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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...
I/O ports and either the USB or Ethernet interface for faster communications. Board Configuration Base Version The base version of the PMAC2A-PC/104 ordered with no options provides a 90mm x 95mm board with: • 40 MHz DSP563xx CPU (80 MHz 560xx equivalent) •...
5 to 24 VDC levels. This 34-pin connector was designed for easy interface to OPTO- 22 or equivalent optically isolated I/O modules when different voltage levels or opto-isolation to the PMAC2A-PC/104 is necessary. • Handwheel port: this port provides 2 extra channels, each jumper selectable between encoder input or pulse output.
Option 2 provides an 8K x 16 dual-ported RAM for USB, Ethernet or PC/104 ports on board of the ACC- 2P communications board. If using for USB or Ethernet communications, ACC-2P-Opt-1A or ACC-2P- Opt-1B must be ordered. If used for PC/104-bus communications, PMAC2A-PC/104-Opt-2A must be ordered. The key component installed with this option is U17.
ACC-8ES Four channel dual-DAC analog stack board ACC-8ES provides four channels of 18-bit dual-DAC with four DB-9 connectors. This accessory stack to the PMAC2A-PC/104 board and it is mostly used with amplifiers that require two ±10 V command signals for sinusoidal commutation.
E2 and E4: CPU Frequency Control Jumpers – When the PMAC I46 I- variable is set to zero jumpers E2 and E4 on the base PMAC2A-PC/104 board control the frequency at which the CPU will operate (or attempt to operate). Generally this will be the highest frequency at which the CPU is rated to operate.
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.
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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.
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PMAC2A-PC/104 Base Board Hardware Setup...
E6 connects pins 2 and 3 the I/O features on the ACC-1P board will be accessed at the regular addresses plus $40, and this is useful only when two ACC-1P are used with the same PMAC2A-PC/104 base board. E7: Machine Input Source/Sink Control – With this jumper connecting pins 1 and 2 (default) the machine input lines on the J7 JOPT port are pulled up to +5V or the externally provided supply voltage for the port.
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.
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.
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...
(Eight-channel configuration, with a typical load of encoders) The PMAC2A-PC/104, the ACC-1P and the ACC-2P each require a 1A @ 5 VDC power supply for operation. Therefore, a 3A @ 5 VDC power supply is recommended for a PMAC2A-PC/104 board stack with ACC-1P and ACC-2P boards.
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.
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.
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: •...
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.
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.
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.
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.
The following I-variables has to be properly set for using the digital-to-analog (DAC) outputs: I900 1001 I901 I902 I906 1001 ; n = channel number from 1 to 8 I9n6 ; x = motor number from 1 to 8 Ix69 1024 PMAC2A-PC/104 Software Setup...
General-Purpose Digital Inputs and Outputs If one ACC-1P is present on the PMAC2A-PC/104 stack configuration then its jumpers E5 and E6 should be set at the default position 1-2. In this case the lines on its J7 general-purpose I/O connector will be mapped into PMAC's address space in register Y:$C080.
M15->Y:$C0C0,15 ; Direction Control (1=output, 0 = input) M32->X:$C0C0,0,8 ; Direction Control (1=output, 0 = input) M34->X:$C0C0,8,8 ; Inversion control (0 = 0V, 1 = 5V) M40->X:$C0C4,0,24 ; JI/O port data type control (1 = I/O) M42->Y:$C0C4,0,24 PMAC2A-PC/104 Software Setup...
ACC-2P with Jumper E5 in Position 2-3 ; SEL0 I/O Line M40->Y:$C0C2,8,1 ; SEL1 I/O Line M41->Y:$C0C2,9,1 M42->Y:$C0C2,10,1 ; SEL2 I/O Line M43->Y:$C0C2,11,1 ; SEL3 I/O Line M44->Y:$C0C2,12,1 ; SEL4 I/O Line ; SEL5 I/O Line M45->Y:$C0C2,13,1 PMAC2A-PC/104 Software Setup...
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...
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.
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.
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...
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.
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.
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...
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.
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.
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.
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...
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...
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 PMAC. No Jumper Remove jumper to disable the PHASE clock line on the J8 connector.
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...
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.
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PMAC2A-PC/104 Base Board 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"...
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.
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;...
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.
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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.
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...
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...
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 ADCIN_1 Input Analog Input 1 Option-12 required...
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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...
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...
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.
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...
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...
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...
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...
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