Delta Tau PMAC2-PC/104 Motion Controller Manuals

Manuals and User Guides for Delta Tau PMAC2-PC/104 Motion Controller. We have 1 Delta Tau PMAC2-PC/104 Motion Controller manual available for free PDF download: Installation Manual

Delta Tau PMAC2-PC/104 Installation Manual (74 pages)

Brand: Delta Tau | Category: Computer Hardware | Size: 3 MB

Table of Contents
4
Introduction
8
Overview
8
Board Configuration
8
Base Version
8
Option 2A: PC/104 Bus Stack Interface
8
Option 5Xf: CPU Speed Options
8
Option 6: Extended Firmware Algorithm
9
Option 6L: Multi-Block Lookahead Firmware
9
Option 10: Firmware Version Specification
9
Option 12: Analog-To-Digital Converters
9
ACC-1P: Axis Expansion Piggyback Board
9
ACC-1P Option 1: I/O Ports
9
ACC-1P Option 2: Analog-To-Digital Converters
9
ACC-2P: Communications Board
10
ACC-2P Option 1A: USB Interface
10
ACC-2P Option 1B: Ethernet Interface
10
ACC-2P Option 2: DPRAM Circuitry
10
ACC-2P Option 3: I/O Ports
11
ACC-8TS Connections Board
11
ACC-8ES Four Channel Dual-DAC Analog Stack Board
11
ACC-8FS Four Channel Direct PWM Stack Breakout Board
11
Base Board Hardware Setup
12
Clock Configuration Jumpers
12
Board Reset Jumpers
12
Cpu Jumper Configuration
13
Communication Jumpers
13
I/O Configuration Jumpers
13
Resistor Packs Configuration
13
Differential or Single-Ended Encoder Selection
13
Acc-1P Hardware Setup
16
I/O Configuration Jumpers
16
Reserved Configuration Jumpers
16
Resistor Packs Configuration
16
Differential or Single-Ended Encoder Selection
16
Handwheel Encoder Termination Resistors
17
Acc-2P Hardware Setup
18
I/O Configuration Jumpers
18
Communication Jumpers
18
Resistor Packs Configuration
18
Differential or Single-Ended Handwheel Encoder Selection
18
Handwheel Encoder Termination Resistors
19
Machine Connections
20
Mounting
20
Power Supplies
20
Digital Power Supply
20
DAC Outputs Power Supply
21
Flags Power Supply
21
Over-Travel Limits and Home Switches
21
Types of Overtravel Limits
21
Home Switches
21
Motor Signals Connections
22
Incremental Encoder Connection
22
DAC Output Signals
22
Pulse and Direction (Stepper) Drivers
23
Amplifier Enable Signal (Aenax/Dirn)
23
Amplifier Fault Signal (FAULT-)
23
ACC-1P General-Purpose Digital Inputs and Outputs (J7 Port)
23
ACC-2P General-Purpose Digital Inputs and Outputs (JOPT Port)
24
ACC-1P Thumbwheel Multiplexer Port (J2 Port)
24
ACC-2P Thumbwheel Multiplexer Port (JTHW Port)
25
ACC-1P or ACC-2P Handwheel Port (JHW / PD Port)
25
Optional Analog Inputs
25
Compare Equal Outputs
25
Serial Port (JRS232 Port)
26
ACC-2P Ethernet RJ45 Connector (J10 Port)
26
ACC-2P USB Connector (J1 Port)
26
Machine Connections Example: Using Analog ±10 Volts Amplifier
27
Machine Connections Example: Using Pulse and Direction Drivers
28
Pmac2A-Pc/104 Software Setup
29
Communications
29
Pmac I-Variables
29
Operational Frequency and Baud Rate Setup
29
Dac Outputs Configuration
30
Using Flag I/Oas General -Purpose I/O
31
General-Purpose Digital Inputs and Outputs
31
ACC-1P with Jumper E6 on Position 1-2
