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

Delta Tau PMAC2A-PC/104 CPU Reference Manual

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HARDWARE REFERENCE MANUAL
PMAC2A-PC/104 CPU
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 CPU Hardware Reference
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4xx-603670-xAxx
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July 29, 2008
Power // Flexibility // Ease of Use

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Summary of Contents for Delta Tau PMAC2A-PC/104 CPU

  • Page 1 HARDWARE REFERENCE MANUAL PMAC2A-PC/104 CPU PMAC2A-PC/104 CPU Hardware Reference 4xx-603670-xAxx July 29, 2008 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 © 2008 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 UPDATED JUMPER DESCRIPTIONS PGS. 6 & 30 05/17/06 S. MILICI REVS: J4, E20-23, CONNECTOR PINOUTS, 10/04/06 P. SHANTZ & BOARD DIAGRAMS CORRECTED TYPO IN I-VARIABLE SETTINGS, P. 17 01/22/08 S.MILICI CORRECTED USER FLAGS FOR PINS 25 & 26, P.36 07/29/08 C.COKER...

  • Page 5: Table Of Contents

    PMAC2A PC104 Hardware Reference Manual Table of Contents INTRODUCTION ...............................1 Board Configuration..............................1 Base Version .................................1 Board Options ................................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......................2 Option 12: Analog-to-Digital Converters......................2 Additional Accessories..............................2...
  • Page 6 PMAC2A PC104 Hardware Reference Manual Effects of Changing I900 on the System ......................18 How does changing I900 effect other settings in PMAC ..................20 Effects of Output Resolution and Servo Interrupt Frequency on Servo Gains............21 Using Flag I/O as General-Purpose I/O........................22 Analog Inputs Setup ..............................22 CPU Analog Inputs.............................22 HARDWARE REFERENCE SUMMARY ......................23...

  • Page 7: Introduction

    PMAC2A PC104 Hardware Reference Manual INTRODUCTION The PMAC2A PC/104 motion controller is a compact, cost-effective version of Delta Tau’s PMAC2 family of controllers. The PMAC2A PC/104 can be composed of three boards in a stack configuration. The CPU 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 10: Firmware Version Specification

    PMAC2A PC104 Hardware Reference Manual Option 10: Firmware Version Specification Normally the PMAC2A PC/104 is provided with the newest released firmware version. A label on the memory IC shows the firmware version loaded at the factory. Option 10 provides for a user-specified firmware version.

  • Page 9: Acc-8Ts Connections Board

    PMAC2A PC104 Hardware Reference Manual for PC/104-bus communications, PMAC2A PC/104 Option-2A must be ordered. The key component installed with this option is U17. USB/Ethernet and PC/104 bus communications cannot be made simultaneously it is jumper selectable. Acc-2P Option 3: I/O Ports Option 3 provides the following ports on the Acc-2P communications board for digital I/O connections.
  • Page 10 PMAC2A PC104 Hardware Reference Manual Introduction...

  • Page 11: Hardware Setup

    PMAC2A PC104 Hardware Reference Manual HARDWARE SETUP On the PMAC2 PC/104 CPU, there are a number of jumpers called E-points or W-points. That customize the hardware features of the CPU for a given application and must be setup appropriately. The following is an overview grouped in appropriate categories.

  • Page 12: Cpu Configuration Jumpers

    PMAC2A PC104 Hardware Reference Manual CPU Configuration Jumpers 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 Connect pin 1 to 2 to tie differential line to +2.5V • Tie to +2.5V when no connection • Tie to +2.5V for single-ended encoders Connect pin 2 to 3 to tie differential line to +5V •...
  • Page 14 PMAC2A PC104 Hardware Reference Manual Hardware Setup...

  • Page 15: Machine Connections

    Typically, the user connections are made to terminal blocks that attach 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 16: Flags Power Supply

    PMAC2A PC104 Hardware Reference Manual supply, or the two supplies will fight each other, possibly causing damage. This voltage could be measured on the TB1 terminal block. • In a stand-alone configuration, when PMAC is not plugged in a computer bus, it will need an external ±12V supply only when the digital-to-analog converter (DAC) outputs are used.

  • Page 17: Dac Output Signals

    PMAC2A PC104 Hardware Reference Manual Example: differential quadrature encoder connected to channel #1: 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 18: Amplifier Fault Signal (Fault-)

    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 CPU. 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 19: Machine Connections Example: Using Analog ±10V Amplifier

    PMAC2A PC104 Hardware Reference Manual If a cable needs to be made, the easiest approach is to use a flat cable prepared with flat-cable type connectors as indicated in the following diagram: PMAC (DB-9S) PC (DB-9) 1 (No connect) 1 (No connect) 2 (TXD/) 2 (RXD) DB-9 Female...

