Delta Tau PMAC2-VME Hardware Reference Manual
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Delta Tau PMAC2-VME Hardware Reference Manual

Delta Tau PMAC2-VME Hardware Reference Manual

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Summary of Contents for Delta Tau PMAC2-VME

  • Page 1 (217) 352-9330 | Click HERE Find the OMRON / Delta Tau PMAC2-VME Ultra-Lite at our website:...
  • Page 2 HARDWARE REFERENCE MANUAL PMAC2-VME Programmable Multi-Axis Controller 3Ax-602413-xHxx May 27, 2004 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.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

    PMAC2 VME Hardware Reference Manual Table of Contents INTRODUCTION ...............................1 Features ..................................1 PMAC2 VME Configuration ............................1 PMAC2 VME ASICs .............................1 DSPGATE1 Servo ASIC............................1 DSPGATE2 I/O ASIC ............................2 PMAC2 VME Board Configuration..........................2 PMAC2 VME Setup ..............................3 PMAC2 CPUs ................................3 Configurations ..............................4 Firmware ................................4 Option 16 Supplemental Memory .........................4 Related Technical Documentation ..........................5...
  • Page 5 PMAC VME Hardware Reference Manual J3 ..................................35 J4 (JEXP)................................35 J5 (JTAG/OnCE) ..............................35 J6 ..................................35 J7 ..................................35 PMAC2 VME CPU Board ............................36 PMAC2 VME CPU Piggyback Board Jumpers ......................37 Table of Contents Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 6: Introduction

    Option 1V is ordered. It also has a DSPGATE2 ASIC supporting the non-servo I/O. PMAC2 VME ASICs Delta Tau has designed its own custom application-specific integrated circuits (ASICs) for the PMAC2 VME using the latest sub-micron gate-array technology. Each ASIC contains 45,000 active logic gates.

  • Page 7: Dspgate2 I/O Asic

    PMAC VME Hardware Reference Manual • Amplifier fault input • Four supplementary flag inputs (T, U, V, W) • Two inputs from serial analog-to-digital converters (ADCs) • ADC clock and strobe signal outputs The DSPGATE1 ASIC also generates several clock frequencies necessary for hardware and software operation, under the user’s software control: •...

  • Page 8: Pmac2 Vme Setup

    PMAC2 VME Hardware Reference Manual Alternately, you can define an M-variable such as M99->X:$FFFD,0,4 and then read from or write to these bits with the M-variable. PMAC2 VME Setup On PMAC2 VME, jumpers E2 and E4 control the frequency of operation of the DSP according to the following table: X:$FFFD;...

  • Page 9: Configurations

    PMAC VME Hardware Reference Manual The PV CPU has operational differences from earlier CPU configurations to support the new features. The following paragraphs explain these differences and are only relevant if using the 602705 CPU piggyback board on the controller. Configurations The PV CPU board is configured at the factory to the customer’s specifications.

  • Page 10: Related Technical Documentation

    PMAC2 VME Hardware Reference Manual Any value written into the Option 16 memory will automatically be retained through a power-down or reset; no SAVE operation is required. The power draw on the battery is low enough that battery life will typically be limited only by the quoted 10-year life of the battery.
  • Page 11 PMAC VME Hardware Reference Manual Introduction Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 12: Connectors

    PMAC2 VME Hardware Reference Manual CONNECTORS PMAC2 VME Connector Summary The following paragraphs provide a brief description of each connector on the PMAC2 VME, its use, and individual pinout information. Connectors Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 13: J1/Jana (20-Pin Header)

    PMAC VME Hardware Reference Manual J1/JANA (20-Pin Header) Front View Pin # Symbol Function Description Notes ANAI00 Input Analog Input 0 0-5V or +/-2.5V range ANAI01 Input Analog Input 1 0-5V or +/-2.5V range ANAI02 Input Analog Input 2 0-5V or +/-2.5V range ANAI03 Input Analog Input 3...

  • Page 14: J2/Jthw (26-Pin Header)

    PMAC2 VME Hardware Reference Manual J2/JTHW (26-Pin Header) 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 Port Accessories DAT1 Input Data-1 Input...

  • Page 15: J3/Jio (40-Pin Header)

    PMAC VME Hardware Reference Manual J3/JIO (40-Pin Header) 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. I/O03 In/Out Digital I/O 3...

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

    PMAC2 VME Hardware Reference Manual J4 (JMACRO) 26-Pin Header Front View Pin # Symbol Function Description Notes DOUT7 Output Ring Out Bit 7 Macro Ring Command DOUT6 Output Ring Out Bit 6 Macro Ring Transmit DOUT5 Output Ring Out Bit 5 Macro Ring Transmit DOUT4 Output...

