Reference Manual

PMAC-PCI Hardware Reference
ii Table of Contents
E0: Machine Output............................................................................................................................................14
E1 - E2: Machine Output Supply Voltage Configure..........................................................................................14
E3 - E6: Servo Clock Frequency Control ..........................................................................................................15
E7: Machine Input Source/Sink Control............................................................................................................15
E17A-D: Amplifier Enable/Direction Polarity Control .....................................................................................16
E17E-H: Amplifier Enable/Direction Polarity Control ......................................................................................16
E22 - E23: Control Panel Handwheel Enable...................................................................................................17
E28: Following Error/Watchdog Timer Signal Control .....................................................................................17
E29 - E33: Phase Clock Frequency Control......................................................................................................17
E34 - E38: Encoder Sampling Clock Frequency Control..................................................................................18
E40 - E43: Software Address Control................................................................................................................18
E44 - E47: Serial Port Baud Rate.......................................................................................................................19
E48: CPU Clock Frequency Control (Option CPU Section).............................................................................19
E49: Serial Communications Parity Control.....................................................................................................20
E50: Flash Save Enable/Disable .......................................................................................................................20
E51: Normal /Re-initializing Power-Up ............................................................................................................20
E54 - E65: Host Interrupt Signal Select ............................................................................................................20
E72 - E73: Panel Analog time Base Signal Enable ...........................................................................................21
E74 - E75: Clock Output Control for Ext. Interpolation ...................................................................................22
E85: Host-Supplied Analog Power Source Enable............................................................................................22
E87 - E88: Host-Supplied Analog Power Source Enable..................................................................................22
E89: Amplifier-Supplied Switch Pull-Up Enable...............................................................................................22
E90: Host-Supplied Switch Pull-Up Enable ......................................................................................................23
E98: DAC/ADC Clock Frequency Control ........................................................................................................23
E100: Output Flag Supply Select.......................................................................................................................23
E101 - E102: Motors 1-4 Amplifier Enable Output Configure..........................................................................24
E109: Reserved for Future Use .........................................................................................................................24
E110: Serial Port Configure..............................................................................................................................24
E111: Clock Lines Output Enable .....................................................................................................................25
E114 - E115: Motors 5-8 Amplifier Enable Output Configure...........................................................................25
E121 - E122: XIN Feature Selection .................................................................................................................26
MACHINE CONNECTIONS...................................................................................................................................27
Mounting .................................................................................................................................................................27
Power Supplies........................................................................................................................................................27
Digital Power Supply..........................................................................................................................................27
Analog Power Supply..........................................................................................................................................27
Flags Power Supply (optional) ...........................................................................................................................28
Overtravel Limits and Home Switches....................................................................................................................28
Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection ..........................................................28
Types of Overtravel Limits..................................................................................................................................28
Home Switches....................................................................................................................................................29
Motor Signals Connections (JMACH Connectors) .................................................................................................29
Resistor Pack Configuration: Termination Resistors .........................................................................................29
Resistor Pack Configuration: Differential or Single-Ended Encoder Selection ................................................29
Incremental Encoder Connection .......................................................................................................................30
DAC Output Signals............................................................................................................................................30
Amplifier Enable Signal (AENAx/DIRn).............................................................................................................31
Amplifier Fault Signal (FAULTn).......................................................................................................................32
General-Purpose Digital Inputs and Outputs (JOPTO Port)....................................................................................32
Control-Panel Port I/O (JPAN Port)........................................................................................................................33
Command Inputs.................................................................................................................................................33
Selector Inputs ....................................................................................................................................................33
Alternate Use ......................................................................................................................................................33
Reset Input ..........................................................................................................................................................34
Handwheel Inputs ...............................................................................................................................................34