European Community EMC Requirements...
  • Page 51 PMAC-Pack Complying with European Community EMC Requirements...

  • Page 52: Pmac-Pack Custom Configuration

    PMAC-PACK CUSTOM CONFIGURATION PMAC-Pack Disassembly Caution: Delta Tau Data Systems, Inc. is not responsible for injuries or damage if equipment is disassembled. Do not open unit with power applied. Disconnect power cord from power source and from the PMAC-Pack before disassembly. Do not tamper with internal wiring and cabling.

  • Page 53: Figure 4-1. Pmac-Pack Disassembly

    PMAC-Pack Figure 4-1. PMAC-Pack Disassembly PMACPack Custom Configuration...

  • Page 54: Pmac-Pack Backplane E-Point Jumper Descriptions

    PMAC-Pack PMAC-Pack Backplane E-Point Jumper Descriptions Table 4-1. Backplane E-Point Jumper Settings E Point & Location Description Default Physical Layout Jumps pin 1 to pin 2 to allow AGND to come from No jumper PMAC-Pack’s internal supply. (Ties PMAC AGND to ground of analog inputs).

  • Page 55: Figure 4-2. Pmac-Pack Backplane E-Point Locations

    PMAC-Pack Table 4-1. Backplane E-Point Jumper Settings E Point & Location Description Default Physical Layout Caution: The jumper settings must match the type of 1-2 jumper installed driver IC or the IC will be damaged. Jump pin 1-2 to apply GND to pin 9 of U10 (should be ULN2803A) for sinking output configuration JOPTO Machine outputs M01 to M08.

  • Page 56: Figure 4-3. Pmac-Lite E-Point Locations

    PMAC-Pack E-Point Location E-Point Location E-Point Location E-Point Location E-Point Location E34A E17A E101 E17B E102 E17C E103 E17D Figure 4-3. PMAC-Lite E-Point Locations PMACPack Custom Configuration...

  • Page 57: Pmac- Lite E-Point Jumper Descriptions

    PMAC-Pack PMAC- Lite E-Point Jumper Descriptions E0: Reserved for Future Use Table 4-2. E0: Unused E Point & Location Description Default Physical Layout For future use No jumper E1 & E2: Output Supply Voltage Table 4-3. E1 - E2: Configure Machine Output Supply Voltage E Point &...

  • Page 58: Table 4-4. E3 - E6: Servo Clock Frequency Control

    PMAC-Pack E3 - E6: Servo Clock Frequency Control The servo clock (which determines how often the servo loop is closed) is derived from the phase clock (see E29 - E33) through a "divide-by-N" counter. Jumpers E3 through E6 control this dividing function. The setting of I-Variable I10 should be adjusted to match the servo interrupt-cycle time set by E98, E3 -- E6, E29 -- E33, and the master clock frequency.

  • Page 59: Table 4-5. E7: Machine Input Source/Sink Control

    PMAC-Pack Table 4-5. E7: Machine Input Source/Sink Control E Point & Location Description Default Physical Layout Jump pin 1 to 2 to apply +5V to input reference resistor 1-2 Jumper installed sip pack; this will bias MI1 to MI8 inputs to +5V for "OFF"...

  • Page 60: Table 4-7. E17A - E17D: Amplifier-Enable/Direction Polarity Control

    PMAC-Pack E17A - E17D: Polarity Control Table 4-7. E17A - E17D: Amplifier-Enable/Direction Polarity Control E Point & Location Description Default Physical Layout Jump 1-2 for high TRUE AENA1. No jumper installed E17A Remove jumper for low TRUE AENA1 Jump 1-2 for high TRUE AENA2. No jumper installed E17B Remove jumper for low TRUE AENA2...

  • Page 61: Table 4-9. E24 - E27: Encoder Single-Ended/Differential Control

    PMAC-Pack E24 - E27: Encoder Control Unused encoders should be left non-differential to prevent noise pickup. Table 4-9. E24 - E27: Encoder Single-Ended/Differential Control E Point & Location Description Default Physical Layout ENC 4 thru 1: 1-2 Jumper installed for E24 – E27 Jump pin 1 to 2 to tie complementary encoder inputs to 2.5V.

  • Page 62: Table 4-11. E29 - E33: Phase Clock Frequency Control

    PMAC-Pack 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 1 of these 5 jumpers may be on at a time. If jumper E98 has been changed to connect pins 2-3 (default is 1-2), the phase clock frequency is exactly 1/2 that shown in the above table.

