^1 HARDWARE REFERENCE MANUAL ^2 MACRO CPU Board ^3 HRM for UMAC MACRO & MACRO Stack ^4 4Ax-602804-xHxx ^5 November 6, 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.
Copyright Information © 2003 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 conform in every respect to former issues. To report errors or inconsistencies, call or email: Delta Tau Data Systems, Inc.
MACRO CPU Board Table of Contents INTRODUCTION .......................................................................................................................................................1 3U Product Configurations (General Description) ....................................................................................................2 MACRO CPU Specifications....................................................................................................................................
MACRO CPU Board ii Table of Contents
MACRO CPU Board INTRODUCTION The 3U MACRO-CPU board is the processor and MACRO interface board that is used in a 3U MACRO Station (in either UMAC MACRO or MACRO Stack configuration). Note Three documents describe the operation of Delta Tau Data Systems Inc. 3U MACRO Station products: • • • UMAC System Manual (General Product Overview) 3U MACRO Station User’s Manual 3U MACRO Station Software Reference This manual describes the interfaces and physical hardware that is used on the 3U MACRO CPU.
MACRO CPU Board The 3U MACRO Station can be configured in either of two fundamental assemblies – “UMAC MACRO” and “MACRO Stack”: • UMAC MACRO – In this configuration (once called "Pack") the 3Uformat boards are put together to communicate through a backplane bus called the UBUS. All boards are installed in a Euro-card rack. In this configuration, all 3U-format boards or modules can be installed or withdrawn from the pack individually, providing ease of installation, debugging, and repair.
MACRO CPU Board MACRO CPU Specifications Physical Specifications Size: Weight: 16cm x 10cm x 3.6cm (6.3" x 3.95" x 1.4") ½ lb. Temperature Operating: 0°C to 60°C (32°F to 140°F) Storage: 12°C to 82°C (10°F to 180°F) Humidity: 10% to 95%, non condensing Electrical Specifications Power: Introduction 1.5A @ +5V (±5%) (7.5W) Pertains to 8-channel configuration with a typical load of encoders.
MACRO CPU Board 4 Introduction
MACRO CPU Board 3U MACRO-CPU CONFIGURATION The purchase of the 3U MACRO CPU board provides a 3U-format (100mm x 160mm) board with a DSP processor, MACRO ring circuitry, piggyback connectors onto which “stack” accessory boards can be mounted, and a backplane connector through which other 3U-format boards can be connected by means of a UBUS passive-backplane board.
MACRO CPU Board 6 3U MACRO-CPU Configuration
MACRO CPU Board 3U MACRO CPU BOARD HARDWARE SETUP The hardware setup of the 3U MACRO CPU Board consists of the setting of 2 rotary switches, the setting of several E-point jumpers on each board, followed by power supply and signal connections. Note E-Point Jumper numbers are shown in white ink on the legend of each board.
MACRO CPU Board Turbo PMAC2, this value must match the master number value in the first hexadecimal digit of the Turbo PMAC2’s I6840, I6890, I6940, or I6990, for MACRO ICs 0, 1, 2, or 3, respectively, on the Turbo PMAC2. The default switch setting is 0, so the station will respond to Master 0. Watchdog Timer Enable Jumper: For normal operation of the Compact MACRO Station, jumper E1 should be OFF to enable the watchdog timer (an important safety feature).
MACRO CPU Board Note When interfacing to accessory boards across the UBUS backplane, it is strongly recommended to use a new revision (-105 or higher) of the MACRO CPU board, and an ACC-Ux backplane board (not an older ACC-Jx backplane board). The newer revision MACRO CPU boards have stronger bus driver ICs, but they do not work well with the termination of the ACC-Jx backplane boards.
MACRO CPU Board 10 3U MACRO CPU Board Hardware Setup
MACRO CPU Board 3U MACRO-CPU JUMPER AND SWITCH CONFIGURATIONS 3U MACRO-CPU Card Layout The "Location" columns of the following tables refer to the mapped locations shown in the drawings below: 3U MACRO CPU Jumper and Switch Configurations 11
MACRO CPU Board Note: Pin 1 of an E-point is masked by an "X" in white ink on the composite side, and by a square solder pad on the solder side. E1: Watchdog Timer Disable Rev -105 and Later Location Rev -104 and Earlier Location Jumper Type B-1 F-1 2-Pin Description Remove jumper to enable Watchdog Timer.
MACRO CPU Board E5: MACRO Received Signal Detect/Bypass Mode (Rev -105 and 106 only). Does not Exist on Rev 107 and Later Models Rev -105 and Later Location Rev -104 and Earlier Location B-3 Jumper Type 3-Pin Description Jump pins 1 and 2 to access the receiver’s signal detect operation. Jump pins 2 and 3 to bypass the receiver’s signal detect operation. This jumper does not exist on MACRO-CPU versions 104 and earlier.
MACRO CPU Board Switch Configurations \SW1: MACRO Slave Node Configure SW1 Setting # of Servo Channels & Nodes Used MACRO Servo Nodes Specified Station Channel Nos. Station Channel Starting Addresses 1st Axis Board Servo IC 2nd Axis Board Servo IC 0 (default) 1 4 0, 1, 4, 5 1, 2, 3, 4 4-axis 4 1, 2, 3, 4 2 3 4 5 6 2 2 2 2 6 8, 9, 12, 13 0, 1 4, 5 8, 9 12, 13 0, 1, 4, 5, 8, 9 7 8 0, 1, 4, 5, 8, 9, 12, 13 1, 2, 3, 4, 5, 6, 7, 8 8 9 10 11 12 2 2 2 2 6 0, 1 4, 5 8, 9 12.
