Delta Tau PMAC2-PC/104 Installation Manual
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Delta Tau PMAC2-PC/104 Installation Manual

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  • Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Visit our website - Click HERE...
  • Page 2 HARDWARE REFERENCE MANUAL INSTALLATION MANUAL PMAC2A-PC/104 Compact Version of PMAC Family 4xx-603670-xHxx January 29, 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 Downloaded from www.Manualslib.com manuals search engine...
  • Page 3 Downloaded from www.Manualslib.com manuals search engine...

  • Page 4: Table Of Contents

    PMAC2A-PC/104 TABLE OF CONTENTS INTRODUCTION ...............................1 .................................1 VERVIEW ............................1 OARD ONFIGURATION Base Version .................................1 Option 2A: PC/104 bus stack interface.........................1 Option 5xF: CPU Speed Options..........................1 Option 6: Extended Firmware Algorithm ......................2 Option 6L: Multi-block lookahead firmware ......................2 Option 10: Firmware Version Specification ......................2 Option 12: Analog-to-Digital Converters......................2 ACC-1P: Axis expansion piggyback board......................2 ACC-1P Option 1: I/O ports ..........................2...
  • Page 5 PMAC2A-PC/104 Home switches ..............................14 ..........................15 OTOR SIGNALS CONNECTIONS Incremental Encoder Connection ........................15 DAC Output signals ............................15 Pulse and Direction (Stepper) Drivers .......................16 Amplifier Enable Signal (AENAx/DIRn)......................16 Amplifier Fault Signal (FAULT-) ........................16 ACC-1P G (J7 P )..............16 ENERAL URPOSE IGITAL NPUTS AND UTPUTS ACC-2P G (JOPT P...
  • Page 6 PMAC2A-PC/104 LED Indicators ..............................34 ACC-2P HARDWARE REFERENCE SUMMARY ....................36 ..............................36 OARD IMENSIONS ...............................36 OARD AYOUT ..........................37 ONNECTORS AND INDICATORS J1 – USB Communications Port .........................37 J2 - Thumbwheel Multiplexer Port (JTHW Port)....................37 J7 - General-Purpose Digital Inputs and Outputs (JOPT Port) .................37 J8 –...
  • Page 7 PMAC2A-PC/104 J8 (JHW) H ......................61 ANDWHEEL NCODER ONNECTOR ACC-2P CONNECTOR PINOUTS .........................63 TB1 (JPWR): P ..........................63 OWER UPPLY J1 (USB) U ) .....................63 NIVERSAL ERIAL PTIONAL J2 (JTHW): M ......................64 ULTIPLEXER ONNECTOR J7 (JOPT): I/O P ...........................64 ONNECTOR J8 (JHW) H ......................65 ANDWHEEL NCODER...

  • Page 8: Introduction

    INTRODUCTION Overview The PMAC2A-PC/104 motion controller is a compact, cost-effective version of the Delta Tau’s PMAC2 family of controllers. The PMAC2A-PC/104 can be composed of three boards in a stack configuration. The base board provides four channels of either DAC ±10V or pulse and direction command outputs. The optional axis expansion board provides a set of four additional servo channels and I/O ports.

  • Page 9: Option 6: Extended Firmware Algorithm

    PMAC2A-PC/104 Option 6: Extended Firmware Algorithm Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular servo algorithm firmware. This is only required in difficult-to-control systems (resonances, backlash, friction, disturbances, changing dynamics). Option 6L: Multi-block lookahead firmware Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles execution.

  • Page 10: Acc-2P: Communications Board

    PMAC2A-PC/104 ACC-2P: Communications Board Without any options the PMAC2A-PC/104 communicates through the RS-232 serial interface using the optional ACC- 3L flat cable. Only one method of communication is allowed at a time. ACC-2P Option 1A: USB Interface Option 1A it provides a 12 Mbit/sec USB interface allowing USB communications with the PMAC2A-PC/104 motion controller.

  • Page 11: Acc-2P Option 3: I/O Ports

    PMAC2A-PC/104 ACC-2P Option 3: I/O ports Option 3 provides the following ports on the ACC-2P communications board for digital I/O connections. • Multiplexer Port: this connector provides eight input lines and eight output lines at TTL levels. When using the PMAC ACC-34x type boards these lines allow multiplexing large numbers of inputs and outputs on the port.

