^1 HARDWARE REFERENCE MANUAL ^2 PMAC2 PCI ^3 PMAC 2 PCI Bus Expansion Card ^4 4XX-603486-xHxx ^5 May 26, 2004 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 Hardware Reference Manual Table of Contents INTRODUCTION .......................................................................................................................................................1 Board Configuration..................................................................................................................................................1 Base Version ...............................................................................................................
PMAC2 PCI Hardware Reference Manual E13 - E14: Encoder Sample Clock Direction Control............................................................................................14 E17 - E18: Serial Port Type Selection....................................................................................................................14 E111-118: Command Output Disable State ...........................................................................................................15 MATING CONNECTORS ........
PMAC2 PCI Hardware Reference Manual INTRODUCTION The PMAC2 PCI (part number 400-603367-10x) is a member of the PMAC family of boards optimized for interface to sinewave or direct-PWM servo drives and to pulse-and-direction stepper drives. Its software is capable of eight axes of control. It can have up to eight channels of on-board axis interface circuitry.
PMAC2 PCI Hardware Reference Manual Option 5xF: CPU Speed Options • • • Option 5CF: 80MHz DSP563xxx CPU (160MHz 56002 equivalent) Option 5EF: 160MHz DSP563xxx CPU (320MHz 56002 equivalent) Option 5AF: 40MHz DSP563xx CPU (80MHz 56002 equivalent) Default configuration provided automatically if no CPU option ordered. Option 6: Extended Servo Algorithm The standard PID servo algorithm with feedforward and notch filter is suitable for most applications.
PMAC2 PCI Hardware Reference Manual HARDWARE SETUP Piggyback CPU Board Jumper Configuration Watchdog Timer Jumper Jumper E1 on the Turbo CPU board 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. E1 should be put ON only to debug problems with the watchdog timer circuit. Dual-ported RAM Source Jumper Jumper E2 must connect pins 1 and 2 to access dual-ported RAM from the baseboard.
PMAC2 PCI Hardware Reference Manual In order to change the state of the card between use of internal clock and use of external clock, the card must be re-initialized (either powered up with jumper E3 on, or given the $$$*** command) with jumper E1 in the new state. Before the card is reset again, a SAVE command must be issued to store the new internal settings.
PMAC2 PCI Hardware Reference Manual Resistor Pack Configuration Termination Resistors The PMAC2 PCI 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 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 Hardware Reference Manual 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 can be mounted in one of two ways: in the PCI bus, or using standoffs.
PMAC2 PCI Hardware Reference Manual 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), they can be used to support hundreds, or even thousands of multiplexed I/O points on accessory boards.
PMAC2 PCI Hardware Reference Manual 8 Hardware Setup
PMAC2 PCI Hardware Reference Manual 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 board plugged in a PCI bus slot will be recognized by the operating system when the computer is booted up.
PMAC2 PCI Hardware Reference Manual 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 board is found. Therefore, it is very 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 Hardware Reference Manual FLEX CPU BOARD JUMPER DESCRIPTIONS E1: Watchdog Disable Jumper E Point and Physical Layout Description E1 Jump pin 1 to 2 to disable Watchdog timer (for test purposes only). Remove jumper to enable Watchdog timer. Default No jumper installed E2: Dual-Ported RAM Port Select E Point and Physical Layout E2 Description Jump pin 1 to 2 to access DPRAM from baseboard. Jump pin 2 to 3 to access DPRAM through JEXP expansion port.
PMAC2 PCI Hardware Reference Manual E10A, B, C: Flash Memory Bank Select E Point and Physical Layout Description Default E10A Remove all three jumpers to select flash memory bank with factory-installed firmware. Use other configuration to select one of the seven other flash memory banks.
PMAC2 PCI Hardware Reference Manual PMAC2 PCI BASE BOARD JUMPER DESCRIPTIONS E1: Servo and Phase Clock Direction Control E Point and Physical Layout Location Description Default Remove jumper for PMAC2 PCI to use its No jumper internally generated servo and phase clock installed signals and to output these signals on the J5A serial port connector. Jump pins 1 and 2 for PMAC2 PCI to expect to receive its servo and phase clock signals on the J5A serial port connector.
PMAC2 PCI Hardware Reference Manual E5 – E6: (Reserved for Future Use) E13 - E14: Encoder Sample Clock Direction Control E Point and Physical layout Location Description Default Remove jumper to output SCLK generated in first ASIC on SCLK_12 and SCLK_34, or to 1 control direction by software. 2 Jump pins 1 to 2 to input SCLK signal for 3 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 Hardware Reference Manual E111-118: Command Output Disable State E Point and Physical Layout E111 E112 E113 E114 E115 Location Description C1 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. Remove jumper for digital servo command output signals of Channel n to remain active (but typically with zero command value) when amplifierenable signal for Channel n is in disable state.
