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PMAC2A-PC/104
Delta Tau PMAC2A-PC/104 Manuals
Manuals and User Guides for Delta Tau PMAC2A-PC/104. We have
4
Delta Tau PMAC2A-PC/104 manuals available for free PDF download: Installation Manual, Hardware Reference Manual, Reference Manual
Delta Tau PMAC2A-PC/104 Installation Manual (72 pages)
Brand:
Delta Tau
| Category:
Computer Hardware
| Size: 0 MB
Table of Contents
Table of Contents
3
Introduction
7
Overview
7
Board Configuration
7
Base Version
7
Option 2A: PC/104 Bus Stack Interface
7
Option 5Xf: CPU Speed Options
7
Option 6: Extended Firmware Algorithm
8
Option 6L: Multi-Block Lookahead Firmware
8
Option 10: Firmware Version Specification
8
Option 12: Analog-To-Digital Converters
8
ACC-1P: Axis Expansion Piggyback Board
8
ACC-1P Option 1: I/O Ports
8
ACC-1P Option 2: Analog-To-Digital Converters
8
ACC-2P: Communications Board
9
ACC-2P Option 1A: USB Interface
9
ACC-2P Option 1B: Ethernet Interface
9
ACC-2P Option 2: DPRAM Circuitry
9
ACC-2P Option 3: I/O Ports
10
ACC-8TS Connections Board
10
ACC-8ES Four Channel Dual-DAC Analog Stack Board
10
ACC-8FS Four Channel Direct PWM Stack Breakout Board
10
Base Board Hardware Setup
11
Clock Configuration Jumpers
11
Board Reset Jumpers
11
Cpu Jumper Configuration
12
Communication Jumpers
12
I/O Configuration Jumpers
12
Resistor Packs Configuration
12
Differential or Single-Ended Encoder Selection
12
Acc-1P Hardware Setup
15
I/O Configuration Jumpers
15
Reserved Configuration Jumpers
15
Resistor Packs Configuration
15
Differential or Single-Ended Encoder Selection
15
Handwheel Encoder Termination Resistors
16
Acc-2P Hardware Setup
17
I/O Configuration Jumpers
17
Communication Jumpers
17
Resistor Packs Configuration
17
Differential or Single-Ended Handwheel Encoder Selection
17
Handwheel Encoder Termination Resistors
18
Machine Connections
19
Mounting
19
Power Supplies
19
Digital Power Supply
19
DAC Outputs Power Supply
20
Flags Power Supply
20
Over-Travel Limits and Home Switches
20
Types of Overtravel Limits
20
Home Switches
20
Motor Signals Connections
21
Incremental Encoder Connection
21
DAC Output Signals
21
Pulse and Direction (Stepper) Drivers
22
Amplifier Enable Signal (Aenax/Dirn)
22
Amplifier Fault Signal (FAULT-)
22
ACC-1P General-Purpose Digital Inputs and Outputs (J7 Port)
22
ACC-2P General-Purpose Digital Inputs and Outputs (JOPT Port)
23
ACC-1P Thumbwheel Multiplexer Port (J2 Port)
23
ACC-2P Thumbwheel Multiplexer Port (JTHW Port)
24
ACC-1P or ACC-2P Handwheel Port (JHW / PD Port)
24
Optional Analog Inputs
24
Compare Equal Outputs
24
Serial Port (JRS232 Port)
25
ACC-2P Ethernet RJ45 Connector (J10 Port)
25
ACC-2P USB Connector (J1 Port)
25
Machine Connections Example: Using Analog ±10 Volts Amplifier
26
Machine Connections Example: Using Pulse and Direction Drivers
27
Pmac2A-Pc/104 Software Setup
28
Communications
28
Pmac I-Variables
28
Operational Frequency and Baud Rate Setup
28
Dac Outputs Configuration
29
Using Flag I/Oas General -Purpose I/O
30
General-Purpose Digital Inputs and Outputs
30
ACC-1P with Jumper E6 on Position 1-2
30
ACC-2P with Jumper E5 in Position 2-3
31
Thumbwheel Port Digital Inputs and Outputs
32
ACC-1P with Jumper E6 in Position 1-2
32
ACC-2P with Jumper E5 in Position 2-3
32
Analog Inputs Setup
33
Base Board Analog Inputs
33
ACC-1P Analog Inputs
33
Base Board Hardware Reference Summary
35
Board Dimensions
35
Board Layout
35
Connectors and Indicators
36
J3 - Machine Connector (JMACH1 Port)
36
J4 - Machine Connector (JMACH2 Port)
36
J8 - Serial Port (JRS232 Port)
36