MACRO CPU Board Connector Summary J1: ~* J2: ~* J3: ~* J4: ~* J5: ~* J6: J7: J14, J17: P1: TB1: U73: JEXP_A: for interboard connection JEXP_B: for interboard connection JEXP_C: for interboard connection JISP: Factory configuration header JTAG/OnCE: Factory troubleshoot header JTHW: Multiplexer Port Connector JRS232: Serial Port Connector RJ45: MACRO Copper I/O (OPT C) JEXP: Backplane Expansion Port Connector JPWR: 4-Pin Terminal Block MACRO Fiber Optic Connector (OPT A) * Typically, these connectors are
MACRO CPU Board 16 3U MACRO CPU Jumper and Switch Configurations
MACRO CPU Board MACRO STATION CHARACTER DISPLAY The Compact MACRO Station has a single hexadecimal character display on the CPU/Interface Board that provides useful information as to the status of the station.
MACRO CPU Board 18 MACRO Station Character Display
MACRO CPU Board FIRMWARE UPDATES Downloading new firmware to the MACRO Station is a simple process once the MACRO board is setup properly. To download new firmware to the MACRO station, the user must have the following items: • • • • • 5V power supply 2 jumpers DB9 female to 10 pin header (any cable used for PMAC RS232 communications) PC at the DOS prompt.
MACRO CPU Board 20 MACRO Station Character Display
MACRO CPU Board 3U MACRO-CPU BOARD CONNECTOR PINOUTS The schematic circuits shown in this section are for interface reference only. Subtle differences may exist between the circuits shown here and the actual hardware used. J6: (JTHW) Multiplexer Port Connector (26-pin head at Location D-3) Front View Pin # Symbol Function 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 GND GND DAT0 SEL0 DAT1 SEL1 DAT2 SEL2 DAT3 SEL3 DAT4 SEL4 DAT5 SEL5 DAT6 SEL6 DAT7 SEL7 N.C.
MACRO CPU Board Circuitry for J6- JTHW Interface 22 3U MACRO CPU Board Connector Pinouts
MACRO CPU Board J7: (JRS232) Serial Port Connector (10-pin Header at Location C-1) Front View Pin # 1 2 3 4 5 6 7 8 9 10 Symbol N.C. DTR TXD/ CTS RXD/ RTS DSR N.C.
MACRO CPU Board J14, J17: MACRO Copper I/O (Opt C) (8 pin RJ45) Front View Pin # Symbol Function 1 DATA+ Data + Description Notes J17: DATA+ input. J14: DATA+ output. 2 DATAData Differential MACRO Signal J17: DATA- input. J14: DATA- output. 3 Unused Unused terminated pin See schematic below. 4 Unused Unused terminated pin See schematic below. 5 Unused Unused terminated pin See schematic below. 6 Unused Unused terminated pin See schematic below. 7 Unused Unused terminated pin See schematic below.
MACRO CPU Board P1: UBUS Interface Connector (96 pin EURO-Connector at F-1, 2, 3, 4) Pin # Row A Row B Row C 1 +5Vdc +5Vdc +5Vdc 2 GND GND GND 3 BD01 DAT0 BD00 4 BD03 SEL0 BD02 5 BD05 DAT1 BD04 6 BD07 SEL1 BD06 7 BD09 DAT2 BD08 8 BD11 SEL2 BD10 9 BD13 DAT3 BD12 10 BD15 SEL3 BD14 11 BD17 DAT4 BD16 12 BD19 SEL4 BD18 13 BD21 DAT5 BD20 14 BD23 SEL5 BD22 15 BS1 (GND) DAT6 BS0 (GND) 16 BA01 SEL6 BA00 17 BA03 DAT7 BA02 18 BX/Y SEL7 BA04 (n.c.) 19 CS3BA06 (n.c.) CS2 20 BA05 (CS7-) BA07 (n.c.
MACRO CPU Board TB1: (JPWR) 4-Pin Terminal Block (Location B-4) Pin # Symbol Function Description Notes 1 2 3 4 GND +5V +15V -15V Common Input Input Input Reference Voltage Positive Supply Voltage Positive Supply Voltage Negative Supply Voltage Supplies all PMAC digital circuits +12V to +15V; used for on-board analog -12 to –15V; used for on-board analog U73: MACRO Fiber Optic Connector (OPT A) (2 Socket SC-Style) Front View Pin # Symbol Function Description Notes 1 RX Fiber Input MACRO Ri
MACRO CPU Board 3U MACRO-CPU HARDWARE MEMORY MAP The values in this table represent the hardware locations associated with register-based transactions that occur in the 3U MACRO-CPU.
MACRO CPU Board 28 3U MACRO-CPU Hardware Memory Map
MACRO CPU Board ACCESSORIES Both the Turbo and the MACRO CPU boards can support either the Stack or the UMAC configuration. The systems are configured modularly with the selection of a series of accessory boards, some appropriate for the Stack, and some appropriate for the UMAC. These accessories are listed here. Each has its own manual for detailed description.
MACRO CPU Board Amplifiers – Analog ±10VDC Input (Brush Motors) Amplifiers – Digital PWM Input (brushless) Power Supplies – DC Input Power Supplies – AC Input UMAC Chassis Assemblies (Rack) Hybrid Stack/Pack Accessories (Legacy Systems Only) 30 4-Axis Analog ± 10V Input 4-Axis Analog ± 10V Input Linear Amplifier, 24VDC, PWM Amplifier, 48VDC, 0.