  • Page 63: Table 4-13. E39: Reset-From-Bus Enable

    PMAC-Pack E39: Reset-From-Bus Enable Table 4-13. E39: Reset-From-Bus Enable E Point & Location Description Default Physical Layout Must be removed for standalone operation. No jumper Jump pin 1 to 2 to allow PMAC-LITE to derive its reset from the "PC" backplane. Only one of E39, E93, E94 should be on at once See also E93 &...

  • Page 64: Table 4-15. E44 - E47: Communications Control

    PMAC-Pack E44 - E47: Communications Control Switches S5-S8 on the front panel of the PMAC-Pack close or open jumpers E44-E47. These jumpers in turn control what baud rate to use for serial communications. The serial port is disabled if E44-E47 are all Table 4-15.

  • Page 65: Table 4-17. E49: Serial Communications Parity Control

    PMAC-Pack E49: Serial Communications Parity Control Table 4-17. E49: Serial Communications Parity Control E Point & Location Description Default Physical Layout Jump pin 1 to 2 for NO serial parity; remove jumper for Jumper installed ODD serial parity. E50: EAROM Save Enable/Disable Table 4-18.

  • Page 66: Table 4-20. E72 - E73: Panel Analog Time Base Signal Enable

    PMAC-Pack E72 - E73: Panel Analog Time Base Signal Enable With these jumpers ON, no encoder should be wired into ENC4 on JMACH. Table 4-20. E72 - E73: Panel Analog Time Base Signal Enable E Point & Location Description Default Physical Layout Jump pin 1 to 2 to allow "V to F"...

  • Page 67: Table 4-23. E87 - E88: Host-Supplied Analog Power Source Enable

    PMAC-Pack E86: Host Interrupt Signal Select This jumper works together with E55-E65 and E76-E84 to set the mapping of PMAC information to host PC bus interrupt lines. (It is of no relevance to PMAC-Pack operation.) Table 4-23. E87 - E88: Host-Supplied Analog Power Source Enable E Point &...

  • Page 68: Table 4-26. E98: Dac/Adc Clock Frequency Control

    PMAC-Pack E91 - E92: Bus Base Address Select (High Bits) These jumpers work with E66-E71 to set the base address of PMAC-LITE on the PC bus. (They are of no relevance to PMAC-Pack operation). E93 - E94: Reset From Bus by Software Enable These jumpers may be used to provide a hardware RESET of PMAC-LITE under the software control of the host PC-AT.

  • Page 69: Table 4-28. E103 - E104: Cpu Jumpers

    PMAC-Pack E103 - E104: CPU Jumpers Table 4-28. E103 - E104: CPU Jumpers E Point & Location Description Default Physical Layout Jump pin 1 to 2 to disable WATCHDOG timer. No jumper installed E103 Remove jumper to enable WATCHDOG timer. Jump pin 1 to 2 to BOOT from host port.

  • Page 70: Figure 4-4. Pmac-Pack Assembly

    PMAC-Pack Figure 4-4. PMAC-Pack Assembly PMACPack Custom Configuration...

  • Page 71: Pmac-Pack Re-Assembly

    PMAC-Pack PMAC-Pack Re-assembly Upon completion of jumper settings, changing the PMAC-Lite lithium battery), or diagnosing a system problem, perform the following steps the re-assemble the PMAC-Pack (see Figure 4-4). 1. Rotate the PMAC-Lite card on its hinges until it is flush against the case standoffs. Insert the three mounting screws to secure PMAC-Lite to the case.

  • Page 72: Troubleshooting

    Verify that the Communications DIP switch bank (see 2.6) is set for card address A0 (unless multiple PMAC-Packs are daisy chained). • If problem persists, contact Delta Tau for further instructions. Serial Communication Cannot Be Established Check the following: •...
  • Page 73 PMAC-Pack You Do Not See The Position Changing Check the following: • Is the encoder receiving power (+5V and GND)? • Are both quadrature channels connected properly? • If single-ended, are the complementary lines floating? • If single-ended, has E24-E27 been changed for operation with single-ended encoders? •...
  • Page 74 PMAC-Pack No Movement At All (when commanding closed Check the following: • Are both limits held low to AGND and sourcing loop moves) current out of the pins? • Is your proportional gain (Ix30) greater than zero? • Can you measure any output at the DAC pin when an O command has been given? •...
  • Page 75 PMAC-Pack toggle the variable. Machine Input (JOPTINP) State Does Not Change Check the following: • Verify with a voltmeter or scope that the input voltage is indeed changing (0 to 12/24Vdc), as measured on Pin 11. • Is the PMAC M-Var. that you are toggling linked to the address of the Machine Output? Type M11->...

