Delta Tau PMAC2A-PC/104 Hardware Reference Manual
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Delta Tau PMAC2A-PC/104 Hardware Reference Manual

Delta Tau PMAC2A-PC/104 Hardware Reference Manual

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Download this manual See also: Reference Manual, Installation Manual
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HARDWARE REFERENCE MANUAL
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PMAC2A-PC/104
Single Source Machine Control
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
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PMAC2A-PC/104 Hardware Reference Manual
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4xx-603670-xHxx
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September 22, 2004
Power // Flexibility // Ease of Use

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Summary of Contents for Delta Tau PMAC2A-PC/104

  • Page 1 HARDWARE REFERENCE MANUAL PMAC2A-PC/104 PMAC2A-PC/104 Hardware Reference Manual 4xx-603670-xHxx September 22, 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...

  • Page 2: Operating Conditions

    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 3: Table Of Contents

    PMAC2A PC104 Hardware Reference Manual Table of Contents INTRODUCTION ...............................1 Board Configuration..............................1 Base Version .................................1 Option 2A: PC/104 Bus Stack Interface ......................1 Option 5xF: CPU Speed Options.........................1 Option 6: Extended Firmware Algorithm ......................1 Option 6L: Multi-block Lookahead Firmware.....................1 Option 10: Firmware Version Specification......................1 Option 12: Analog-to-Digital Converters......................2 Acc-1P: Axis Expansion Piggyback Board......................2 Acc-1P Option 1: I/O Ports ..........................2...
  • Page 4 PMAC2A PC104 Hardware Reference Manual DAC Output Signals ............................15 Pulse and Direction (Stepper) Drivers .......................15 Amplifier Enable Signal (AENAx/DIRn)......................15 Amplifier Fault Signal (FAULT-) ........................16 Acc-1P General-Purpose Digital Inputs and Outputs (J7 Port) ................16 Acc-2P General-Purpose Digital Inputs and Outputs (JOPT Port)................17 Acc-1P Thumbwheel Multiplexer Port (J2 Port).....................17 Acc-2P Thumbwheel Multiplexer Port (JTHW Port)....................17 Acc-1P or Acc-2P Handwheel Port (JHW / PD Port) .....................18...
  • Page 5 PMAC2A PC104 Hardware Reference Manual J1 – USB Communications Port .........................39 J2 - Thumbwheel Multiplexer Port (JTHW Port) ....................39 J7 - General-Purpose Digital Inputs and Outputs (JOPT Port).................39 J8 – Handwheel/Pulse and Direction Port (JHW / PD Port) ................39 J10 – Ethernet Communications Port.........................39 TB1 –...
  • Page 6 PMAC2A PC104 Hardware Reference Manual Table of Contents...

  • Page 7: Introduction

    PMAC2A PC104 Hardware Reference Manual INTRODUCTION 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 baseboard 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 8: Option 12: Analog-To-Digital Converters

    PMAC2A PC104 Hardware Reference Manual Option 12: Analog-to-Digital Converters Option 12 permits the installation of two channels of on-board analog-to-digital converters with ±10V input range and 12-bits resolution. The key component installed with this option is U20. Acc-1P: Axis Expansion Piggyback Board Acc-1P provides four additional channels axis interface circuitry for a total of eight servo channels, each including: •...

  • Page 9: Acc-2P: Communications Board

    PMAC2A PC104 Hardware Reference Manual 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 10 PMAC2A PC104 Hardware Reference Manual Introduction...

  • Page 11: Base Board Hardware Setup

    PMAC2A PC104 Hardware Reference Manual BASE BOARD HARDWARE SETUP On the PMAC2 PC/104 baseboard, there are 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 baseboard for a given application and must be setup appropriately.

  • Page 12: Cpu Jumper Configuration

    PMAC2A PC104 Hardware Reference Manual 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.
  • Page 13 PMAC2A PC104 Hardware Reference Manual If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the two parallel 2.2 kΩ resistors act as a single 1.1 kΩ pull-up resistor, holding the line at +5V in the absence of an external signal.
  • Page 14 PMAC2A PC104 Hardware Reference Manual Baseboard Hardware Setup...

  • Page 15: Acc-1P Hardware Setup

    PMAC2A PC104 Hardware Reference Manual 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.

  • Page 16: Handwheel Encoder Termination Resistors

    PMAC2A PC104 Hardware Reference Manual 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 17: Acc-2P Hardware Setup

    PMAC2A PC104 Hardware Reference Manual ACC-2P HARDWARE SETUP On the Acc-2P, 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 Acc-2P for a given application and must be setup appropriately.

