Delta Tau PMAC Hardware Manual
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Delta Tau PMAC Hardware Manual

Programmable multi-axis controller
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See also: Reference Manual , User Manual
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HARDWARE MANUAL
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PMAC Mini PCI
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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Programmable Multi-Axis Controller
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5xx-603712-xHxx
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April 26, 2010
Power // Flexibility // Ease of Use

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  • Page 1 HARDWARE MANUAL PMAC Mini PCI Programmable Multi-Axis Controller 5xx-603712-xHxx April 26, 2010 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 © 2010 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 REVISION HISTORY REV. DESCRIPTION DATE APPVD REVISIONS TO FLEX CPU BAUD RATE, PPS. 6 &21 05/09/06 S. SATTARI UPDATED ENCODER SETTING DESC., PPS. 6 & 20 01/30/09 S. MILICI CORRECTED JUMPER LAYOUT E85-E87-E88, P. 25 04/26/10 S. MILICI...

  • Page 5: Table Of Contents

    PMAC Mini PCI Hardware Reference Manual Table of Contents INTRODUCTION ..............................1 Features ...................................1 Dimensions................................2 HARDWARE SETUP ...............................3 Board Configuration..............................3 Base Version ...............................3 Option 2: Dual-Ported RAM ..........................3 Option 5xF: CPU Speed Options ........................3 Option 6: Extended Servo Algorithm Firmware....................4 Option 6L: Special Lookahead Firmware ......................4 Option 8A: High-Accuracy Clock Crystal ......................4...
  • Page 6 PMAC Mini PCI Hardware Reference Manual E8 – E10: Synchronizing PMAC .........................20 E10A - E10C: Flash Firmware Bank Select......................20 E11-E14: Encoder Single Ended/Differential Select ............20 (Note: REV-103 and above) E17A - E17D: Amplifier-Enable/Direction Polarity Control................21 E19: Watchdog Disable............................21 E20 - E22: Flash Firmware Bank Select ......................21 E23: Firmware Load.............................21...

  • Page 7: Introduction

    8. There is no JXIO connector to provide clock signals to mating connectors on Acc-24P or Acc-8D Option 8 boards. If either of these boards is used with the PMAC Mini PCI, a custom cable should be made to connect the DCLK signal on the PMAC Mini PCI J7 port to both the DCLK and SCLK inputs on the Acc-24P JXIO port, or the SCLK input on the Acc-8D Option 8 JXIO port.

  • Page 8: Dimensions

    PMAC Mini PCI Hardware Reference Manual • • Motorola DSP 563xx Digital Signal Processor Stand-alone operation • • Two output digital-to-analog (DAC) converters G-Code command processing for CNC • • Four full encoder channels Linear and circular interpolation • •...

  • Page 9: Hardware Setup

    U20 (located at the back of the board). Part number: 302-603712-OPT Option 5xF: CPU Speed Options The base PMAC Mini PCI has a 40 MHz DSP563xx CPU. This is Option 5AF that is provided automatically if no CPU speed option is specified. •...

  • Page 10: Option 6: Extended Servo Algorithm Firmware

    2 and 3, the inputs are biased to ground for the OFF state, and must be pulled high for the ON state. In either case, a high voltage is interpreted as a 0 by the PMAC software, and a low voltage is interpreted as a 1.

  • Page 11: Power Supply Configuration Jumpers

    E85, E87, E88: Analog Circuit Isolation Control – These jumpers control whether the analog circuitry on the PMAC is isolated from the digital circuitry, or electrically tied to it. In the default configuration, these jumpers are off, keeping the circuits isolated from each other (provided separate isolated supplies are used).

  • Page 12: Encoder Configuration Jumpers

    5V. When using single-ended TTL-level digital encoders, the differential line input should be left open, not grounded or tied high; this is required for The PMAC differential line receivers to work properly. Differential Encoders Differential encoder signals can enhance noise immunity by providing common-mode noise rejection.

