^1 HARDWARE REFERENCE MANUAL ^2 PMAC2 PCI Lite Preliminary Documentation ^3 PMAC 2 PCI Lite Bus Expansion Card ^4 4XX-603658-xHxx ^5 November 5, 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.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation Table of Contents INTRODUCTION .......................................................................................................................................................1 Overview ...................................................................................................................................................................1 Board Configuration.................................................................
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation E17 - E18: Serial Port Type Selection....................................................................................................................16 E111-118: Command Output Disable State ............................................................................................................17 MATING CONNECTORS ......................................................................................................................
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation INTRODUCTION Overview The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or four sinewave or direct PWM servo drives and to pulse-and-direction stepper drives. It has four channels of servo interface circuitry, but its software is capable of eight axes of control. It is software compatible with the PMAC2-PC and the PMAC2 Mini. The PMAC2 PCI Lite is a full-sized PCI-bus expansion card.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation Option 5: CPU and Memory Configurations If the 40 MHz CPU (80 MHz DSP 56002 equivalent) that comes standard does not have sufficient computational power, faster versions are available as options. These options provide a faster CPU IC in U127, and unlike past CPU upgrades, will not require any additional memory chips. • Option 5CF provides an 80 MHz CPU (160 MHz DSP 56002 equivalent) with zero-wait-state SRAM active memory. Requires V1.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation 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 powerdown.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation 4 Introduction
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation HARDWARE SETUP Watchdog Timer Jumper Jumper E19 must be OFF for the watchdog timer to operate. This is an important safety feature, so it is vital that this jumper be OFF in normal operation. E19 should be put ON only to debug problems with the watchdog timer circuit.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation Serial Port Selection Jumper Jumpers E17 and E18 control which serial-port connector is used. If E17 and E18 connect their pins 1 and 2, the 10-pin RS-232 port connector J5 is used. If E17 and E18 connect their pins 2 and 3, the 26-pin RS-422 port connector J5A is used. The RS-422 port must be used if several cards are to be daisychained together on a single multi-drop cable.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation Resistor Pack Configuration Termination Resistors The PMAC2 PCI Lite provides sockets for termination resistors on differential input pairs coming into the board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances into the PMAC2 PCI Lite board and ringing at signal transitions is a problem, SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation The following table lists the pull-up/pull-down resistor pack for each input device: Device Resistor Pack Device Resistor Pack Encoder 1 Encoder 2 Encoder 3 Encoder 4 Encoder 5 Encoder 6 Encoder 7 Encoder 8 RP43 RP48 RP44 RP49 RP104 RP109 RP105 RP110 ADC/Fault1&2 ADC/Fault3&4 ADC/Fault5&6 ADC/Fault7&8 SCLK12&34 SCLK56&78 RP58 RP59 RP119 RP120 RP62 RP123 Connections Mounting The PMAC2 PCI Lite can be mounted in one of two ways: in
