Reference Manual

PMAC Mini PCI Hardware Reference Manual

4 Hardware Setup

Option 6: Extended Servo Algorithm Firmware

• Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular

servo algorithm firmware. This is required only in difficult-to-control systems (resonances, backlash,

friction, disturbances, changing dynamics).

Part number: 306-00PMAC-OPT

Option 6L: Special Lookahead Firmware

• Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profile

execution. With the lookahead firmware, PMAC controls the speed along the path automatically (but

without changing the path) to ensure that axis limits are not violated.

Part number: 3L6-00PMAC-OPT

Option 8A: High-Accuracy Clock Crystal

The PMAC Mini PCI has a clock crystal of nominal frequency 19.6608 MHz (~20 MHz). The standard

crystal’s accuracy specification is +/-100 ppm.

• Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.

Part number: 3A8-603712-OPT

Option 10: Firmware Version Specification

Normally the PMAC Mini PCI is provided with the newest released firmware version. A label on the

memory IC (U13) shows the firmware version loaded at the factory.

• Option 10 provides for a user-specified firmware version. (1.17 or newer)

Part number: 310-00PMAC-OPT

Option 15: V-to-F Converter for Analog Input

The Mini PMAC PCI has an optional analog input called Wiper (because it is often tied to a

potentiometer’s wiper pin). Mini PMAC PCI can digitize this signal by passing it through an optional

voltage-to-frequency converter. The key component on the board is U27 and U30.

• Option 15 provides a voltage-to-frequency converter that permits the use of the Wiper input on the

auxiliary port J8 (JAUX).

Part number: 315-603712-OPT

General Purpose Digital Inputs and Outputs (JOPTO Port)

PMAC Mini PCI’s J5 or JOPTO connector provides eight general-purpose digital inputs and eight

general-purpose digital outputs. 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. Acc-21F is a six-foot cable for this purpose. Characteristics of the JOPTO port on

the PMAC:

• 16 I/O points. 100mA per channel, up to 24V

• Hardware selectable between sinking and sourcing in groups of eight; default is all sinking (inputs

can be changed simply by moving a jumper; sourcing outputs must be special-ordered or field-

configured)

• Eight inputs, eight outputs only; no changes. Parallel (fast) communications to PMAC CPU

• Not opto-isolated; easily connected to Opto-22 (PB16) or similar modules through Acc-21F cable

Jumper E7 controls the configuration of the eight inputs. If it connects pins 1 and 2 (the default setting),

the inputs are biased to +5V for the OFF state, and they must be pulled low for the ON state. If E7

connects pins 2 and 3, the inputs are biased to ground for the OFF state, and must be pulled high for the

ON state. In either case, a high voltage is interpreted as a 0 by the PMAC software, and a low voltage is

interpreted as a 1.