Delta Tau Universal PMAC Lite Hardware Reference Manual
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Delta Tau Universal PMAC Lite Hardware Reference Manual

Delta Tau Universal PMAC Lite Hardware Reference Manual

Programmable multi-axis controller
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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 Universal PMAC Lite Programmable Multi-Axis Controller 3Ax-602402-UHxx October 2001 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

    JDISP Display Port Accessories...........................5 JSx Port Accessories .............................5 Resistor Pack Configuration............................5 Termination Resistors ............................5 Universal PMAC Lite Jumpers and Connectors Layout P/N 602402 ...............6 Universal PMAC Lite Dimensions Part Number 602402 ..................7 JUMPERS SETUP SUMMARY ..........................9 Power-Supply Configuration Jumpers ........................9 Clock Configuration Jumpers..........................10...
  • Page 5 Universal PMAC Lite E9, E10, E13, E14: Serial Interface Direction Control...................19 E17A-D: Amplifier Enable/Direction Polarity Control...................20 E22 - E23: Control Panel Handwheel Enable ......................20 E24 - E27: Encoder Single-Ended/Differential Control..................21 E28: Following Error/Watchdog Timer Signal Control ..................21 E29 - E33: Phase Clock Frequency Control......................22 E34 - E38: Encoder Sampling Clock Frequency Control..................22...
  • Page 6 Universal PMAC Lite J1 (JDISP)/Display Port .............................45 J2 (JPAN)/Control Panel Port..........................45 J3 (JTHW)/Multiplexer Port ..........................45 J4 (JRS232)/RS232 Serial Communications.......................45 J4A (JRS422)/RS422 Serial Communications ....................45 J5 (JOPT)/General Purpose I/O .........................45 J6 (JXIO)/Auxiliary Port.............................45 J7 (JS1)/A-D Inputs ............................45 J8 (JEQU)/Position Compare..........................45 J9 (JEXP)/Expansion Port..........................45 J11 (JMACH1)/1st Machine Connector......................46...
  • Page 7 Universal PMAC Lite Table of Contents...

  • Page 8: Introduction

    The new Universal PMAC Lite board replaces the previous PMAC Lite board with battery-backed RAM and the PMAC 1.5 Lite board with flash-backed RAM. The Universal PMAC Lite can be built to use either type of memory.

  • Page 9: Option 2: Dual Ported Ram

    Universal PMAC Lite Option 2: Dual Ported RAM Dual-ported RAM provides a high-speed communications path for bus communications with the host computer through a bank of shared memory. DPRAM is advised if more than about 100 data items per second are to be passed between the controller and the host computer in either direction.

  • Page 10: Option 15: V-To-F Converter For Analog Input

    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 11: J5 - General-Purpose Digital Inputs And Outputs (Jopto Port)

    Universal PMAC Lite J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port) PMAC's JOPTO connector provides eight general-purpose digital inputs and eight general-purpose digital outputs. Each input and each output has its own corresponding ground pin in the opposite row. The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules.

  • Page 12: Jthw Thumbwheel Multiplexer Port Accessories

    Universal PMAC Lite Due to bus drive limitations, a limit of four with an absolute maximum of six expansion port (JEXP) accessories is recommended on any PMAC. In addition, the address spaces for Acc-14D/V and Acc-36P/V boards on the JEXP expansion port are limited to six. One Acc-14D/V occupies a full address space; four Acc-36P/V boards occupy one address space.

  • Page 13: Universal Pmac Lite Jumpers And Connectors Layout P/N 602402

    Universal PMAC Lite Universal PMAC Lite Jumpers and Connectors Layout P/N 602402 DPRAM Option 2 V/F Option 15 E106 E107 E17A E108 E17B E109 E17C E110 E17D E100 E101 E34A E102 E103 Introduction...

  • Page 14: Universal Pmac Lite Dimensions Part Number 602402

    Universal PMAC Lite Universal PMAC Lite Dimensions Part Number 602402 Introduction...
  • Page 15 Universal PMAC Lite Introduction...

  • Page 16: Jumpers Setup Summary

    Universal PMAC Lite JUMPERS SETUP SUMMARY On the PMAC Lite, 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. The following is an overview of the several PMAC jumpers grouped in appropriate categories.

  • Page 17: Clock Configuration Jumpers

    Universal PMAC Lite Clock Configuration Jumpers E98: DAC/ADC Clock Frequency Control – Leave E98 in its default setting of 1-2, which creates a 2.45 MHz DCLK signal, unless you are connecting an Acc-28 A/D-converter board. In this case, move the jumper to connect pins 2 and 3, which creates a 1.22 MHz DCLK signal.