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation Multiplexer Port The J2 (JTHW) multiplexer port provides eight TTL-compatible 5V CMOS inputs and eight TTLcompatible 5V CMOS outputs on a 26-pin IDC header. These can be used directly as general-purpose digital I/O, or with PMAC2’s special M-variable support (TWB, TWD, TWR, and TWS formats). In addition, they can be used to support hundreds, or even thousands of multiplexed I/O points on accessory boards.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation 10 Hardware Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation COMMUNICATIONS SETUP Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32bits Windows® based computers. Starting with MOTIONEXE.EXE version 10.32.00, which is included in PEWIN32 version 2.32 and newer, a PMAC2 PCI Lite board plugged in a PCI bus slot will be recognized by the operating system when the computer is booted up.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation Note: For example, if a Device0 for serial RS-232 communications was defined before a PMAC PCI board was installed in the computer, its setup information will be overwritten by the MOTIONEXE application when the PMAC2 PCI Lite board is found. Therefore, it is important to take note of the all the devices and their parameters defined in MOTIONEXE before installing a new PMAC board in the computer.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation FLEX CPU BOARD JUMPER DESCRIPTIONS Flex CPU Board Jumper Descriptions 13
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation E1: Watchdog Disable Jumper E Point and Physical Layout E1 Description Default Jump pin 1 to 2 to disable Watchdog timer. (For test purposes only.) No jumper installed Remove jumper to enable Watchdog timer. E2: Dual-Ported Ram Port Select E Point and Physical Layout E2 Description Default Jump pin 1 to 2 to access DPRAM from baseboard. Pins 1 and 2 jumpered Jump pin 2 to 3 to access DPRAM through JEXP expansion port.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation JUMPER DESCRIPTIONS E1: Servo and Phase Clock Direction Control E Point and Physical Layout Location Description Default Remove jumper for PMAC2 PCI Lite to use its No jumper installed internally generated servo and phase clock signals and to output these signals on the J5A serial port connector. Jump pins 1 and 2 for PMAC2 PCI Lite to expect to receive its servo and phase clock signals on the J5A serial port connector.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation E13 - E14: Encoder Sample Clock Direction Control E Point and Physical Layout Location E13 D1 E14 D2 Description Default Remove jumper to output SCLK generated in first ASIC on SCLK_12 and SCLK_34, or to control direction by software. Jump pins 1 to 2 to input SCLK signal for first ASIC on SCLK_34 and output this signal on SCLK_12. Jump pins 2 to 3 to input SCLK signal for first ASIC on SCLK_12 and output this signal on SCLK_34.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation E111-118: Command Output Disable State E Point and Physical Layout E111 E112 E113 Location C1 Description Jump pin 1 to 2 of E11n for digital servo command output signals of Channel n to tri-state when amplifierenable signal for Channel n is in disable state.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation 18 PMAC2 PCI Lite Jumper Descriptions
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation MATING CONNECTORS CPU Board Connectors J2 (JEXP)/Expansion • • • Two 50-pin female flat cable connector Delta Tau P/N 014-R00F50-0K0 - T&B Ansley P/N 609-5041 171-50 T&B Ansley standard flat cable stranded 50-wire Phoenix varioface module type FLKM 50 (male pins) P/N 22 81 08 9 Baseboard Connectors J1 (JANA)/Analog (Option 12) • • • Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 - T&B Ansley P/N 609-1441 171-14 T
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J9 (JMACH1)/Machine Port 1 • • Two 100-pin high-density box header with center key, 0.050” pitch - AMP P/N 1-04068-7, Delta Tau P/N 014-00010-FPB High-density flat cable stranded 100-wire J10 (JMACH2)/Machine Port 2 • • 20 Two 100-pin high-density box header with center key, 0.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation BASE BOARD CONNECTOR PINOUTS J1 (JANA) Analog Input Port Connector This connector is present only if Option 12 is ordered. Pin # Symbol Function Description Notes 0-5V or +/-2.5V range 1 ANAI00 Input Analog input 0 0-5V or +/-2.5V range 2 ANAI01 Input Analog input 1 0-5V or +/-2.5V range 3 ANAI02 Input Analog input 2 0-5V or +/-2.5V range 4 ANAI03 Input Analog input 3 0-5V or +/-2.5V range 5 ANAI04 Input Analog input 4 0-5V or +/-2.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J2 (JTHW) Multiplexer Port Connector 22 Pin # Symbol Function Description 1 2 3 GND GND DAT0 Common Common Input PMAC common PMAC common Data-0 input 4 SEL0 Output Select-0 output 5 DAT1 Input 6 SEL1 Output 7 DAT2 Input 8 SEL2 Output 9 DAT3 Input 10 SEL3 Output 11 DAT4 Input 12 SEL4 Output 13 DAT5 Input 14 SEL5 Output 15 DAT6 Input 16 SEL6 Output 17 DAT7 Input 18 SEL7 Output Select-7