  • Page 18: Resistor Packs Configuration

    PMAC2A PC104 Hardware Reference Manual Resistor Packs Configuration Differential or Single-Ended Handwheel Encoder Selection The handwheel encoder differential input signal pairs to the PMAC have user-configurable pull-up/pull- down resistor networks to permit the acceptance of either single-ended or differential signals in one setting, or the detection of lost differential signals in another setting.

  • Page 19: 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 20: Flags Power Supply

    PMAC2A PC104 Hardware Reference Manual Flags Power Supply Each channel of PMAC has five dedicated digital inputs on the machine connector: PLIMn, MLIMn (overtravel limits), HOMEn (home flag), FAULTn (amplifier fault), and USERn. A power supply from 5 to 24V must be used to power the circuits related to these inputs. This power supply can be the same used to power PMAC and can be connected from the TB1 terminal block or the JMACH1 connector.

  • Page 21: Dac Output Signals

    PMAC2A PC104 Hardware Reference Manual DAC Output Signals If PMAC is not performing the commutation for the motor, only one analog output channel is required to command the motor. This output channel can be either single-ended or differential, depending on what the amplifier is expecting.

  • Page 22: Amplifier Fault Signal (Fault-)

    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 Acc-21F is a six-foot cable for this purpose. Characteristics of the JOPTO port on the PMAC: •...

  • Page 23: Acc-2P General-Purpose Digital Inputs And Outputs (Jopt 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 24: Acc-1P Or Acc-2P Handwheel Port (Jhw / Pd Port)

    PMAC2A PC104 Hardware Reference Manual When used as non-multiplexed I/O, jumpers E7 and E8 on the Acc-2P board select the I/O lines direction of the JTHW connector. This allows configuring this port as all inputs, all outputs or half inputs and half outputs.

  • Page 25: 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 baseboard. Delta Tau provides the Acc-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 26: Machine Connections Example: Using Analog ±10V Amplifier

    PMAC2A PC104 Hardware Reference Manual Machine Connections Example: Using Analog ±10V Amplifier Machine Connections...

  • Page 27: Machine Connections Example: Using Pulse And Direction Drivers

    PMAC2A PC104 Hardware Reference Manual Machine Connections Example: Using Pulse and Direction Drivers Machine Connections...
  • Page 28 PMAC2A PC104 Hardware Reference Manual Machine Connections...

  • Page 29: Software Setup

    Flex CPU design. Communications Delta Tau provides software tools that allow communicating with of the PMAC2A PC/104 board by either 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: Filtered Dac Outputs Configuration

    PMAC2A PC104 Hardware Reference Manual If the CPU’s operational frequency has been determined by (a non-zero setting of) I46, the serial communications baud rate is determined at power-up/reset by variable I54 alone according to the following table: Baud Rate Baud Rate 9600 14,400 1200...

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

    PMAC2A PC104 Hardware Reference Manual 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 5-24Vdc 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 PC104 Hardware Reference Manual 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 M32=$FF ;BITS 0-8 are assigned as output M34=$0 ;BITS 9-16 are assigned as input M40=$FF00 ;Define inputs and outputs voltages M42=$FFFF...

  • Page 33: Thumbwheel Port Digital Inputs And Outputs

    PMAC2A PC104 Hardware Reference Manual Thumbwheel Port Digital Inputs and Outputs The inputs and outputs on the thumbwheel multiplexer port of either the Acc-1P or the Acc-2P boards may be used as discrete, non-multiplexed I/O. In this case, these I/O lines can be accessed through M- variables that are defined according to the setup of the address selection jumpers.

  • Page 34: Analog Inputs Setup

    PMAC2A PC104 Hardware Reference Manual Analog Inputs Setup The optional analog-to-digital converter inputs are ordered either through Option-12 on the baseboard or Option-2 on the axes expansion board. Each option provides two 12-bit analog inputs with a ±10Vdc range. The M-variables associated with these inputs provided a range of values between +2048 and –2048 for the respective ±10Vdc input range.

  • Page 35: Base Board Hardware Reference Summary

    PMAC2A PC104 Hardware Reference Manual BASE BOARD HARDWARE REFERENCE SUMMARY The following information is based on the PMAC2A PC/104 board, part number 603670-100. Board Dimensions Base Board Hardware Reference Summary...

  • Page 36: Board Layout

    PMAC2A PC104 Hardware Reference Manual Board Layout Feature Location Feature Location Feature Location RP30 RP31 E15A RP36 E15B RP37 E15C JRS232 JMACH1 JMACH2 Base Board Hardware Reference Summary...