31
ACC-2P with Jumper E5 in Position 2-3
32
Thumbwheel Port Digital Inputs and Outputs
33
ACC-1P with Jumper E6 in Position 1-2
33
ACC-2P with Jumper E5 in Position 2-3
33
Analog Inputs Setup
34
Base Board Analog Inputs
34
ACC-1P Analog Inputs
34
Base Board Hardware Reference Summary
36
Board Dimensions
36
Board Layout
36
Connectors and Indicators
37
J3 - Machine Connector (JMACH1 Port)
37
J4 - Machine Connector (JMACH2 Port)
37
J8 - Serial Port (JRS232 Port)
37
TB1 - Power Supply Terminal Block (JPWR Connector)
38
LED Indicators
38
Acc-1P Hardware Reference Summary
39
Board Dimensions
39
Board Layout
39
Connectors and Indicators
40
J2 - Thumbwheel Multiplexer Port (JTHW Port)
40
J3 - Machine Connector (JMACH1 Port)
40
J4 - Machine Connector (JMACH2 Port)
41
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port)
41
J8 - Handwheel / Pulse and Direction Port (JHW / PD Port)
41
TB1 - Power Supply Terminal Block (JPWR Connector)
41
LED Indicators
41
Acc-2P Hardware Reference Summary
43
Board Dimensions
43
Board Layout
43
Connectors and Indicators
44
J1 - USB Communications Port
44
J2 - Thumbwheel Multiplexer Port (JTHW Port)
44
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port)
44
J8 - Handwheel / Pulse and Direction Port (JHW / PD Port)
45
J10 - Ethernet Communications Port
45
TB1 - Power Supply Terminal Block (JPWR Connector)
46
LED Indicators
46
Base Board E-Point Jumper Descriptions
47
E0: Forced Reset Control
47
E1: Servo and Phase Clock Direction Control
47
E2: Cpu Frequency Select
48
E3: Normal/Re-Initializing Power-Up/Reset
48
E4: Cpu Frequency Select
48
E8: Phase Clock Lines Output Enable
49
E9: Servo Clock Lines Output Enable
49
E10 - E12: Power-Up State Jumpers
49
E13: Power-Up/Reset Load Source
50
E14: Watchdog Disable Jumper
50
E15A, B, C: Flash Memory Bank Select
50
E16: Adc Inputs Enable
51
E18 - E19: Pc/104 Bus Address
51
Acc-1P E-Point Jumper Descriptions
53
E0: Reserved for Future Use
53
E1 - E2: Machine Output Supply Voltage Configure
53
E3 - E4: Jhw, Pd Function Select
54
E5: Servo Gate Address Select
54
E6: I/O Gate Address Select
54
E7: Machine Input Source/Sink Control
54
E16: Adc Inputs Enable
55
Acc-2P E-Point Jumper Descriptions
57
E3 - E4: Jhw, Pd Function Select
57
E5: I/O Gate Address Select
57
E6: Communications Port Select
57
E7- E10: Ports Direction Control
57
Base Board Connector Pinouts
59
Tb1 (Jpwr): Power Supply
59
J4 (Jrs232) Serial Port Connector
59
J3 (Jmach1): Machine Port Connector
60
Connector
61
Acc-1P Connector Pinouts
63
Tb1 (Jpwr): Power Supply
63
J2 (Jthw): Multiplexer Port Connector
63
J3 (Jmach1): Machine Port Connector
64
Connector
66
J7 (Jopto): I/O Port Connector
67
J8 (Jhw) Handwheel Encoder Connector
68
Acc-2P Connector Pinouts
70
Tb1 (Jpwr): Power Supply
70
J1 (USB) Universal Serial Bus Port (Optional)
70
J2 (Jthw): Multiplexer
71
Connector
71
J7 (Jopt): I/O Port Connector
71
J8 (Jhw) Handwheel Encoder Connector
72
J10 Ethernet Port (Optional)
73

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