  • Page 18: Board Reset/Save Jumpers

    Universal PMAC Lite Board Reset/Save Jumpers E39: Reset-From-Bus Enable – Putting this jumper ON ties the ISA-bus reset line to the PMAC Lite reset line so that a bus reset will automatically reset the PMAC. However, if this jumper is ON and the PMAC Lite is not installed in an ISA bus, the PMAC will be held permanently in its reset state and will not operate.

  • Page 19: Communication Jumpers

    Universal PMAC Lite Communication Jumpers E9-E10, E13-E14: Serial Interface Configuration Control – The E9, E10, E13, and E14 jumpers control whether the RS-232 serial port will be in DCE or DTE format. The default configuration permits straight-across connection to a PC DB-9 serial port.

  • Page 20: From Address To Jumper Configuration

    Universal PMAC Lite From Address to Jumper Configuration Once an I/O address on the PC expansion port has been selected, the following procedure can be used for setting the address jumpers. 1. Convert the address to a 3-digital hexadecimal value ($000 to $FFF, representing 0 to 4095). If the value does not fit in this range, you will not be able to set PMAC for this address.

  • Page 21: I/O Configuration Jumpers

    Universal PMAC Lite I/O Configuration Jumpers E1-E2: Machine Output Supply Configure – With the default sinking output driver IC (ULN2803A or equivalent) in U30 for the J5 JOPTO port outputs, these jumpers must connect pins 1 and 2 to supply the IC correctly.
  • Page 22 Universal PMAC Lite PMAC-PC INTERRUPT STRUCTURE AXEXP1 EQU5 EQU1 HREQ (Read-Ready/Write-Ready) Warning AXEXP0 F1ER Following Error EQU6 Fatal EQU2 PMAC Following Error EROR 8259 (Buffer-Request) BREQ EQU8 (In-Position) IPOS EQU4 EQU7 EQU3 470 ohm PMAC E81 E82 E83 E84 E86...
  • Page 23 Universal PMAC Lite Jumpers Setup Summary...

  • Page 24: Pmac-Lite E-Point Descriptions

    Universal PMAC Lite PMAC-LITE E-POINT DESCRIPTIONS E1 - E2: Machine Output Supply Voltage Configure E Point and Location Description Default Physical Layout 1-2 Jumper installed CAUTION: The jumper setting must match the type of driver IC or damage to the IC will result.

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

    Universal PMAC 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.

  • Page 26: E7: Machine Input Source/Sink Control

    Universal PMAC 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 1-2 Jumper installed reference resistor sip pack; this will bias MI1 to MI8 inputs to +5V for OFF state;...

  • Page 27: E17A-D: Amplifier Enable/Direction Polarity Control

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

  • Page 28: E24 - E27: Encoder Single-Ended/Differential Control

    Universal PMAC Lite E24 - E27: Encoder Single-Ended/Differential Control E Point and Location Description Default Physical Layout ENC 4 through 1: 1-2 Jumper installed for E24 - E27. Jump pin 1 to 2 to tie complementary encoder inputs to 2.5V.

  • Page 29: E29 - E33: Phase Clock Frequency Control

    Universal PMAC 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 30: E40 - E43: Servo And Phase Clock Direction Control

    Universal PMAC Lite E40 - E43: Servo and Phase Clock Direction Control Card Address Servo and Phase Default and Clock Direction Physical Layout E40 E41 E42 E43 C2 C2 C2 C2 Output (All on) Input Input Input Input Input Input...

  • Page 31: E44 - E47: Serial Baud Rate Control

    Operation in this mode is done completely at the user’s own risk; Delta Tau can accept no responsibility for the operation of the PMAC or the machine under these conditions.

  • Page 32: E49: Serial Communications Parity Control

    Remove jumper for normal power-up/reset, loading last saved parameters. Note: On the Universal PMAC Lite, the board is put in bootstrap mode for the loading of new firmware by connecting pins 2 and 3 of E106. E51 is for re-initialization of parameters only.

  • Page 33: E54 - E65: Host Interrupt Signal Select

    Universal PMAC Lite E54 - E65: Host Interrupt Signal Select E Point and Location Description Default Physical Layout Jump pin 1 to 2 to allow WDO (watchdog No jumper installed output) to interrupt host-PC at PMAC interrupt level IR7. Jump pin 1 to 2 to allow EQU4 to interrupt No jumper installed host-PC at PMAC interrupt level IR7.