  • Page 17: J5A/Jrs422 (26-Pin Header)

    PMAC VME Hardware Reference Manual J5A/JRS422 (26-Pin Header) Front View Pin # Symbol Function Description Notes CHASSI Common PMAC Common S+5V Output +5Vdc Supply Input Receive Data Diff. I/O Low True ** Input Receive Data Diff. I/O High True * Output Send Data Diff.

  • Page 18: J6/Jdisp (14-Pin Header)

    PMAC2 VME Hardware Reference Manual J6/JDISP (14-Pin Header) Front View Pin # Symbol Function Description Notes Output +5V Power Power Supply Out Common PMAC Common Output Read Strobe TTL Signal Out Output Contrast Adjust VEE 0 to +5Vdc * Output Display Enable High is Enable Output...

  • Page 19: J8/Jequ (10-Pin Header)

    PMAC VME Hardware Reference Manual J8/JEQU (10-Pin Header) Front View Pin # Symbol Function Description Notes EQU1/ Output Enc. 1 Comp-Eq Low is true EQU2/ Output Enc. 2 Comp-Eq Low is true EQU3/ Output Enc. 3 Comp-Eq Low is true EQU4/ Output Enc.
  • Page 20 PMAC2 VME Hardware Reference Manual J9/JMACH1 (100-Pin Header) Front View Pin# Symbol Function Description Notes FAULT1+ Input Amplifier Fault Programmable polarity FAULT1- Input Amplifier Fault PWMATOP1+ Output Phase A Top CMD or DAC Programmable function control DAC_CLK1+ Clock PWMATOP1- Output Phase A Top CMD or DAC DAC_CLK1- Clock...
  • Page 21 The JMACH1 connector provides the interface pins for channels 1 and 2. Usually, it is connected to a breakout board, such as one of the Acc-8x 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. Connectors...

  • Page 22: J10/Jmach2 (100-Pin Header)

    PMAC2 VME Hardware Reference Manual J10/JMACH2 (100-Pin Header) Front View Pin# Symbol Function Description Notes Output / Input +5V Power For external circuit or from ext. Supply Output / Input +5V Power Common Reference Voltage Common Reference Voltage CHA3+ Input Enc 3 Pos.
  • Page 23 PMAC VME Hardware Reference Manual J10/JMACH2 (100-Pin Header) Front View Pin# Symbol Function Description Notes PWMBTOP3- Output Phase B Top CMD or DAC DAC_STB3- Strobe PWMBBOT3+ Output Phase B Bottom CMD or DAC B Programmable function control DAC3B+ Serial Data PWMBBOT3- Output Phase B Bottom CMD or DAC B...
  • Page 24 The JMACH2 connector provides the interface pins for channels 3 and 4. Usually, it is connected to a breakout board, such as one of the Acc-8x 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 25: P1 Jmach (96-Pin Header)

    PMAC VME Hardware Reference Manual P1 JMACH (96-Pin Header) Front View Pin # Row A Row B Row C BBSY/ BCLR/ ACFAIL/ B0IN/ BG0OUT/ BG1IN/ BG1OUT/ BG2IN/ BG2OUT/ SYSCLK BG3IN/ SYSFAIL/ BG3OUT/ BERR/ DS1/ BR0/ SYSRESET/ DS0/ BR1/ LWORD/ WRITE/ BR2/ BR3/ DTACK/...

  • Page 26: P2/Jmacha (96-Pin Header)

    PMAC2 VME Hardware Reference Manual P2/JMACHA (96-Pin Header) Front View Pin# Row A Row B (Format A) Row B (Format B) Row C CHU1 CHU3 CHA1 (Reserved) CHV1 CHA3 CHB1 VA24 CHV3 CHB3 CHC1 VA25 CHW1 CHC3 PLIM1 VA26 CHW3 PLIM3 MLIM1 VA27...

  • Page 27: Tb1 (2/4-Pin Terminal Block)

    PMAC VME Hardware Reference Manual TB1 (2/4-Pin Terminal Block) 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 analog inputs -12V Input Negative Supply Voltage...

  • Page 28: Jumper Summary

    Caution: Operation of a board with 40 MHz components (standard) at 60 MHz is done completely at the user’s own risk; Delta Tau can accept no responsibility for the operation of PMAC2 or the machine under these conditions. It may be possible to operate a board with 40 MHz components (standard) at 60 MHz under some conditions by changing the setting of jumper E2.

  • Page 29: E7A-H Through E10A-H: P2 Connector B-Row Use Select

    PMAC VME Hardware Reference Manual E7A-H through E10A-H: P2 Connector B-Row Use Select E Point and Location Description Default Physical Layout E7A-H Jump pins 1 to 2 to use B-row of P2 connector for 1-2 jumpers installed JMACH pins (not compatible with 32-bit VME). Jump pins 2 to 3 to use B-row of P2 connector for 32- bit VME bus interface Jump pins 1 to 2 to use B-row of P2 connector for...

