Reference Manual
Table Of Contents
- Base Version
- Option 2: Dual-Ported RAM
- Option 5xF: CPU Speed Options
- Option 6: Extended Servo Algorithm Firmware
- Option 6L: Special Lookahead Firmware
- Option 10: Firmware Version Specification
- Option 12: Analog-to-Digital Converters
- Option 15: V-to-F Converter for Analog Input
- Option 16: Battery-Backed Parameter Memory
- Digital Power Supply
- Analog Power Supply
- Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection
- Types of Overtravel Limits
- Home Switches
- Incremental Encoder Connection
- DAC Output Signals
- Amplifier Enable Signal (AENAx/DIRn)
- Amplifier Fault Signal (FAULTn)
- Command Inputs
- Selector Inputs
- Alternate Use
- Reset Input
- Handwheel Inputs
- Optional Voltage to Frequency Converter
- J1 - Display Port (JDISP Port)
- J2 - Control-Panel Port (JPAN Port)
- J3 - Thumbwheel Multiplexer Port (JTHW Port)
- J4 - Serial Port (JRS422 Port)
- J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port)
- J6 – Expansion Port \(JXIO Port\)
- J8 - Machine Connectors (JMACH Port)
- J9 – Compare Equal Outputs Port \(JEQU Port\)
- J17 - Serial Port (JRS232 Port)
- J30 – Optional Analog to Digital Inputs \(JANA P
- J31 – Optional Universal Serial Bus Port \(JUSB
- JS1 – Expansion Ports \(JS1 Port\)
- TB1 – Power Supply Terminal Block \(JPWR Connect
- LED Indicators
- Fuse
- J1 (JDISP)/Display
- J2 (JPAN)/Control Panel
- J3 (JTHW)/Multiplexer Port
- J4 (JRS422)/RS232 OR 422/Serial Communications
- J5 (JOPT)/OPTO I/O
- J6 (JXIO)/Expansion Board
- J8 (JMACH)/Machine Connector
- JS1/A-D Inputs 1-4
- JEQU/Position Compare
- JANA/Analog Inputs Option
PMAC PCI Lite Hardware Reference Manual
2 Introduction
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).
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.
Option 10: Firmware Version Specification
Normally the PMAC PCI Lite 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.
Option 12: Analog-to-Digital Converters
Option 12 permits the installation of 8 or 16 channels of on-board multiplexed analog-to-digital
converters. One or two of these converters are read every phase interrupt. The analog inputs are not
optically isolated, and each can have a 0 – 5V input range, or a +/-2.5V input range, individually
selectable.
• Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U20
and connector J30.
• Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board
is U22.
Option 15: V-to-F Converter for Analog Input
The JPAN control panel port on the PMAC PCI Lite has an optional analog input called Wiper (because it
is often tied to a potentiometer’s wiper pin). PMAC PCI Lite can digitize this signal by passing it through
an optional voltage-to-frequency converter, using E-point jumpers to feed this into the Encoder 4 circuitry
(no other use is permitted then), and executing frequency calculations using the time base feature of the
encoder conversion table. The key component on the board is U18.
• Option 15 provides a voltage-to-frequency converter that permits the use of the WIPER input on the
control panel port.
Option 16: Battery-Backed Parameter Memory
The contents of the standard memory are not retained through a power-down or reset unless they have
been saved to flash memory first. Option 16 provides supplemental battery-backed RAM for real-time
parameter storage that is ideal for holding machine state parameters in case of an unexpected power-
down. This memory appears at addresses $A000 - $BBFF. The key components on the board are U142,
U145, U149, and BT1.
• Option 16A provides a 16k x 24 bank of battery-backed parameter RAM.