  • Page 12: Base Board Hardware Setup

    PMAC2A-PC/104 BASE BOARD HARDWARE SETUP On the PMAC2-PC/104 base board, you will see many jumpers (pairs of metal prongs), called E-points or W-points. Some have been shorted together; others have been left open. These jumpers customize the hardware features of the base board for a given application and must be setup appropriately. The following is an overview of the several jumpers grouped in appropriate categories.

  • Page 13: Cpu Jumper Configuration

    PMAC2A-PC/104 CPU Jumper Configuration E15A-E15C: Flash Memory Bank Select Jumpers – The flash-memory IC in location U10 on the PMAC2A-PC/104 base board has the capacity for eight separate banks of firmware, only one of which can be used at any given time. The eight combinations of settings for jumpers E15A, E15B, and E15C select which bank of the flash memory is used.
  • Page 14 PMAC2A-PC/104 The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 kΩ resistor to +5V; each also has another 2.2 kΩ resistor as part of a socketed resistor pack that can be configured as a pull-up resistor to +5V, or a pull-down resistor to GND.
  • Page 15 PMAC2A-PC/104 Base Board Hardware Setup Downloaded from www.Manualslib.com manuals search engine...

  • Page 16: Acc-1P Hardware Setup

    PMAC2A-PC/104 ACC-1P HARDWARE SETUP On the ACC-1P, you will see 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 ACC- 1P for a given application and must be setup appropriately. The following is an overview of the several jumpers grouped in appropriate categories.

  • Page 17: Handwheel Encoder Termination Resistors

    PMAC2A-PC/104 The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 kΩ resistor to +5V; each also has another 2.2 kΩ resistor as part of a socketed resistor pack that can be configured as a pull-up resistor to +5V, or a pull-down resistor to GND.

  • Page 18: Acc-2P Hardware Setup

    PMAC2A-PC/104 ACC-2P HARDWARE SETUP On the ACC-2P, you will see 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 ACC- 2P for a given application and must be setup appropriately. The following is an overview of the several jumpers grouped in appropriate categories.

  • Page 19: Handwheel Encoder Termination Resistors

    PMAC2A-PC/104 The ‘+’ inputs of each differential pair each have a hard-wired 1 kΩ pull-up resistor to +5V. This cannot be changed. The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 kΩ resistor to +5V; each also has another 2.2 kΩ...

  • Page 20: Machine Connections

    Typically, the user connections are actually made to terminal blocks that are attached to the JMACH connectors by a flat cable. The following are the terminal blocks recommended for connections: • 34 PIN IDC header to terminal block breakouts (Phoenix part number 2281063) Delta Tau part number 100-FLKM34-000. •...

  • Page 21: Dac Outputs Power Supply

    PMAC2A-PC/104 DAC Outputs Power Supply 0.3A @ +12 to +15V (4.5W) 0.25A @ -12 to -15V (3.8W) (Eight-channel configuration) • The host computer provides the ±12 Volts power supply in the case PMAC is installed in the PC/104 bus. With the board stack into the bus, it will automatically pull ±12V power from the bus and it cannot be disconnected.

  • Page 22: Motor Signals Connections

    PMAC2A-PC/104 setup, through the I-variables I9n2. However, for the following reasons, the same type of switches used for over-travel limits are recommended: • Normally closed switches are proven to have greater electrical noise rejection than normally open types. • Using the same type of switches for every input flag simplifies maintenance stock and replacements.

  • Page 23: Pulse And Direction (Stepper) Drivers

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

  • Page 24: Acc-2P General-Purpose Digital Inputs And Outputs (Jopt Port)

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

  • Page 25: Acc-2P Thumbwheel Multiplexer Port (Jthw Port)

    The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW connector has sixteen lines. These 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 26: Serial Port (Jrs232 Port)

    For serial communications, use a serial cable to connect your PC's COM port to the J8 serial port connector present on the PMAC2A-PC/104 base board. Delta Tau provides the Accessory 3L cable for this purpose that connects the PMAC to a DB-9 connector. Standard DB-9-to-DB-25 or DB-25-to-DB-9 adapters may be needed for your particular setup.