  • Page 34: E66 - E71: Bus Base Hardware Address (Low Bits)

    Universal PMAC Lite E66 - E71: Bus Base Hardware Address (Low Bits) E Point and Physical Layout Location Description Default E66 E67 E66 - Bit 9 PC bus base address E67-E70 installed E67 - Bit 8 PC bus base address...

  • Page 35: E76 - E84: Host Interrupt Signal Select

    Universal PMAC Lite E76 - E84: Host Interrupt Signal Select E Point and Location Description Default Physical Layout Jump pin 1 to 2 to allow PMAC-Interrupt to No jumper installed host-PC on IRQ14. Jump pin 1 to 2 to allow PMAC-Interrupt to No jumper installed host-PC on IRQ15.

  • Page 36: E86: Host Interrupt Signal Select

    Universal PMAC Lite E86: Host Interrupt Signal Select E Point and Location Description Default Physical Layout Jump pin 1 to 2 to allow PMAC-Interrupt No jumper to host-PC on IRQ2. E87 - E88: Host-Supplied Analog Power Source Enable E Point and...

  • Page 37: E90: Host-Supplied Switch Pull-Up Enable

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

  • Page 38: E98: Dac/Adc Clock Frequency Control

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

  • Page 39: E103: Watchdog Disable Jumper

    Note: E104 and E105 on earlier designs permitted connecting address lines A04 and A05 onto pins 41 and 42, respectively, of the J9 expansion port. On the Universal PMAC Lite, these signals are always connected to these pins, and the jumpers are not present.

  • Page 40: Machine Connections

    Universal PMAC Lite MACHINE CONNECTIONS Typically, the user connections are actually 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 41: Flags Power Supply (Optional)

    Universal PMAC Lite Flags Power Supply (Optional) Each channel of PMAC has four dedicated digital inputs on the machine connector: +LIMn, -LIMn (overtravel limits), HMFLn (home flag), and FAULTn (amplifier fault). If the PMAC is ordered with Option-1 (8-axis PMAC), these inputs can be kept isolated from other circuits. A power supply from 12 to 24V connected on pin 9 of J8 could be used to power the corresponding opto-isolators.

  • Page 42: Motor Signals Connections

    Universal PMAC Lite Motor Signals Connections Incremental Encoder Connection Each JMACH connector provides two +5V outputs and two logic grounds for powering encoders and other devices. The +5V outputs are on pins 1 and 2; the grounds are on pins 3 and 4. The encoder signal pins are grouped by number: all those numbered 1 (CHA1, CHA1/, CHB1, CHC1, etc.) belong to encoder...

  • Page 43: Amplifier Enable Signal (Aenax/Dirn)

    Universal PMAC Lite Any analog output not used for dedicated servo purposes may be utilized as a general-purpose analog output. Usually, this is done by defining an M-variable to the digital-to-analog-converter register (suggested M-variable definitions M102, M202, etc.), then writing values to the M-variable. The analog outputs are intended to drive high-impedance inputs with no significant current draw.

  • Page 44: Amplifier Fault Signal (Faultn)

    Universal PMAC Lite For any other kind of amplifier enable signal, like a 24V signal, a dry contact of a relay or a solid-state relay could be used: To test the amplifier enable signal of motor x set Ix00=0 and properly define the related Mx14 variable.

  • Page 45: General-Purpose Digital Inputs And Outputs (Jopto Port)

    Universal PMAC Lite General-Purpose Digital Inputs and Outputs (JOPTO Port) PMAC's J5 or JOPTO connector provides eight general-purpose digital inputs and eight general-purpose digital outputs. Each input and each output has its own corresponding ground pin in the opposite row. The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules.

  • Page 46: Control-Panel Port I/O (Jpan Port)

    J4A connector jumpers E107 and E108 must connect pins 2 and 3. Connectors J4 and J4A cannot be used at the same time. Delta Tau provides cables for connecting PMAC with a host computer. Acc-3D connects J4A to a DB-25 connector; Acc-3L connects J4 to a DB-9 connector. Standard DB-9-to-DB-25 or DB-25-to-DB-9 adapters may be needed for a particular setup.
  • Page 47 Universal PMAC Lite If a cable needs to be made, the easiest approach is to use a flat cable prepared with flat-cable type connectors as indicated in the following diagrams: PMAC (IDC-10) PC (DB-9) DB-9 Female IDC-10 6 (DSR) 2 (RXD)

  • Page 48: Machine Connections Example

    Universal PMAC 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...
  • Page 49 Universal PMAC Lite Machine Connections...