  • Page 76: Pmac-Pack Mating Connectors And Pinouts

    PMAC-PACK MATING CONNECTORS AND PINOUTS PMAC-Pack Mating Connectors This section provides a list of the mating connectors for PMAC-Pack ports, their function, the Delta Tau part numbers, and manufacturer’s part numbers to facilitate ordering. Connector Name, Type, Function, and Part Numbers Table 6-1.
  • Page 77 PMAC-Pack Table 6-2. PMAC-Pack Connectors - Mating Connectors Connector Mating Connector Connector Function Delta Tau Part Manufacturer/ Part Name Type Number Vendor Number JDISP/ 15-pin DB-806 male PMAC J Display Output 014-R00M95-0DB 748308-3 DISPLAY connector w/ (For use with any of the...

  • Page 78: Pmac-Pack Mating Connector Pinouts

    Box header and DB connectors for use in making cables may be sourced through Delta Tau, the manufacturer, or a local vendor. Delta Tau can provide pre-made cables for many of these ports if required.
  • Page 79 PMAC-Pack Table 6-4. Servo Terminal Block Front View Servo Terminal Block Pin# Symbol Function Description Notes AGND Common PMAC common Input AMP-fault AENA Output Amplifier enable AGND Common Common DAC+ Output Analog output positive DAC- Output Analog output negative Note: Each Axis has a 6 pin SERVO terminal block. The connections for Axis 1 map to FLT1, AENA1, DAC1.
  • Page 80 PMAC-Pack Table 6-6. JOPT Output Terminal Block Front View JOPT Output Terminal Block Pin# Symbol Function Description Notes O GND Common Output common Input/Output +V power I/O +V=+5V to +24V +5V out from PMAC, +5 to +24V in from external source, Diode isolation from PMAC O GND...
  • Page 81 PMAC-Pack Table 6-7. JOPT Input Terminal Block Front View JOPT Input Terminal Block Pin# Symbol Function Description Notes IRET Common Input return IRET Common Input return +V=+5V to +24V +12V to+24V in from external source when inputs sink - tie to GND for sourcing inputs.
  • Page 82 PMAC-Pack Table 6-8. FLT Relay Terminal Block Front View FLT Relay Terminal Block Pin# Symbol Function Description Notes Output Normally closed See jumper E28 FE/Watchdog output Common PMAC COMMON Output Normally open See jumper E28 FE/Watchdog output Note: This 3 pin terminal block provides an output (either normally open, or, normally closed) for FE/Watchdog timer monitoring.
  • Page 83 PMAC-Pack Table 6-10. JDISP 14-Pin Connector Front View JDISP 14-Pin Connector Pin# Symbol Function Description Notes OUTPUT +5V Power Power Supply Out OUTPUT Read Strobe TTL Signal Out OUTPUT Display Enable High is Enable OUTPUT Display Data1 TTL Signal Out OUTPUT Display Data3 TTL Signal Out...
  • Page 84 PMAC-Pack Table 6-11. JPAN 26-Pin Connector Front View JPAN 26-Pin Connector Pin# Symbol Function Description Notes OUTPUT +5V Power For remote panel FPD0/ INPUT Motor/C.S. Select Bit 0 Low is true FPD1/ INPUT Motor/C.S. Select Bit 1 Low is true PREJ/ INPUT Return to PREJOG Position...
  • Page 85 PMAC-Pack Table 6-12. JTHW 26-Pin Connector Front View JTHW 26-Pin Connector Pin# Symbol Function Description Notes COMMON PMAC Common DAT0 INPUT Data-0 Input Data input from thumbwheel switches DAT1 INPUT Data-1 Input Data input from thumbwheel switches DAT2 INPUT Data-2 Input Data input from thumbwheel switches DAT3...
  • Page 86 PMAC-Pack Table 6-13. JRS232 DB9 Connector Front View JRS232 DB9 Connector Pin# Symbol Function Description Notes PHASE IN OR OUT Phasing Clock Out on @0; else in * TXD/ INPUT Receive Data Host transmit data RXD/ OUTPUT Send Data Host receive data BIDIRECT Data Set Ready Tied to "DTR"...
  • Page 87 PMAC-Pack Table 6-14. JRS422 DB25 Connector Front View JRS232 DB9 Connector Pin# Symbol Function Description Notes CHASSIS GROUND Chassis Ground INPUT Receive Data Diff. I/O low true ** OUTPUT Send Data Diff. I/O low true ** INPUT Clear To Send Diff.
  • Page 88 PMAC-Pack Table 6-15. JANA DB15 Connector Front View JANA DB15 Connector Pin# Symbol Function Description Notes ADC1 INPUT 1st Chan. Main Inp. ADC2 INPUT 2nd Chan. Main Inp. ADC3 INPUT 3rd Chan. Main Inp. ADC4 INPUT 4th Chan. Main Inp. AGND COMMON Analog Ground...
  • Page 89 PMAC-Pack Table 6-17. J8 JEQU 10-Pin Header Front View J8 JEQU 10-Pin Header Pin# Symbol Function Description Notes EQU1/ OUTPUT Enc 1 Comp EQU Low is true EQU2/ OUTPUT Enc 2 Comp EQU Low is true EQU3/ OUTPUT Enc 3 Comp EQU Low is true EQU4/ OUTPUT...