  • Page 13: Board Reset/Save Jumpers

    E50: Flash-Save Enable/Disable Control – If E50 is on (default), the active software configuration of the PMAC can be stored to non-volatile flash memory with the SAVE command. If the jumper on E50 is removed, this SAVE function is disabled and the contents of the flash memory cannot be changed.

  • Page 14: Resistor Pack Configuration: Termination Resistors

    The PMAC provides sockets for termination resistors on differential input pairs coming into the board. If these signals are brought long distances into the PMAC board and ringing at signal transitions is a problem, SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing.

  • Page 15: The Optional Dual-Ported Ram

    PMAC-Mini PCI Hardware Reference Manual The Optional Dual-Ported RAM When the PMAC Mini PCI Option 2 is ordered, U20 is installed on-board at the factory. The DPRAM is located on the back of the board. See the PMAC User Manual for more information.

  • Page 16: Y:$Ffc2 J3 (Jthw) Outputs

    PMAC Mini PCI Hardware Reference Manual Y:$FFC2 J3 (JTHW) Outputs SEL0 THW Select 0 (J3-4) SEL1 THW Select 1 (J3-6) SEL2 THW Select 2 (J3-8) SEL3 THW Select 3 (J3-10) SEL4 THW Select 4 (J3-12) SEL5 THW Select 5 (J3-14)
  • Page 17 PMAC-Mini PCI Hardware Reference Manual Hardware Setup...

  • Page 18: Option 15 - Voltage To Frequency Converter

    PMAC Mini PCI Hardware Reference Manual OPTION 15 — VOLTAGE TO FREQUENCY CONVERTER When the PMAC Mini PCI Option 15 is ordered, the following components are installed on-board at the factory: Configuration as Analog Input with a 0-100 kHz Frequency Range...

  • Page 19: Configuration As Analog Input With A 0-2 Mhz Frequency Range

    I916=1. This will disable the digital delay filter for Encoder 3 or Encoder 4, respectively. • Put the PMAC output channel in magnitude-and-direction mode by setting bit 16 of Ix02 to 1 and bit 16 of Ix25 to 1 •...

  • Page 20: 0-100 Khz Frequency Range And Pseudo-Feedback (No External Encoder Connected)

    PMAC Mini PCI Hardware Reference Manual 0-100 kHz Frequency Range and Pseudo-Feedback (no External Encoder Connected) Jumpers Setting Input 1 Input 2 E110 E111 E112 E116 E117 E113 E114 E115 E118 E119 0-2 MHz Frequency Range and Pseudo-Feedback (no External Encoder...
  • Page 21 PMAC-Mini PCI Hardware Reference Manual Option 15 — Voltage to Frequency Converter...

  • Page 22: Suggested I/O M-Variable Definitions

    M18->Y:$FFC3,7,1 ; Machine Input 8 M19->Y:$FFC3,0,8,U ; Machine Inputs 1-8 treated as byte Thumbwheel Port Bits (Can be Used as General Purpose I/O) (These definitions are valid for PMAC Mini PCI only) M40->Y:$FFC2,0,1 ; SEL0 Output M41->Y:$FFC2,1,1 ; SEL1 Output M42->Y:$FFC2,2,1...
  • Page 23 PMAC-Mini PCI Hardware Reference Manual Suggested I/O M-Variable Definitions...

  • Page 24: E-Point Jumper Descriptions

    PMAC Mini PCI Hardware Reference Manual E-POINT JUMPER DESCRIPTIONS E0: Reserved for Future Use E-Point and Location Description Default Physical Layout Reserved for future use No jumper installed Warning: 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

    Since I10 has a maximum value of 8,388,607, the servo interrupt cycle time should always be less than a millisecond (unless the basic unit of time on PMAC should be something other than a millisecond. To have a servo sample time for a motor greater than one millisecond, the sampling may be slowed in software for that motor with variable Ix60.