  • Page 50: Host Pc-At I/O Address Map

    Universal PMAC Lite HOST PC-AT I/O ADDRESS MAP Hex Range Dec Range Usage 000-01F 0-31 DMA Controller 1 8237A-5 020-03F 32-63 Interrupt Controller 1 8259A 040-05F 64-67 Timer 8254-2 060-06F 96-111 8042 (Keyboard) 070-07F 112-127 Real-time clock, NMI mask 080-09F...
  • Page 51 Universal PMAC Lite Host PC-AT I/O Address Map...

  • Page 52: Pmac-Lite Mating Connectors

    PMAC mating connector sketch for typical connection.) J1 (JDISP)/Display Port 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 Port 1.

  • Page 53: J11 (Jmach1)/1St Machine Connector

    3KH 31/9 JN12 card edge connector. Pierced solder eyelets. P2 (AT Bus) One 36-pin card edge connector with solder pierced eyelets Delta Tau P/N 014-000 F36-SCO Viking P/N 3KH 18/9 JN12 card edge connector. Pierced solder eyelets. PMAC Lite Mating Connectors...

  • Page 54: Pmac Lite Connector Pinouts

    Universal PMAC Lite PMAC LITE CONNECTOR PINOUTS J1 (JDISP): Display Port Connector (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...

  • Page 55: J2 (Jpan): Control Panel Port Connector

    Universal PMAC Lite J2 (JPAN): Control Panel Port Connector Front View (26-Pin Connector) 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 Jog IN - DIR.

  • Page 56: J3 (Jthw): Multiplexer Port Connector

    Universal PMAC Lite J3 (JTHW): Multiplexer Port Connector (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...

  • Page 57: J4 (Jrs232) Serial Port Connector

    Universal PMAC Lite J4 (JRS232) Serial Port Connector Front View (10-Port Connector) Pin # Symbol Function Description Notes PHASE Output Phasing Clock Bidirectional Data Terminal Ready Tied to DSR TXD/ Input Receive Data Host transmit data Input Clear to Send...

  • Page 58: J4A (Jrs422): Serial Port Connector

    Universal PMAC Lite J4A (JRS422): Serial Port Connector (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 59: J5 (Jopto): I/O Port Connector

    Universal PMAC Lite J5 (JOPTO): I/O Port Connector (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...

  • Page 60: J6 (Jxio): Auxiliary I/O Port Connector

    Universal PMAC Lite J6 (JXIO): Auxiliary I/O Port Connector (10-Pin Connector) Front View Pin # Symbol Function Description Notes CHA1 Input Encoder A Ch. Pos. From Acc-14 board CHB1 Input Encoder B Ch. Pos. From Acc-14 board CHC1 Input Encoder C Ch. Pos.

  • Page 61: J8 (Jequ): Position-Compare Connector

    Universal PMAC Lite J8 (JEQU): Position-Compare Connector (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...
  • Page 62 Universal PMAC Lite J11 JMACH1 60-Pin Header (Continued) Front View Pin # Symbol Function Description Notes DAC4 Output Analog Out Pos.. 4 DAC3/ Output Analog Out Neg.. 3 DAC4/ Output Analog Out Neg.. 4 AENA3/DIR3 Output Amp-Ena/Dir. 3 AENA4/DIR4 Output Amp-Ena/Dir.

  • Page 63: Tb1 (Jpwr): Power Supply

    Universal PMAC Lite TB1 (JPWR): Power Supply (4-Pin Terminal Block) Top View Pin # Symbol Function Description Notes Common Reference Voltage Input Positive Supply Voltage Supplies all PMAC digital circuits +12V Input Positive Supply Voltage Ref to digital GND -12V...

  • Page 64: Pmac-Pc Software Setup

    The easiest way to program, setup and troubleshoot PMAC is by using the PMAC Executive Program PEWIN and its related add-on packages P1Setup and PMACPlot. These software packages are available from Delta Tau, ordered through the Acc-9WN accessory. The programming features and configuration variables for the PMAC PC are fully described in the PMAC User and Software manuals.

  • Page 65: Option 16 Supplemental Memory

    Universal PMAC Lite To make the change in CPU frequency and baud rate over the serial port with on-line commands, make sure that the two commands are on the same command line. If they are on separate command lines, the second command will not be accepted because the baud rate has changed.
  • Page 66 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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