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J3 (JI/O) General Input/Output Connector Pin # Symbol Function Description Notes 1 I/O00 In/Out Digital I/O 0 Software direction ctrl. 2 I/O01 In/Out Digital I/O 1 Software direction ctrl. 3 I/O02 In/Out Digital I/O 2 Software direction ctrl. 4 I/O03 In/Out Digital I/O 3 Software direction ctrl. 5 I/O04 In/Out Digital I/O 4 Software direction ctrl. 6 I/O05 In/Out Digital I/O 5 Software direction ctrl.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J5 (JRS232) Serial Port Connector Pin # Symbol Function Description Notes 1 PHASE Output Phasing clock 2 DTR Bidirect Data terminal ready Tied to DSR DSR TXD/ Input Receive data Host transmit data 4 CTS Input Clear to send Host ready bit 5 RXD/ Output Send data Host receives data 6 RTS Output Req.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J6 (JDISP) Display Connector Pin # Symbol Function Description Notes 1 VDD Output +5V power Power supply out 2 VSS Common PMAC common 3 RS Output Read strobe TTL signal out 4 VEE Output Contrast adjust.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J8 (JEQU) Position Compare Output Connector Pin # Symbol Function Description Notes 1 EQU1/ Output Encoder 1 comp-Eq Programmed polarity 2 EQU2/ Output Encoder 2 comp-Eq Programmed polarity 3 EQU3/ Output Encoder 3 comp-Eq Programmed polarity 4 EQU4/ Output Encoder 4 comp-Eq Programmed polarity 5 EQU5/ Output Encoder 5 comp-Eq Programmed polarity 6 EQU6/ Output Encoder 6 comp-Eq Programmed polarity 7 EQU7/ Output Encoder 7 comp-Eq Pr
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J9 JMACH1 Connector (Continued) Front View Pin# Symbol Function Description 25 26 27 28 29 30 31 32 33 34 35 Output Output Input Input Input Input Output Output Input Input Output 47 48 49 ADC_STB1+ ADC_STB1ADC_DAA1+ ADC_DAA1ADC_DAB1+ ADC_DAB1AENA1+ AENA1FAULT1+ FAULT1PWMATOP1+ DAC_CLK1+ PWMATOP1DAC_CLK1PWMABOT1+ DAC1A+ PWMABOT1DAC1APWMBTOP1+ DAC_STB1+ PWMBTOP1DAC_STB1PWMBBOT1+ DAC1B+ PWMBBOT1DAC1BPWMCTOP1+ DIR1+ PWMCTOP1DIR1PWMCB
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J9 JMACH1 Connector (Continued) Front View Pin# Symbol Function Description 56 57 58 59 60 61 CHA2CHB2+ CHB2CHC2+ CHC2CHU2 Notes Input Input Input Input Input Input Encoder 2 negative A channel Encoder 2 positive B channel Encoder 2 negative B channel Encoder 2 positive C channel Encoder 2 negative C channel Channel 2 U flag CHV2 Input Channel 2 V flag 63 CHW2 Input Channel 2 W flag 64 65 CHT2 USER2 Input Input Channel
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J9 JMACH1 Connector (Continued) Front View Pin# Symbol Function 90 PWMBTOP2DAC_STB2PWMBBOT2+ DAC2B+ PWMBBOT2DAC2BPWMCTOP2+ DIR2+ PWMCTOP2DIR2PWMCBOT2+ PULSE2+ PWMCBOT2PULSE2GND GND +5V Output 91 92 93 94 95 96 97 98 99 Output Output Output Output Output Output Common Common Output / Input Description Notes Phase B Top CMD or DAC strobe Phase B Bottom CMD or DAC B serial data Phase B Bottom CMD or DAC B serial data Phase B Top C
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J10 JMACH2 Connector (Continued) Front View Pin# Symbol Function Description 14 15 CHT3 USER3 Notes Input Input Channel 3 T flag General purpose user flag PLIM3 MLIM3 HOME3 ACCFLT3 WD0/ SCLK34+ Input Input Input Input Output Input / Output Positive overtravel limit Negative overtravel limit Home switch input Accessory fault flag Watchdog output Encoder sample clock 22 SCLK34- Input / Output Encoder sample clock 23 24 25 2
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J10 JMACH2 Connector (Continued) Front View Pin# Symbol Function Description 46 Output 47 48 49 PWMCBOT3PULSE3GND GND +5V Notes Programmable function control Common Common Output / Input Phase B Bottom CMD or PFM pulse Reference voltage Reference voltage +5V power 50 +5V Output / Input +5V power 51 +5V Output / Input +5V power 52 +5V Output / Input +5V power 53 54 55 56 57 58 59 60 61 GND GND CHA4+ CHA4CHB4+ CHB4C
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation J10 JMACH2 Connector (Continued) Front View Pin# Symbol Function 81 82 83 84 85 AENA4+ AENA4FAULT4+ FAULT4PWMATOP4+ DAC_CLK4+ PWMATOP4DAC_CLK4PWMABOT4+ DAC4A+ PWMABOT4DAC4APWMBTOP4+ DAC_STB4+ PWMBTOP4DAC_STB4PWMBBOT4+ DAC4B+ PWMBBOT4DAC4BPWMCTOP4+ DIR4+ PWMCTOP4DIR4PWMCBOT4+ PULSE4+ PWMCBOT4PULSE4GND GND +5V Output Output Input Input Output 86 87 88 89 90 91 92 93 94 95 96 97 98 99 Output Output Output Output Output Output Output
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation TB1 (2/4-Pin Terminal Block) This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2 board when it is not in a bus configuration. When the PMAC2 Lite is in a bus configuration, these supplies come through the bus connector from the bus power supply automatically; in this case, this terminal block should not be used.