  • Page 30: E17 - E18: Serial Connector Select

    PMAC2 VME Hardware Reference Manual E17 - E18: Serial Connector Select E17 and E18 control whether the RS-232 or RS-422 serial port is used. E Point and Location Description Default Physical Layout Jump pins 1 to 2 to use RS-232 serial interface. 1-2 jumper installed Jump pins 2 to 3 to use RS -422 serial interface Jump pins 1 to 2 to use RS -232 serial interface.

  • Page 31: Option 1V Piggyback Connector Description

    PMAC VME Hardware Reference Manual Option 1V Piggyback Connector Description The following paragraphs provide a brief description of each connector on the Option 1V Piggyback card, its use, and individual pinout information (see Figure 2-2). 1-10 1-11 1-12 1-13 1-14 1-15 1-16 1-17...
  • Page 32 PMAC2 VME Hardware Reference Manual J11/JMACH3 (100-Pin Header) Front View Pin# Symbol Function Description Notes ADC_STB5+ Output A/D Converter Strobe Programmable sequence ADC_STB5- Output A/D Converter Strobe ADC_DAA5+ Input Chan A ADC Serial Data MSB first ADC_DAA5- Input Chan A ADC Serial Data ADC_DAB5+ Input Chan B ADC Serial Data...
  • Page 33 PMAC VME Hardware Reference Manual J11/JMACH3 (100-Pin Header) Front View Pin# Symbol Function Description Notes CHW6 Input Chan 6 W Flag Hall effect, fault code, or sub-count CHT6 Input Chan 6 T Flag Fault code, or sub-count USER6 Input General Purpose User Flag Hardware capture flag, or sub-count PLIM6 Input...

  • Page 34: J12/Jmach4 (100-Pin Header)

    The JMACH3 connector provides the interface pins for channels 5 and 6. It is usually connected to a breakout board, such as one of the Acc-8x 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. J12/JMACH4 (100-Pin Header) Front View...
  • Page 35 PMAC VME Hardware Reference Manual J12/JMACH4 (100-Pin Header) Front View Pin# Symbol Function Description Notes PWMBTOP7+ Output Phase B Top CMD or DAC Programmable function control DAC_STB7+ Strobe PWMBTOP3- Output Phase B Top CMD or DAC DAC_STB7- Strobe PWMBBOT7+ Output Phase B Bottom CMD or DAC Programmable function control DAC7B+...
  • Page 36 PMAC2 VME Hardware Reference Manual J12/JMACH4 (100-Pin Header) Front View Pin# Symbol Function Description Notes AENA8+ Output Amplifier Enable High is enable AENA8- Output Amplifier Enable Low is enable FAULT8+ Input Amplifier Fault Programmable polarity FAULT8- Input Amplifier Fault PWMATOP8+ Output Phase A Top CMD or DAC Programmable function control...

  • Page 37: P2A/Jmachb (96-Pin Header)

    PMAC VME Hardware Reference Manual P2A/JMACHB (96-Pin Header) Front View Pin# Row A Row B (Format A) Row B (Format B) Row C No Connect CHU5 No Connect CHU7 CHA5 No Connect CHV5 CHA7 CHB5 No Connect CHV7 CHB7 CHC5 No Connect CHW5 CHC7...

  • Page 38: Option 1V Piggyback Jumper Summary

    PMAC2 VME Hardware Reference Manual OPTION 1V PIGGYBACK JUMPER SUMMARY See the Option 1V Piggyback board layout diagram for jumper locations. E Point and Location Description Default Physical Layout JP1-1 to JP1-32 Jump pins 1 to 2 to use B-row of P2A connector for 1-2 jumpers installed JMACH pins (not compatible with 32-bit VME).
  • Page 39 PMAC VME Hardware Reference Manual Option 1V Piggyback Jumper Summary Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 40: Pmac2 Vme Cpu

    PMAC2 VME Hardware Reference Manual PMAC2 VME CPU Connector Summary The following paragraphs provide a brief description of each connector on the PMAC2 VME CPUs. 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 41 PMAC VME Hardware Reference Manual PMAC2 VME CPU Board P/N 602405 P/N 602705 PMAC2 VME CPU Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 42 PMAC2 VME Hardware Reference Manual PMAC2 VME CPU Piggyback Board Jumpers See the PMAC PC CPU Piggyback Board layout diagram for jumper locations. E Point and Location Description Default Physical Layout D1 (602398) Remove jumper to enable watchdog timer operation. No Jumper A1 (602405) Jump pins 1 to 2 to disable watchdog timer operation...

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