  • Page 37: Connectors And Indicators

    PMAC2A PC104 Hardware Reference Manual 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 PMAC2A PC104 Hardware Reference Manual Base Board Hardware Reference Summary...

  • Page 39: Acc-1P Hardware Reference Summary

    PMAC2A PC104 Hardware Reference Manual ACC-1P HARDWARE REFERENCE SUMMARY The following information is based on the Acc-1P board, part number 603671-100. Board Dimensions Acc-1P Hardware Reference Summary...

  • Page 40: Board Layout

    PMAC2A PC104 Hardware Reference Manual Board Layout Feature Location Feature Location RP30 RP31 RP36 RP37 RP55 RP56 JMACH1 JMACH2 JHW / PD Acc-1P Hardware Reference Summary...

  • Page 41: 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 42 PMAC2A PC104 Hardware Reference Manual Acc-1P Hardware Reference Summary...

  • Page 43: Acc-2P Hardware Reference Summary

    PMAC2A PC104 Hardware Reference Manual ACC-2P HARDWARE REFERENCE SUMMARY The following information is based on the Acc-2P board, part number 603672-100. Board Dimensions Acc-2P Hardware Reference Summary...

  • Page 44: Board Layout

    PMAC2A PC104 Hardware Reference Manual Board Layout Feature Location Feature Location JTHW JOPT JHW / PD RP22 RP23 Acc-2P Hardware Reference Summary...

  • Page 45: 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 46 PMAC2A PC104 Hardware Reference Manual Acc-2P Hardware Reference Summary...

  • Page 47: Base Board E-Point Jumper Descriptions

    PMAC2A PC104 Hardware Reference Manual 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 operate No jumper with E0 installed. E1: Servo and Phase Clock Direction Control E Point and Location Description...

  • Page 48: E4: Cpu Frequency Select

    PMAC2A PC104 Hardware Reference Manual E4: CPU Frequency Select E Point and Location Description Default Physical Layout Remove jumper for 40 MHz operation (E2 No jumper installed OFF also) or for 60 MHz operation (E4 ON). (standard or Option 5EF) Jump pin 1 to 2 for 80 MHz operation (E2 Jumper installed (Option OFF).

  • Page 49: E13: Power-Up/Reset Load Source

    PMAC2A PC104 Hardware Reference Manual E13: Power-Up/Reset Load Source E Point and Location Description Default Physical Layout Jump pin 1 to 2 to reload firmware through No jumper serial or bus port. Remove jumper for normal operation. E14: Watchdog Disable Jumper E Point and Location Description...

  • Page 50: E18 - E19: Pc/104 Bus Address

    PMAC2A PC104 Hardware Reference Manual E18 – E19: PC/104 Bus Address E Point and Physical Default Location Description Layout Jumpers E18 and E19 select the PC/104 bus No E18 jumper installed; address for communications according to Jumper E19 installed the following table: Address Address (Hex)

  • Page 51: Acc-1P E-Point Jumper Descriptions

    PMAC2A PC104 Hardware Reference Manual 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...

  • Page 52: E5: Servo Gate Address Select

    PMAC2A PC104 Hardware Reference Manual E5: Servo Gate Address Select E Point and Location Description Default Physical Layout Jump pin 1 to 2 to address Acc-1P channels at the 1-2 Jumper installed regular addresses for channels 5 to 8. Jump pin 2 to 3 to address Acc-1P channels at the regular addresses for channels 5 to 8 plus $40.

  • Page 53: Acc-2P E-Point Jumper Descriptions

    PMAC2A PC104 Hardware Reference Manual ACC-2P E-POINT JUMPER DESCRIPTIONS E1: USB/Ethernet Micro-Controller Firmware Reload Enable E Point and Location Description Default Physical Layout Remove jumper to reload firmware on power- 1-2 Jumper Installed up reset. Jump pin 1 to 2 for normal operations Note: This jumper was added on revision –103 and above of the Acc-2P E3 –...

  • Page 54: E7- E10: Ports Direction Control

    PMAC2A PC104 Hardware Reference Manual E7- E10: Ports Direction Control E Point and Physical Location Description Default Layout 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.