  • Page 90: Circuit Diagrams

    PMAC-Pack CIRCUIT DIAGRAMS Figure 7-1. PMAC-Pack System Connections (Basic Non-Commutated System) Circuit Diagrams...

  • Page 91: Figure 7-2. Basic Pmac-Pack Wiring Diagram

    PMAC-Pack Figure 7-2. Basic PMAC-Pack Wiring Diagram Circuit Diagrams...

  • Page 92: Figure 7-3. Pmac-Pack With Accessory 8D Option 2 Wiring Diagram

    PMAC-Pack Figure 7-3. PMAC-Pack with Accessory 8D Option 2 Wiring Diagram Circuit Diagrams...

  • Page 93: Figure 7-4. Pmac-Pack With Accessory 8D Option 4A Wiring Diagram

    PMAC-Pack Figure 7-4. PMAC-Pack with Accessory 8D Option 4A Wiring Diagram Circuit Diagrams...

  • Page 94: Figure 7-5. Pmac-Pack With Option 9L Wiring Diagram

    PMAC-Pack Figure 7-5. PMAC-Pack with Option 9L Wiring Diagram Circuit Diagrams...

  • Page 95: Figure 7-6. Pmac-Pack With Accessory 28A Wiring Diagram

    PMAC-Pack Figure 7-6. PMAC-Pack with Accessory 28A Wiring Diagram Circuit Diagrams...

  • Page 96: Figure 7-7. Pmac-Pack With Accessory 39 Wiring Diagram

    PMAC-Pack Figure 7-7. PMAC-Pack with Accessory 39 Wiring Diagram Circuit Diagrams...
  • Page 97 PMAC-Pack Circuit Diagrams...
  • Page 98 PMAC-Pack Circuit Diagrams...
  • Page 99 PMAC-Pack Circuit Diagrams...
  • Page 100 PMAC-Pack Circuit Diagrams...
  • Page 101 PMAC-Pack Circuit Diagrams...

  • Page 102: Acc24E Acc24Exp Expansion Xp Pack

    JEXP port. The following 4 steps serve as a guide to the disassembly of the PMAC-Pack (see Figure 8-1). Note: Eight axis PMAC-Packs are hardware configured at the Delta Tau Data Systems factory with the ACC24 PMAC-Pack Expansion Pack, allowing you to skip the Software Setup paragraph below.

  • Page 103: Figure 8-1. Expansion Pack Installation

    Figure 8-1. Expansion Pack Installation Acc-24E Acc-24EXP Expansion XP Pack...

  • Page 104: Pmac-Pack/Expansion Pack Connection

    Hardware setup of the eight-axis PMAC-Pack is accomplished by connecting three cables through the JEXP port and securing the two cases together. Note: Eight axis PMAC-Packs are hardware configured at the Delta Tau Data Systems factory with the ACC24 PMAC-Pack Expansion Pack, allowing you to skip the Software Setup paragraph below.

  • Page 105: Pmac-Pack/Expansion Pack Re-Assembly

    As of February 1997, all PMAC-Packs are factory configured to use the expansion pack. This section should be read to gain a clearer understanding of the Expansion Pack, however, Delta Tau has preconfigured the software to control non- commutated axes connected to the Expansion pack.