  • Page 26: E8 - E10: Synchronizing Pmac

    PMAC Mini PCI Hardware Reference Manual E8 – E10: Synchronizing PMAC E-Point and Location Description Default Physical Layout Jump pin 1-2 for NULL modem connection No jumper installed (DTR connects to DSR). Jump pin 2-3 for differential Phase signal (PHASE/).

  • Page 27: E17A - E17D: Amplifier-Enable/Direction Polarity Control

    PMAC-Mini PCI Hardware Reference Manual E17A - E17D: 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.

  • Page 28: E29 - E33A: Phase Clock Frequency Control

    PMAC Mini PCI Hardware Reference Manual E29 - E33A: Phase Clock Frequency Control E33A Phase Phase Default and Physical Layout E33A E33 E32 E30 E29 Clock Clock Freq. Freq. E98@1-2 E98@2-3 2.26 kHz 1.13 kHz 4.52 kHz 2.26 kHz 9.04 kHz 4.52 kHz...

  • Page 29: E44 - E47: Communications Control

    Jumpers E44 - E47 control what baud rate is used for serial communications. Any character received over the bus causes PMAC to use the bus for its standard communications. The serial port is disabled if E-points E44- E47 are all on.

  • Page 30: E49: Serial Communications Parity Control

    PMAC Mini PCI Hardware Reference Manual E49: Serial Communications Parity Control E-Point and 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 E-Point and...

  • Page 31: E85, E87, E88: Analog Power Source Configuration

    Jump pin 1 to pin 2 to allow analog +V to come from No jumper digital side -- P1 or TB1 -- ties amplifier and PMAC Mini PCI power supply together, defeats opto-isolation. Remove jumper to keep analog +V separate from digital +12V.

  • Page 32: E89: Amplifier-Supplied Switch Pull-Up Enable

    Jump pin 2 to 3 to allow +12V from DC bus connector P1- pin B09 to power "OPTO" switch sensor inputs (including limits). Optical isolation is then lost. Also see E85, E87, E88 and PMAC opto-isolation diagram. E98: DAC/ADC Clock Frequency Control...

  • Page 33: E101 - E102: Amplifier Enable Output Configure

    PMAC-Mini PCI Hardware Reference Manual E101 - E102: Amplifier Enable Output Configure E-Point and Location Description Default Physical Layout Jump pin 1 to 2 to apply A+15V from J11 pin 59 to pin 1 of 1-2 Jumper E100 E101, pin 3 of E102, and FAULT input flag return. This...

  • Page 34: E116 - E119: V/F Converter Configuration

    PMAC Mini PCI Hardware Reference Manual E116 - E119: V/F Converter Configuration (Voltage-to-Frequency Converter Option [OPT 15] Required) E-Point and Location Description Default Physical Layout E116 Jump pin 1 to 2 to tie AENA1/DIR1 output to CHB3 No jumper input.
  • Page 35 PMAC-Mini PCI Hardware Reference Manual E-Point Jumper Descriptions...

  • Page 36: Mating Connectors

    This section lists several options for each connector. Choose an appropriate one for your application. 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.
  • Page 37 PMAC-Mini PCI Hardware Reference Manual Mating Connectors...

  • Page 38: Connector Pinouts

    (ACC. 12C) display unit. The DISPLAY command may be used to send messages and values to the display. See Also: Program Commands; DISPLAY Accessories; Acc-12, ACC16D Memory Map; Y:$0780 - $07D1 Note: There is no J2 (JPAN) control panel connector on PMAC Mini PCI. * Controlled by potentiometer R57 Connector Pinouts...

  • Page 39: J3 Jthw (26-Pin Header)

    The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels. While these I/O can be used in un-multiplexed form for 16 discrete I/O points, most will utilize PMAC software and accessories to use this port in multiplexed form to multiply the number of I/O that can be accessed on this port. In multiplexed form, some of the SELn outputs are used to select which of the multiplexed I/O are to be accessed.