  • Page 55: Base Board Connector Pinouts

    PMAC2A PC104 Hardware Reference Manual 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...
  • Page 56 PMAC2A PC104 Hardware Reference Manual J3 (JMACH1): Machine Port Connector (50-Pin Header) Top View 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 Channel Positive CHA2 Input Encoder A Channel Positive...
  • Page 57 PMAC2A PC104 Hardware Reference Manual J3 JMACH1 (50-Pin Header) (Continued) Top View Pin# Symbol Function Description Notes DAC4/ Output Analog Output Negative 4 AENA3/ Output Amplifier -Enable 3 AENA4/ Output Amplifier -Enable 4 FAULT3/ Input Amplifier -Fault 3 FAULT4/ Input Amplifier -Fault 4 ADCIN_1 Input...
  • Page 58 PMAC2A PC104 Hardware Reference Manual J4 (JMACH2): Machine Port Baseboard Connector Front View (34-Pin Header) Pin# Symbol Function Description Notes FLG_1_2_V Input Flags 1-2 Pull-Up FLG_3_4_V Input Flags 3-4 Pull-Up Common Digital Common Common Digital Common HOME1 Input Home-Flag 1 HOME2 Input Home-Flag 2...

  • Page 59: Acc-1P Connector Pinouts

    PMAC2A PC104 Hardware Reference Manual 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...

  • Page 60: J2 (Jthw): Multiplexer Port Connector

    PMAC2A PC104 Hardware Reference Manual J2 (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 DAT1 Input Data -1 Input...

  • Page 61: J3 (Jmach1): Machine Port Connector (50-Pin Header)

    PMAC2A PC104 Hardware Reference Manual J3 (JMACH1): Machine Port Connector (50-Pin Header) Top View Pin# Symbol Function Description Notes Output +5V Power For Encoders, 1 Output +5V Power For Encoders, 1 Common Digital Common Common Digital Common CHA5 Input Encoder A Channel Positive CHA6 Input Encoder A Channel Positive...
  • Page 62 PMAC2A PC104 Hardware Reference Manual J3 JMACH1 (50-Pin-Header) (Continued) Top View Pin# Symbol Function Description Notes DAC8/ Output Analog Out Negative 8 AENA7/ Output Amplifier-Enable 7 AENA8/ Output Amplifier -Enable 8 FAULT7/ Input Amplifier -Fault 7 FAULT8/ Input Amplifier -Fault 8 ADCIN_1 Input Analog Input 1...

  • Page 63: J4 (Jmach2): Machine Port Connector (34-Pin Header)

    PMAC2A PC104 Hardware Reference Manual J4 (JMACH2): Machine Port Connector (34-Pin Header) Front View Pin# Symbol Function Description Notes FLG_5_6_V Input Flags 5-6 Pull-Up Input Flags 7-8 Pull-Up FLG_7_8_V Common Digital Common Common Digital Common HOME5 Input Home-Flag 5 HOME6 Input Home-Flag 6 PLIM5...

  • Page 64: J7 (Jopto): I/O Port Connector

    PMAC2A PC104 Hardware Reference Manual J7 (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 Low is TRUE Common...

  • Page 65: J8 (Jhw) Handwheel Encoder Connector

    PMAC2A PC104 Hardware Reference Manual J8 (JHW) Handwheel Encoder Connector Pin# Symbol Function Description Common Reference voltage HWA1+ / Input/Output HW1 Channel A or pulse output selected by jumpers E3 and E4 PUL1+ HWA1- / Input/Output HW 1 Channel A or pulse output selected by jumpers E3 and E4 PUL1- HWB1+ / Input/Output...
  • Page 66 PMAC2A PC104 Hardware Reference Manual Acc-1P Connector Pinouts...

  • Page 67: Acc-2P Connector Pinouts

    PMAC2A PC104 Hardware Reference Manual 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...

  • Page 68: J2 (Jthw): Multiplexer Port Connector

    PMAC2A PC104 Hardware Reference Manual J2 (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 DAT1 Input Data -1 Input...

  • Page 69: J7 (Jopt): I/O Port Connector

    PMAC2A PC104 Hardware Reference Manual J7 (JOPT): I/O Port Connector (34-Pin Connector) Front View Pin# Symbol Function Description Notes 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...

  • Page 70: J8 (Jhw) Handwheel Encoder Connector

    PMAC2A PC104 Hardware Reference Manual J8 (JHW) Handwheel Encoder Connector Pin# Symbol Function Description Common Reference voltage HWA1+ / PUL1+ Input/Output HW1 channel A or pulse output selected by jumpers E3 and E4 HWA1- / PUL1- Input/Output HW1 channel a or pulse output selected by jumpers E3 and E4 HWB1+ / DIR1+ Input/Output HW1 channel b or direction output selected by jumpers E3 and E4...

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