TB1 - Power Supply Terminal Block (JPWR Connector)
37
LED Indicators
37
Acc-1P Hardware Reference Summary
38
Board Dimensions
38
Board Layout
38
Connectors and Indicators
39
J2 - Thumbwheel Multiplexer Port (JTHW Port)
39
J3 - Machine Connector (JMACH1 Port)
39
Pmac2A-Pc/104
40
J4 - Machine Connector (JMACH2 Port)
40
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port)
40
J8 - Handwheel / Pulse and Direction Port (JHW / PD Port)
40
TB1 - Power Supply Terminal Block (JPWR Connector)
40
LED Indicators
40
Acc-2P Hardware Reference Summary
42
Board Dimensions
42
Board Layout
42
Connectors and Indicators
43
J1 - USB Communications Port
43
J2 - Thumbwheel Multiplexer Port (JTHW Port)
43
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port)
43
J8 - Handwheel / Pulse and Direction Port (JHW / PD Port)
44
J10 - Ethernet Communications Port
44
TB1 - Power Supply Terminal Block (JPWR Connector)
45
LED Indicators
45
Base Board E-Point Jumper Descriptions
46
E0: Forced Reset Control
46
E1: Servo and Phase Clock Direction Control
46
E2: Cpu Frequency Select
47
E3: Normal/Re-Initializing Power-Up/Reset
47
E4: Cpu Frequency Select
47
E8: Phase Clock Lines Output Enable
48
E9: Servo Clock Lines Output Enable
48
E10 - E12: Power-Up State Jumpers
48
E13: Power-Up/Reset Load Source
49
E14: Watchdog Disable Jumper
49
E15A, B, C: Flash Memory Bank Select
49
E16: Adc Inputs Enable
50
E18 - E19: Pc/104 Bus Address
50
Acc-1P E-Point Jumper Descriptions
52
E0: Reserved for Future Use
52
E1 - E2: Machine Output Supply Voltage Configure
52
E3 - E4: Jhw, Pd Function Select
53
E5: Servo Gate Address Select
53
E6: I/O Gate Address Select
53
E7: Machine Input Source/Sink Control
53
E16: Adc Inputs Enable
54
Acc-2P E-Point Jumper Descriptions
56
E3 - E4: Jhw, Pd Function Select
56
E5: I/O Gate Address Select
56
E6: Communications Port Select
56
E7- E10: Ports Direction Control
56
Base Board Connector Pinouts
58
Tb1 (Jpwr): Power Supply
58
J4 (Jrs232) Serial Port Connector
58
J3 (Jmach1): Machine Port Connector
59
J4 (Jmach2): Machine Port Connector
60
Acc-1P Connector Pinouts
62
Tb1 (Jpwr): Power Supply
62
J2 (Jthw): Multiplexer Port Connector
62
J3 (Jmach1): Machine Port Connector
63
J4 (Jmach2): Machine Port Connector
65
J7 (Jopto): I/O Port Connector
66
J8 (Jhw) Handwheel Encoder Connector
67
Acc-2P Connector Pinouts
69
Tb1 (Jpwr): Power Supply
69
J1 (USB) Universal Serial Bus Port (Optional)
69
J2 (Jthw): Multiplexer Port Connector
70
J7 (Jopt): I/O Port Connector
70
J8 (Jhw) Handwheel Encoder Connector
71
J10 Ethernet Port (Optional)
72
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Delta Tau PMAC2A-PC/104 Hardware Reference Manual (70 pages)
Brand:
Delta Tau
| Category:
Computer Hardware
| Size: 1 MB
Table of Contents
Operating Conditions
2
Table of Contents
3
Introduction
7
Board Configuration
7
Base Version
7
Option 2A: PC/104 Bus Stack Interface
7
Option 5Xf: CPU Speed Options
7
Option 6: Extended Firmware Algorithm
7
Option 6L: Multi-Block Lookahead Firmware
7
Option 10: Firmware Version Specification
7
Option 12: Analog-To-Digital Converters
8
Acc-1P: Axis Expansion Piggyback Board
8
Acc-1P Option 1: I/O Ports
8
Acc-1P Option 2: Analog-To-Digital Converters
8
Acc-2P: Communications Board
9
Acc-2P Option 1A: USB Interface
9
Acc-2P Option 1B: Ethernet Interface
9
Acc-2P Option 2: DPRAM Circuitry
9
Acc-2P Option 3: I/O Ports
9
Acc-8TS Connections Board
9
Acc-8ES Four-Channel Dual-DAC Analog Stack Board
9
Acc-8FS Four-Channel Direct PWM Stack Breakout Board
9
Base Board Hardware Setup
11
Clock Configuration Jumpers
11
Board Reset Jumpers