  • Page 27: Machine Connections Example: Using Analog ±10 Volts Amplifier

    PMAC2A-PC/104 Machine Connections Example: Using Analog ±10 Volts AmplifieR Amplifier 5 Volts Power Supply Load Motor Flags ±15 Volts Power Supply Encoder SYMBOL Pin # Pin # Pin # Pin # HOMEn PLIMn MLIMn Flag_V SYMBOL Pin # Pin # Pin # Pin # CHAn+...

  • Page 28: Machine Connections Example: Using Pulse And Direction Drivers

    PMAC2A-PC/104 Machine Connections Example: using pulse and direction drivers Driver Stepper 5 Volts Power Supply Load Motor Flags SYMBOL Pin # Pin # Pin # Pin # HOMEn PLIMn MLIMn Flag_V SYMBOL Pin # Pin # Pin # Pin # CHAn+ CHAn- CHBn+...

  • Page 29: Pmac2A-Pc/104 Software Setup

    Flex CPU design. Communications Delta Tau provides software tools that allow communicating with of the PMAC2A-PC/104 board either by its standard RS-232 port or the optional USB or Ethernet ports. PEWIN is the most important in the series of software accessories, and it allows configuring and programming the PMAC for any particular application.

  • Page 30: Dac Outputs Configuration

    PMAC2A-PC/104 following table: Baud Rate Baud Rate 9600 14,400 1200 19,200 1800 28,800 2400 38,400 3600 57,600 4800 76,800 7200 115,200 For a saved value of 0 for I46, the serial baud rate is determined by the combination of I54 and the CPU frequency as shown in the following table.

  • Page 31: Using Flag I/Oas General -Purpose I/O

    PMAC2A-PC/104 1710933 Using Flag I/O as General-Purpose I/O Either the “user flags” or other not assigned axes flag on the base board can be used as general-purpose I/O for up to 20 inputs and 4 outputs at 5-24 VDC levels. The indicated suggested M-variables definitions, which are defined in the PMAC2 Software reference, allows accessing each particular line according to the following table: Channel Number...

  • Page 32: Acc-2P With Jumper E5 In Position 2-3

    PMAC2A-PC/104 M8->Y:$C080,8 ; Digital Input MI0 ; Digital Input MI1 M9->Y:$C080,9 ; Digital Input MI2 M10->Y:$C080,10 ; Digital Input MI3 M11->Y:$C080,11 ; Digital Input MI4 M12->Y:$C080,12 ; Digital Input MI5 M13->Y:$C080,13 ; Digital Input MI6 M14->Y:$C080,14 ; Digital Input MI7 M15->Y:$C080,15 ;...

  • Page 33: Thumbwheel Port Digital Inputs And Outputs

    PMAC2A-PC/104 In order to properly setup the digital outputs an initialization PLC must be written scanning through once on power-up/reset, then disabling itself: OPEN PLC1 CLEAR ;BITS 0-8 are assigned as output M32=$FF ;BITS 9-16 are assigned as input M34=$0 ;Define inputs and outputs voltages M40=$FFFF ;All lines are I/O type...

  • Page 34: Analog Inputs Setup

    PMAC2A-PC/104 ; SEL6 I/O Line M46->Y:$C0C2,14,1 ; SEL7 I/O Line M47->Y:$C0C2,15,1 ; SEL0-7 I/O Lines treated as a byte M48->Y:$C0C2,8,8,U ; DAT0 I/O Line M50->Y:$C0C2,0,1 ; DAT1 I/O Line M51->Y:$C0C2,1,1 ; DAT2 I/O Line M52->Y:$C0C2,2,1 ; DAT3 I/O Line M53->Y:$C0C2,3,1 ;...
  • Page 35 PMAC2A-PC/104 PMAC2A-PC/104 Software Setup Downloaded from www.Manualslib.com manuals search engine...

  • Page 36: Base Board Hardware Reference Summary

    PMAC2A-PC/104 BASE BOARD HARDWARE REFERENCE SUMMARY The following information is based on the PMAC2A-PC/104 board Part Number 603670-100 Board Dimensions Board Layout Base Board Hardware Reference Summary Downloaded from www.Manualslib.com manuals search engine...