  • Page 20: Machine Connections Example: Using Pulse And Direction Drivers

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

  • Page 21: Software Setup

    PMAC2 User and Software manuals. 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 22: Filtered Dac Output 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 23: Parameters To Set Up Global Hardware Signals

    PMAC2A PC104 Hardware Reference Manual Since the PMAC2PC104 uses standard PMAC2 firmware the following I-variables must be set properly to use the digital-to-analog (filtered DAC) outputs: I900 = 1001 ; PWM frequency 29.4kHz, PWM 1-4 I901 ; Phase Clock 9.8059kHz I902 ;...

  • Page 24: Parameters To Set Up Per-Channel Hardware Signals

    PMAC2A PC104 Hardware Reference Manual I903 I903 determines the frequency of four hardware clock signals used for machine interface channels 1-4; This can be left at the default value (I903=*). The four hardware clock signals are SCLK (encoder sample clock), PFM_CLK (pulse frequency modulator clock), DAC_CLK (digital-to-analog converter clock), and ADC_CLK (analog-to-digital converter clock).
  • Page 25 PMAC2A PC104 Hardware Reference Manual By increasing I900 we are essentially decreasing our PWM Frequency. The two are related by the following equation: I900 = INT[117,964.8/(4*PWMFreq(KHz)) - 1] Passing the PWM signal through a 10KHz low pass filter creates the +/-10V signal output. The duty cycle of the PWM signal is what generates the magnitude the voltage output.

  • Page 26: How Does Changing I900 Effect Other Settings In Pmac

    PMAC2A PC104 Hardware Reference Manual How does changing I900 effect other settings in PMAC I900 is does not only set the PWM frequency for the PWM outputs but it also sets the Max Phase Frequency. MaxPhase Frequency = 117,964.8 kHz / [2*I900+3] PWM Frequency = 117,964.8 kHz / [4*I900+6] The Max Phase Frequency is then divided by I901 to generate the frequency for the phase interrupt and its routines.

  • Page 27: Effects Of Output Resolution And Servo Interrupt Frequency On Servo Gains

    PMAC2A PC104 Hardware Reference Manual interrupt frequencies for better servo performance, but our default frequencies are typically more than fast enough for many applications. We will discuss tuning parameter a bit later in this document. I901= 29.44KHz/19.61KHz -1 = @0.5 set it at 1 or 14.72KHz This is not exactly the same since I901 is an integer value but pretty close.

  • Page 28: 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 29: Hardware Reference Summary

    PMAC2A PC104 Hardware Reference Manual HARDWARE REFERENCE SUMMARY The following information is based on the PMAC2A PC/104 board, part number 603670-100. Board Dimensions From v106 to 107 (E20-23 added and 15A is in a different location: Hardware Reference Summary...

  • Page 30: From V107 To 108

    PMAC2A PC104 Hardware Reference Manual From v107 to 108 W1 removed: Hardware Reference Summary...

  • Page 31: From V108 To 109

    PMAC2A PC104 Hardware Reference Manual From v108 to 109 E20 in same location but rotated 90 degrees: Hardware Reference Summary...

  • Page 32: 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 Hardware Reference Summary...

  • Page 33: 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 34 PMAC2A PC104 Hardware Reference Manual Hardware Reference Summary...

  • Page 35: E-Point Jumper Descriptions

    PMAC2A PC104 Hardware Reference Manual 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 36: 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 37: 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 38: 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 39: Connector Pinouts

    PMAC2A PC104 Hardware Reference Manual CONNECTOR PINOUTS TB1 (JPWR): Power Supply (4-Pin Terminal Block) Top View Pin# Symbol Function Description Notes Common Digital Common Input Logic Voltage Supplies all PMAC digital circuits +12V Input DAC Supply Voltage Ref to Digital GND -12V Input DAC Supply Voltage...

  • Page 40: J3 (Jmach1): Machine Port Connector

    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 For encoders, 1 Common Digital Common For encoders, 1 CHA1 Input...

  • Page 41: J3 Jmach1 (50-Pin Header)

    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 42: J4 (Jmach2): Machine Port Cpu Connector

    PMAC2A PC104 Hardware Reference Manual J4 (JMACH2): Machine Port CPU 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 43 PMAC2A PC104 Hardware Reference Manual Connector Pinouts...

  • Page 44: Schematics

    PMAC2A PC104 Hardware Reference Manual SCHEMATICS Connector Pinouts...
  • Page 45 PMAC2A PC104 Hardware Reference Manual 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 46 SSM-120-L-DV-LC HEADER 20X2(FEM) CLS120LDDV 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.

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