11
CPU Jumper Configuration
12
Communication Jumpers
12
I/O Configuration Jumpers
12
Resistor Packs Configuration
12
Differential or Single-Ended Encoder Selection
12
Acc-1P Hardware Setup
15
I/O Configuration Jumpers
15
Reserved Configuration Jumpers
15
Resistor Packs Configuration
15
Differential or Single-Ended Encoder Selection
15
Handwheel Encoder Termination Resistors
16
Acc-2P Hardware Setup
17
I/O Configuration Jumpers
17
Communication Jumpers
17
Resistor Packs Configuration
18
Differential or Single-Ended Handwheel Encoder Selection
18
Handwheel Encoder Termination Resistors
18
Machine Connections
19
Mounting
19
Power Supplies
19
Digital Power Supply
19
DAC Outputs Power Supply
19
Flags Power Supply
20
Overtravel Limits and Home Switches
20
Types of Overtravel Limits
20
Home Switches
20
Motor Signals Connections
20
Incremental Encoder Connection
20
DAC Output Signals
21
Pulse and Direction (Stepper) Drivers
21
Amplifier Enable Signal (Aenax/Dirn)
21
Amplifier Fault Signal (FAULT-)
22
Acc-1P General-Purpose Digital Inputs and Outputs (J7 Port)
22
Acc-2P General-Purpose Digital Inputs and Outputs (JOPT Port)
23
Acc-1P Thumbwheel Multiplexer Port (J2 Port)
23
Acc-2P Thumbwheel Multiplexer Port (JTHW Port)
23
Acc-1P or Acc-2P Handwheel Port (JHW / PD Port)
24
Optional Analog Inputs
24
Compare Equal Outputs
24
Serial Port (JRS232 Port)
25
Acc-2P Ethernet RJ45 Connector (J10 Port)
25
Acc-2P USB Connector (J1 Port)
25
Machine Connections Example: Using Analog ±10V Amplifier
26
Machine Connections Example: Using Pulse and Direction Drivers
27
Software Setup
29
Communications
29
PMAC I-Variables
29
Operational Frequency and Baud Rate Setup
29
Filtered DAC Outputs Configuration
30
Using Flag I/O as 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
Baseboard Analog Inputs
34
Acc-1P Analog Inputs
34
Base Board Hardware Reference Summary
35
Board Dimensions
35
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)
37
LED Indicators
37
Acc-1P Hardware Reference Summary
39
Board Dimensions
39
Board Layout
40
Connectors and Indicators
41
J2 - Thumbwheel Multiplexer Port (JTHW Port)
41
J3 - Machine Connector (JMACH1 Port)
41
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
Acc-2P Hardware Reference Summary
43
Board Dimensions
43
Board Layout
44
PMAC2A PC104 Hardware Reference Manual
45
Connectors and Indicators
45
J1 - USB Communications Port
45
J2 - Thumbwheel Multiplexer Port (JTHW Port)
45
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port)
45
J8 - Handwheel/Pulse and Direction Port (JHW / PD Port)
45
J10 - Ethernet Communications Port
45
TB1 - Power Supply Terminal Block (JPWR Connector)
45
LED Indicators
45
Base Board E-Point Jumper Descriptions
47
E0: Forced Reset Control
47
E1: Servo and Phase Clock Direction Control
47
E2: CPU Frequency Select
47
E3: Normal/Re-Initializing Power-Up/Reset
47
E4: CPU Frequency Select
48
E8: Phase Clock Lines Output Enable
48
E9: Servo Clock Lines Output Enable
48
E10 - E12: Power-Up State Jumpers
48
E13: Power-Up/Reset Load Source
49
E14: Watchdog Disable Jumper
49
E15A, B, C: Flash Memory Bank Select
49
E16
49
ADC Inputs Enable
49
E18 - E19: PC/104 Bus Address
50
Acc-1P E-Point Jumper Descriptions
51
E0: Reserved for Future Use
51
E1 - E2: Machine Output Supply Voltage Configure
51
E3 - E4: JHW, PD Function Select
51
E5: Servo Gate Address Select
52
E6: I/O Gate Address Select
52
E7: Machine Input Source/Sink Control
52
E16: ADC Inputs Enable
52
Acc-2P E-Point Jumper Descriptions
53
E1: Usb/Ethernet Micro-Controller Firmware Reload Enable
53
E3 - E4: JHW, PD Function Select