  • Page 37: Connectors And Indicators

    PMAC2A-PC/104 Feature Location Feature Location Feature Location RP30 RP31 E15A RP36 E15B RP37 E15C JRS232 JMACH1 JMACH2 Connectors and Indicators J3 - Machine Connector (JMACH1 Port) The primary machine interface connector is JMACH1, labeled J3 on the PMAC. It contains the pins for four channels of machine I/O: analog outputs, incremental encoder inputs, amplifier fault and enable signals and power-supply connections.

  • Page 38: Tb1 - Power Supply Terminal Block (Jpwr Connector)

    PMAC2A-PC/104 TB1 – Power Supply Terminal Block (JPWR Connector) In almost in all cases the PMAC2A-PC/104 will be powered from the PC/104 bus, when it is installed in a host computer’s bus, or from the JMACH1 connector. This terminal block may be used as an alternative power supply connector or to easily measure the voltages applied to the board.

  • Page 39: Acc-1P Hardware Reference Summary

    PMAC2A-PC/104 ACC-1P HARDWARE REFERENCE SUMMARY The following information is based on the ACC-1P board Part Number 603671-100 Board Dimensions Board Layout ACC-1P Hardware Reference Summary Downloaded from www.Manualslib.com manuals search engine...

  • Page 40: Connectors And Indicators

    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 41: J4 - Machine Connector (Jmach2 Port)

    Each input and each output has its own corresponding ground pin in the opposite row. The 34- pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Delta Tau's Accessory 21F is a six-foot cable for this purpose. 1. 34-pin female flat cable connector. T&B Ansley P/N 609-3441 2.
  • Page 42 PMAC2A-PC/104 ACC-1P Hardware Reference Summary Downloaded from www.Manualslib.com manuals search engine...

  • Page 43: Acc-2P Hardware Reference Summary

    PMAC2A-PC/104 ACC-2P HARDWARE REFERENCE SUMMARY The following information is based on the ACC-2P board Part Number 603672-100 Board Dimensions Board Layout ACC-2P Hardware Reference Summary Downloaded from www.Manualslib.com manuals search engine...

  • Page 44: Connectors And Indicators

    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 45: J8 - Handwheel / Pulse And Direction Port (Jhw / Pd Port)

    PMAC2A-PC/104 2. Standard flat cable stranded 34-wire. T&B Ansley P/N 171-34 3. Phoenix varioface module type FLKM 34 (male pins) P/N 22 81 06 3 J8 – Handwheel / Pulse and Direction Port (JHW / PD Port) This port provides an extra encoder input or a set of pulse and direction outputs, and its function is selectable by jumpers.

  • Page 46: Tb1 - Power Supply Terminal Block (Jpwr Connector)

    PMAC2A-PC/104 TB1 – Power Supply Terminal Block (JPWR Connector) In almost in all cases the PMAC2A-PC/104 will be powered from the PC/104 bus when it is installed in a host computer’s bus, or from the JMACH1 connector. This terminal block may be used as an alternative power supply connector or to easily measure the voltages applied to the board.

  • Page 47: Base Board E-Point Jumper Descriptions

    PMAC2A-PC/104 BASE BOARD E-POINT JUMPER DESCRIPTIONS E0: Forced Reset Control E Point and Location Description Default Physical Layout Factory use only; the board will not No jumper operate with E0 installed. E1: Servo and Phase Clock Direction Control E Point and Location Description Default...

  • Page 48: E2: Cpu Frequency Select

    PMAC2A-PC/104 E2: CPU Frequency Select E Point and Location Description Default Physical Layout Remove jumper for 40 MHz operation (E4 OFF also) or for 80 No jumper MHz operation (E4 ON) installed Jump pin 1 to 2 for 60 MHz operation (E4 OFF) E3: Normal/Re-initializing Power-Up/Reset E Point and...

  • Page 49: E8: Phase Clock Lines Output Enable

    PMAC2A-PC/104 E8: Phase Clock Lines Output Enable E Point and Location Description Default Physical Layout Jump pin 1 to 2 to enable the PHASE clock line on the J8 connector, allowing synchronization with another No Jumper PMAC. Remove jumper to disable the PHASE clock line on the J8 connector.