  • Page 40: J4 Jrs232 (10-Pin Header)

    +5VDC Supply Power Supply Out The JRS232 connector provides the PMAC Mini PCI with the ability to communicate serially with an RS232 port. This connector can be used for daisychain interconnection of multiple PMACs. Check E10. See Also: Serial Communications...

  • Page 41: J7 Js1 (16- Pin Header)

    Common PMAC Common +V Power I/O +V = +5V TO +24V +5V Out from PMAC, +5 to +24V in from External Source, Diode Isolation from PMAC Common PMAC Common This connector provides means for eight general-purpose inputs and eight general-purpose outputs. Inputs and outputs may be configured to accept or provide either +5V or +24V signals.

  • Page 42: J8 Jaux (14-Pin Header)

    Flag Supply Volt A-15V Analog Minus Supply This connector provides auxiliary signals for the PMAC Mini PCI, including analog inputs, position compare outputs, pulse-and-direction outputs, and a flag supply/return voltage. All signals are referenced to AGND, isolated from the 5V digital circuitry.

  • Page 43: J11 Jmach (60-Pin Header)

    PMAC-Mini PCI Hardware Reference Manual J11 JMACH (60-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 CHC3 Input Encoder C Ch. Pos. CHC4 Input Encoder C Ch.
  • Page 44 8. Pins marked PLIMn should be connected to switches at the positive end of travel. Pins marked MLIMn should be connected to switches at the negative end of travel. 9. Must be conducting to 0V (usually AGND) for PMAC to consider itself not into this limit. Automatic limit function can be disabled with Ix25.

  • Page 45: Terminal Block

    Reference to digital ground This terminal block may be used as an alternative power supply connector if PMAC Lite is not installed in a PC- bus. The +5V powers the digital electronics. If jumpers E85, E87, and E88 are installed, the +12V and -12V power the analog output stage (this defeats the optical isolation on PMAC).

  • Page 46: Jumpers And Connectors Layout

    PMAC-Mini PCI Hardware Reference Manual JUMPERS AND CONNECTORS LAYOUT E104 E114 E17A E105 E115 E17B E100 E110 E116 E17C E101 E111 E117 E17D E33A E102 E112 E118 E34A E103 E113 E119 Jumpers and Connectors Layout...
  • Page 47 PMAC-Mini PCI Hardware Reference Jumpers and Connectors Layout...

  • Page 48: Schematics

    Mini PMAC Hardware Reference Manual SCHEMATICS C133 C135 C136 C134 RP45 RP44 4.7 mfd tant 0.1 mfd 3.3KSIP10C 3.3KSIP10C 0.1 mfd 0.1 mfd CEL- CEL- OEL- OEL- ioe- 1dir I/O08 DAT0 I/O36 I/O35 IO36 IO35 I/O09 DAT1 I/O37 I/O34 IO37...
  • Page 49 PMAC-Mini PCI Hardware Reference THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU DATA SYSTEMS INC. AND IS LOANED SUBJECT TO RETURN UPON DATA SYSTEMS INC. AND IS LOANED SUBJECT TO RETURN UPON DEMAND.
  • Page 50 Mini PMAC Hardware Reference Manual IRQB- BFUL 18.07Khz EQU_1 9.035Khz EQU_2 1.0 mfd 4.53Khz IPOS 2.26Khz CS02- aselx2 ODCLK ODCLK 0.2 mfd ceramic per each power ASEL0 RESET ASEL0 rst# ASEL1 WDTC ground pair ASEL1 WDTC int_vccint int_vccint led_rst NC7SZ14M5...
  • Page 51 PMAC-Mini PCI Hardware Reference A+14V "DGND" PLANE "AGND" PLANE "AGND" PLANE "DGND" PLANE INSTALL FOR 0-TO-100Khz REMOVE FOR 0-TO-2Mhz CHA1- ON COMPONENT SIDE IN-A ENC_A1 CHA1+ ENC_A1 OUT-A IN-A RP12 INSTALL FOR STEPPER DRIVE RP13 RP14 10KSIP10C 12 TURN ENA-A,C 2.2KSIP10C...

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