53
E5: I/O Gate Address Select
53
E6: Communications Port Select
53
E7- E10: Ports Direction Control
54
Base Board Connector Pinouts
55
TB1 (JPWR): Power Supply
55
Acc-1P Connector Pinouts
59
TB1 (JPWR): Power Supply
59
J2 (JTHW): Multiplexer Port Connector
60
J3 (JMACH1): Machine Port Connector (50-Pin Header)
61
J4 (JMACH2): Machine Port Connector (34-Pin Header)
63
J7 (JOPTO): I/O Port Connector
64
J8 (JHW) Handwheel Encoder Connector
65
Acc-2P Connector Pinouts
67
TB1 (JPWR): Power Supply
67
J1 (USB) Universal Serial Bus Port (Optional)
67
J2 (JTHW): Multiplexer Port Connector
68
J7 (JOPT): I/O Port Connector
69
J8 (JHW) Handwheel Encoder Connector
70
J10 Ethernet Port (Optional)
70
Delta Tau PMAC2A-PC/104 Hardware Reference Manual (57 pages)
Axis Expansion Accessory-1P
Brand:
Delta Tau
| Category:
Controller
| Size: 4 MB
Table of Contents
Table of Contents
6
Introduction
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
Hardware Setup
11
I/O Configuration Jumpers
11
Encoder Configuration Jumpers
11
Reserved Configuration Jumpers
12
Resistor Packs Configuration (Older Rev Boards Without E20-23)
12
Differential or Single-Ended Encoder Selection
12
Handwheel Encoder Termination Resistors
13
Machine Connections
14
Mounting
14
Power Supplies
14
Digital Power Supply
14
DAC Outputs Power Supply
14
Flags Power Supply
15
Overtravel Limits and Home Switches
15
Types of Overtravel Limits
15
Home Switches
15
Motor Signals Connections
15
Incremental Encoder Connection
15
DAC Output Signals
16
Pulse and Direction (Stepper) Drivers
16
Amplifier Enable Signal (Aenax/Dirn)
16
Amplifier Fault Signal (FAULT-)
17
General-Purpose Digital Inputs and Outputs (J7 Port)
17
Thumbwheel Multiplexer Port (JTHW Port)
18
Handwheel Port (JHW / PD Port)
19
Optional Analog Inputs
19
Compare Equal Outputs
19
Machine Connections Example: Using Analog ±10V Amplifier
20
Machine Connections Example: Using Pulse and Direction Drivers
21
Software Setup (Non-Turbo Pmac2A-Pc104)
23
Communications
23
PMAC I-Variables
23
Filtered DAC Outputs Configuration
23
Using Flag I/O as General-Purpose I/O
23
General-Purpose Digital Inputs and Outputs
24
Jumper E6 on Position 1-2
24
Jumper E5 in Position 2-3
24
Thumbwheel Port Digital Inputs and Outputs
26
Jumper E6 in Position 1-2
26
Jumper E6 in Position 2-3
26
Analog Inputs Setup
27
Analog Inputs
27
Software Setup (Turbo Pmac2A-Pc104 and Clipper)
28
Filtered DAC Outputs Configuration
28
Motor Setup for Channels 9-12
29
Using Flag I/O as General-Purpose I/O
34
General-Purpose Digital Inputs and Outputs
35
JOPTO Port First ACC-1P, Jumper E6 on Position 1-2
35
JTHW Port First ACC-1P, Jumper E6 on Position 1-2
36
JOPTO Port Second ACC-1P, Jumper E6 on Position 2-3
36
JTHW Port Second ACC-1P, Jumper E6 on Position 2-3
37
Analog Inputs Setup
38
Analog Inputs First ACC-1P
38
Analog Inputs Second ACC-1P
38
Hardware Reference Summary
40
Board Dimensions
40
Board Layout
41
Connectors and Indicators
42
J2 - Thumbwheel Multiplexer Port (JTHW Port)
42
J3 - Machine Connector (JMACH1 Port)
42
J4 - Machine Connector (JMACH2 Port)
42
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port)
42
J8 - Handwheel / Pulse and Direction Port (JHW / PD Port)
42
TB1 - Power Supply Terminal Block (JPWR Connector)
42
E-Point Jumper Descriptions
44
E0: Reserved for Future Use
44
E1 - E2: Machine Output Supply Voltage Configure
44
E3 - E4: JHW, PD Function Select
44
E5: Servo Gate Address Select
45
E6: I/O Gate Address Select
45
E7: Machine Input Source/Sink Control
45
E16: ADC Inputs Enable
45
Connector Pinouts
46