  • Page 50: E13: Power-Up/Reset Load Source

    PMAC2A-PC/104 E13: Power-Up/Reset Load Source E Point and Location Description Default Physical Layout Jump pin 1 to 2 to reload firmware through serial or bus port. No jumper Remove jumper for normal operation. E14: Watchdog Disable Jumper E Point and Location Description Default...

  • Page 51: E16: Adc Inputs Enable

    PMAC2A-PC/104 E16: ADC Inputs Enable E Point and Location Description Default Physical Layout Jump pin 1 to 2 to enable the Option-12 ADC inputs. Remove jumper to disable the ADC No jumper inputs, which might be necessary for reading current feedback signals from digital amplifiers.
  • Page 52 PMAC2A-PC/104 Base Board E-Point Jumper Descriptions Downloaded from www.Manualslib.com manuals search engine...

  • Page 53: Acc-1P E-Point Jumper Descriptions

    PMAC2A-PC/104 ACC-1P E-POINT JUMPER DESCRIPTIONS E0: Reserved for Future Use E Point and Location Description Default Physical Layout For future use. No jumper E1 - E2: Machine Output Supply Voltage Configure E Point and Location Description Default Physical Layout Jump pin 1 to 2 to apply +V (+5V to 24V) to pin 10 of "U7"...

  • Page 54: E3 - E4: Jhw, Pd Function Select

    PMAC2A-PC/104 E3 – E4: JHW, PD Function Select E Point and Location Description Default Physical Layout Jump pin 1 to 2 to enable handwheel channel 1 inputs. 1-2 Jumper installed Jump pin 2 to 3 to enable pulse and direction channel 1outputs. Jump pin 1 to 2 to enable handwheel channel 2 inputs.

  • Page 55: E16: Adc Inputs Enable

    PMAC2A-PC/104 Jump pin 1 to 2 to apply +5V to input reference resistor sip pack; this will bias MI1 to MI8 inputs to +5V for "OFF" state; input must then be grounded for "ON" state. 1-2 Jumper Jump pin 2 to 3 to apply GND to installed input reference resistor sip pack;...
  • Page 56 PMAC2A-PC/104 Acc-1P E-Point Jumper Descriptions Downloaded from www.Manualslib.com manuals search engine...

  • Page 57: Acc-2P E-Point Jumper Descriptions

    PMAC2A-PC/104 ACC-2P E-POINT JUMPER DESCRIPTIONS E3 – E4: JHW, PD Function Select E Point and Location Description Default Physical Layout Jump pin 1 to 2 to enable handwheel channel 1 inputs. 1-2 Jumper installed Jump pin 2 to 3 to enable pulse and direction channel 1outputs.
  • Page 58 PMAC2A-PC/104 Install jumper to make DATx lines inputs. Jumper installed No jumper to make DATx lines outputs. Install jumper to make SELx lines inputs. No jumper No jumper to make SELx lines outputs. Install jumper to make MOx lines inputs. No jumper No jumper to make MOx lines outputs.

  • Page 59: Base Board Connector Pinouts

    PMAC2A-PC/104 BASE BOARD CONNECTOR PINOUTS 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 input Negative Supply Voltage...

  • Page 60: J3 (Jmach1): Machine Port Connector

    PMAC2A-PC/104 J3 (JMACH1): Machine Port Connector (50-Pin Header) Pin# Symbol Function Description Notes Output +5V Power For encoders, 1 Output +5V Power For encoders, 1 Common Digital Common Common Digital Common CHA1 Input Encoder A Ch. Pos CHA2 Input Encoder A Ch. Pos CHA1/ Input Encoder A Ch.

  • Page 61: Connector

    PMAC2A-PC/104 J3 JMACH1 (50-Pin Header) (Continued) Pin# Symbol Function Description Notes DAC4/ Output Analog Output Neg. 4 AENA3/ Output Amp-Enable 3 AENA4/ Output Amp-Enable 4 FAULT3/ Input Amp-Fault 3 FAULT4/ Input Amp-Fault 4 Input Analog Input 1 Option-12 required ADCIN_1 Input Analog Input 2 Option-12 required...
  • Page 62 PMAC2A-PC/104 Common Digital Common Common Digital Common HOME1 Input Home-Flag 1 HOME2 Input Home-Flag 2 PLIM1 Input Negative End Limit 1 PLIM2 Input Negative End Limit 2 MLIM1 Input Positive End Limit 1 MLIM2 Input Positive End Limit 2 USER1 Input User Flag 1 USER2...