  • Page 106: Figure 8-3. Pmac-Pack Assembly

    PMAC-Pack Figure 8-3. PMAC-Pack Assembly Acc-24E Acc-24EXP Expansion XP Pack...
  • Page 107 Encoder Conversion Table Setup To read encoders interfaced into the Expansion Pack, PMAC’s encoder conversion table must be set up to read and process the encoder signals. To set up the Encoder Conversion Table, use the PMAC Executive’s menu-based encoder table setup, which is accessed from the menu.
  • Page 108 PMAC-Pack A typical Ix25 setup for non-commutated motors 5 through 8 is as follows: • I525 = $C020 • I624 = $C024 • I725 = $C028 • I825 = $C02C Phasing Position Address Setup If you are using the PMAC Expansion Pack to interface motors commutated by PMAC, the Ix83 variable setup must be adjusted.
  • Page 109 Acc-24E Acc-24EXP Expansion XP Pack...

  • Page 110: Pmac-Pack Options And Accessories

    PMAC-Pack PMAC-PACK OPTIONS AND ACCESSORIES PMAC-Pack Internal Options & Accessories ACC8D-Option 2PP: Stepper Drive Interface This option provides 4 voltage-to-frequency (V/F) converters for commanding stepper motor drive systems. These convert PMAC’s analog output for each channel to a pulse output. The pulse output can be jumpered back to PMAC’s encoder input for the motor if the system is to be run open loop, or an actual encoder can be used for true closed-loop servo control.

  • Page 111: Accessory 39Pp: Handwheel Encoder Interface Board

    The analog inputs are optically isolated from the PMAC's digital circuits. Expanded documentation for PMACPack ACC28 is under development. At present, request the ACC28 manual for further information. Accessory 39PP: Handwheel Encoder Interface Board This accessory provides a basic interface to a single quadrature encoder. Typically, it is used for a handwheel or similar master encoder.

  • Page 112: Accessory 9: Ibm Pc Executive Software Disks

    Accessory-14: I/O Expansion Board An ACC14D may be mounted externally on standoffs and connected to the PMAC-Pack through the JEXP port. An enclosed ACC14 may be available in the future. Contact Delta Tau for further information. PMACPack Options and Accessories...

  • Page 113: Accessory 16D: Control Panel And Display Box

    Accessory 16D: Control Panel and Display Box The Accessory 16D control panel provides all the means for using PMAC's dedicated hardware control inputs and display outputs. It has nine toggle switches for the hardware functions, a 10-way rotary switch for motor-/coordinate-system-select (1 to 8, all, and none), a handwheel encoder, an analog potentiometer, a frequency generator, a 2x40 character alphanumeric LCD display, and 5 status LEDs.

  • Page 114: Accessory 27: Optically Isolated I/O Board

    An ACC29 may be mounted externally on standoffs and connected to the PMAC-Pack through the JEXP port. A ruggidized enclosed ACC29 is not available at present but may be available in the future. Contact Delta Tau for further information. Accessory 31: PMAC Demonstration Box Unit Accessory 31 is intended to be used for the purpose of demonstration of PMAC's numerous motion control features.

  • Page 115: Accessory 32: Pmac Software Upgrade/Update Kit

    (if it was previously purchased). Note: Delta Tau is happy to supply ACC-32 to the customer up to two times free of charge for a period of six months from the date of purchase. If a customer has multiple PMAC cards, ACC-32 Option 1 provides extra PMAC EPROMs at a greatly reduced cost.

  • Page 116: Accessory 36: A/D Conversion Board

    A ruggidized enclosed ACC36 is not available at present but may be available in the future. Contact Delta Tau for further information Accessory 40: On-Site Field Service or Training This accessory number can be used to order on-site service or training by Delta Tau personnel at an hourly rate plus travel and lodging expenses. Future Accessories PMAC is constantly being upgraded with new capabilities, options, and accessories.
  • Page 117 PMACPack Options and Accessories...

  • Page 118: Appendix A - Electrostatic Discharge Control

    PMAC-Pack APPENDIX A - ELECTROSTATIC DISCHARGE CONTROL General Caution: These procedures must be followed by anyone involved in handling PMAC-Pack components. Failure to do so may void your warranty. This Appendix describes control measures to be taken to protect against electrostatic discharge (ESD) damage.

  • Page 119: Materials Receiving And Parts Storage

    10. Neutralize charges on all ESD packaged items by placing the packages on a grounded work surface prior to opening them. 11. Watch for ESD markings and symbols on packaging or parts. 12. Watch for ESD markings on equipment covers and cabinets. Materials Receiving and Parts Storage Personnel involved in receiving and storing of parts must observe the following procedures: 1.
  • Page 120 PMAC-Pack 7. Momentarily touch the outer shell of the mating connectors together to equalize electrostatic potentials prior to installing the cable connectors on the installed component. Electrostatic Discharge Control...
  • Page 121 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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