TB1 (JPWR): Power Supply
46
J2 (JTHW): Multiplexer Port Connector
47
J3 (JMACH1): Machine Port Connector (50-Pin Header)
48
J4 (JMACH2): Machine Port Connector (34-Pin Header)
50
J7 (JOPTO): I/O Port Connector
51
J8 (JHW) Handwheel Encoder Connector
52
Schematics
54
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Delta Tau PMAC2A-PC/104 Reference Manual (46 pages)
Computer Hardware
Brand:
Delta Tau
| Category:
Computer Hardware
| Size: 1 MB
Table of Contents
Operating Conditions
2
Table of Contents
5
Introduction
7
Board Configuration
7
Base Version
7
Board Options
7
Option 2A: PC/104 Bus Stack Interface
7
Option 5Xf: CPU Speed Options
7
Option 6: Extended Firmware Algorithm
7
Option 6L: Multi-Block Lookahead Firmware
7
Option 10: Firmware Version Specification
8
Option 12: Analog-To-Digital Converters
8
Additional Accessories
8
Acc-1P: Axis Expansion Piggyback Board
8
Acc-2P: Communications Board
8
Acc-8TS Connections Board
9
Acc-8ES Four-Channel Dual-DAC Analog Stack Board
9
Acc-8FS Four-Channel Direct PWM Stack Breakout Board
9
Hardware Setup
11
Clock Configuration Jumpers
11
Reset Jumpers
11
CPU Configuration Jumpers
12
Communication Jumpers
12
ADC Configuration Jumpers
12
Encoder Configuration Jumpers
12
Single-Ended Encoders
12
Differential Encoders
12
Machine Connections
15
Mounting
15
Power Supplies
15
Digital Power Supply
15
DAC Outputs Power Supply
15
Flags Power Supply
16
Overtravel Limits and Home Switches
16
Types of Overtravel Limits
16
Home Switches
16
Motor Signals Connections
16
Incremental Encoder Connection
16
DAC Output Signals
17
Pulse and Direction (Stepper) Drivers
17
Amplifier Enable Signal (Aenax/Dirn)
17
Amplifier Fault Signal (FAULT-)
18
Optional Analog Inputs
18
Compare Equal Outputs
18
Serial Port (JRS232 Port)
18
Machine Connections Example: Using Analog ±10V Amplifier
19
Machine Connections Example: Using Pulse and Direction Drivers
20
Software Setup
21
PMAC I-Variables
21
Communications
21
Operational Frequency and Baud Rate Setup
21
Filtered DAC Output Configuration
22
Parameters to Set up Global Hardware Signals
23
Parameters to Set up Per-Channel Hardware Signals
24
Effects of Changing I900 on the System
24
How Does Changing I900 Effect Other Settings in PMAC
26
Effects of Output Resolution and Servo Interrupt Frequency on Servo Gains
27
Using Flag I/O as General-Purpose I/O
28
Analog Inputs Setup
28
CPU Analog Inputs
28
Hardware Reference Summary
29
Board Dimensions
29
From V106 to 107
29
From V107 to 108
30
From V108 to 109
31
Board Layout
32
Connectors and Indicators
33
J3 - Machine Connector (JMACH1 Port)
33
J4 - Machine Connector (JMACH2 Port)
33
J8 - Serial Port (JRS232 Port)
33
TB1 - Power Supply Terminal Block (JPWR Connector)
33
LED Indicators
33
E-Point Jumper Descriptions
35
E0: Forced Reset Control
35
E1: Servo and Phase Clock Direction Control
35
E2: CPU Frequency Select
35
E3: Normal/Re-Initializing Power-Up/Reset
35
E4: CPU Frequency Select
36
E8: Phase Clock Lines Output Enable
36
E9: Servo Clock Lines Output Enable
36
E10 - E12: Power-Up State Jumpers
36
E13: Power-Up/Reset Load Source
37
E14: Watchdog Disable Jumper
37
E15A, B, C: Flash Memory Bank Select
37
E16: ADC Inputs Enable
37
E18 - E19: PC/104 Bus Address
38
E20-E23: Encoder Single Ended/Differential Select
38
(Note: V107 and above Only)
38
Connector Pinouts
39
TB1 (JPWR): Power Supply
39
J4 (JRS232) Serial Port Connector
39
J3 (JMACH1): Machine Port Connector
40
J3 JMACH1 (50-Pin Header)
41
J4 (JMACH2): Machine Port CPU Connector
42
Schematics
44
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