  • Page 63: Acc-1P Connector Pinouts

    PMAC2A-PC/104 ACC-1P CONNECTOR PINOUTS 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 Input Negative Supply Voltage REF to digital GND...

  • Page 64: J3 (Jmach1): Machine Port Connector

    PMAC2A-PC/104 DAT0 Input Data-0 Input Data input from multiplexed accessory SEL0 Output Select-0 Output Multiplexer select output DAT1 Input Data -1 Input Data input from multiplexed accessory SEL1 Output Select -1 Output Multiplexer select output DAT2 Input Data -2 Input Data input from multiplexed accessory SEL2...
  • Page 65 PMAC2A-PC/104 CHA6 Input Encoder A Ch. Pos CHA5/ Input Encoder A Ch. Neg CHA6/ Input Encoder A Ch. Neg CHB5 Input Encoder B Ch. Pos CHB6 Input Encoder B Ch. Pos CHB5/ Input Encoder B Ch. Neg CHB6/ Input Encoder B Ch. Neg CHC5 Input Encoder C Ch.

  • Page 66: Connector

    PMAC2A-PC/104 ADCIN_1 Input Analog Input 1 Option-2 required ADCIN_2 Input Analog Input 2 Option-2 required FLT_FLG_V Input Amp. Fault pull-up V+ Input Analog Common A+15V Input DACs +15V Supply A-15V Input DACs -15V Supply The J3 connector is used to connect PMAC to the second 4 channels (Channels 5, 6, 7, and 8) of servo amps and encoders.

  • Page 67: J7 (Jopto): I/O Port Connector

    PMAC2A-PC/104 PUL_6 Input Pulse Output 6 DIR_5 Input Direction Output 5 DIR_6 Input Direction Output 6 EQU5 Output Enc. Comp-Equal 5 EQU6 Output Enc. Comp-Equal 6 HOME7 Input Home Flag 7 HOME8 Input Home Flag 8 PLIM7 Input Negative End Limit 7 PLIM8 Input Negative End Limit 8...

  • Page 68: J8 (Jhw) Handwheel Encoder Connector

    PMAC2A-PC/104 Output Machine Output 8 Low-TRUE (Sinking) High-TRUE (Sourcing) Common PMAC Common Output Machine Output 7 " " Common PMAC Common Output Machine Output 6 " " Common PMAC Common Output Machine Output 5 " " Common PMAC Common Output Machine Output 4 "...
  • Page 69 PMAC2A-PC/104 Acc-1P Connector Pinouts Downloaded from www.Manualslib.com manuals search engine...

  • Page 70: Acc-2P Connector Pinouts

    PMAC2A-PC/104 ACC-2P CONNECTOR PINOUTS 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 Input Negative Supply Voltage Ref TO Digital GND...

  • Page 71: J2 (Jthw): Multiplexer

    PMAC2A-PC/104 J2 (JTHW): Multiplexer Port Connector Front View (26-Pin Connector) Pin# Symbol Function Description Notes Common PMAC Common Common PMAC Common Data input from multiplexed accessory DAT0 Input Data-0 Input Multiplexer select output SEL0 Output Select-0 Output Data input from multiplexed accessory DAT1 Input Data -1 Input...

  • Page 72: J8 (Jhw) Handwheel Encoder Connector

    PMAC2A-PC/104 Input Machine Input 8 Direction selectable Common PMAC Common Input Machine Input 7 Direction selectable Common PMAC Common Input Machine Input 6 Direction selectable Common PMAC Common Input Machine Input 5 Direction selectable Common PMAC Common Input Machine Input 4 Direction selectable Common PMAC Common...

  • Page 73: J10 Ethernet Port (Optional)

    PMAC2A-PC/104 HWB1- / Input/Output hw1 channel b or direction output selected by jumpers E3 DIR1- and E4 HWA2+ / Input/Output hw2 channel a or pulse output selected by jumpers E3 and PUL2+ HWA2- / Input/Output hw2 channel a or pulse output selected by jumpers E3 and PUL2- HWB2+ / Input/Output...

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