PMAC2 PCI Hardware Reference Manual 16 Base Board Jumper Descriptions
PMAC2 PCI Hardware Reference Manual 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&B Ansley standard flat cable stran
PMAC2 PCI Hardware Reference Manual J8 (JEQU)/Position Compare • • • Two 10-pin female flat cable connector Delta Tau P/N 014-ROOF10-0K0 - T&B Ansley P/N 609-1041 171-10 T&B Ansley standard flat cable stranded 10-wire Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8 J9 (JMACH1)/Machine Port 1 • • Two 100-pin high-density box header with center key, 0.
PMAC2 PCI Hardware Reference Manual PMAC2 PCI 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 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 Hardware Reference Manual J2 (JTHW) Multiplexer Port Connector Pin # Symbol Function Description 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. GND BRLD/ GND IPLD/ GND +5V INIT/ Common Common Input Output Input Output Input Output Input Output Input Output Input Output Input Output Input Output N.C.
PMAC2 PCI Hardware Reference Manual 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. 7 I/O06 In/Out Digital I/O 6 Software direction ctrl.
PMAC2 PCI Hardware Reference Manual 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 Hardware Reference Manual 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 VEE 0 to +5Vdc * 5 E Output Display enable High is enable 6 R/W Output Read or write TTL signal out 7 DB1 Output Display data1 8 DB0 Output Display data0 9 DB3 Output Display data3 10 DB2 Output Display data2 11 DB5 Output Display data5 12 DB4 Output Display data4 13
PMAC2 PCI Hardware Reference Manual 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 Programmed polarity 8 EQU8/ Output
PMAC2 PCI Hardware Reference Manual J9 JMACH1 Connector (Continued) Front View Pin# Symbol Function Description 27 28 29 30 31 32 33 34 35 Input Input Input Input Output Output Input Input Output 47 48 49 ADC_DAA1+ ADC_DAA1ADC_DAB1+ ADC_DAB1AENA1+ AENA1FAULT1+ FAULT1PWMATOP1+ DAC_CLK1+ PWMATOP1DAC_CLK1PWMABOT1+ DAC1A+ PWMABOT1DAC1APWMBTOP1+ DAC_STB1+ PWMBTOP1DAC_STB1PWMBBOT1+ DAC1B+ PWMBBOT1DAC1BPWMCTOP1+ DIR1+ PWMCTOP1DIR1PWMCBOT1+ PULSE1+ PWMCBOT1PULSE1GND GND +5V Notes MSB first MSB first MSB f
PMAC2 PCI Hardware Reference Manual J9 JMACH1 Connector (Continued) Front View Pin# Symbol Function 58 59 60 61 62 63 64 65 66 67 68 69 70 71 CHB2CHC2+ CHC2CHU2 CHV2 CHW2 CHT2 USER2 PLIM2 MLIM2 HOME2 ACCFLT2 WD0/ SCLK12+ 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 26 Description Notes Input Input Input Input Input Input Input Input Input Input Input Input Output Input / Output Encoder 2 negative B channel Encoder 2 positive C channel Encoder 2 negative C channel Channel 2 U
PMAC2 PCI Hardware Reference Manual J9 JMACH1 Connector (Continued) Front View Pin# Symbol Function 94 PWMCTOP2DIR2PWMCBOT2+ PULSE2+ PWMCBOT2PULSE2GND GND +5V Output 95 96 97 98 99 Output Output Common Common Output / Input Description Notes Phase B top Cmd. or PFM direction Phase B bottom Cmd. or PFM pulse Phase B bottom Cmd.
PMAC2 PCI Hardware Reference Manual J10 JMACH2 Connector (Continued) Front View Pin# Symbol 24 25 26 27 28 29 30 31 32 33 34 35 47 48 49 ADC_CLK3ADC_STB3+ ADC_STB3ADC_DAA3+ ADC_DAA3ADC_DAB3+ ADC_DAB3AENA3+ AENA3FAULT3+ FAULT3PWMATOP3+ DAC_CLK3+ PWMATOP3DAC_CLK3PWMABOT3+ DAC3A+ PWMABOT3DAC3APWMBTOP3+ DAC_STB3+ PWMBTOP3DAC_STB3PWMBBOT3+ DAC3B+ PWMBBOT3DAC3BPWMCTOP3+ DIR3+ PWMCTOP3DIR3PWMCBOT3+ PULSE3+ PWMCBOT3PULSE3GND GND +5V Description Notes Programmable frequency Programmable sequence Programmable
PMAC2 PCI Hardware Reference Manual J10 JMACH2 Connector (Continued) Front View Pin# Symbol 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 CHA4CHB4+ CHB4CHC4+ CHC4CHU4 CHV4 CHW4 CHT4 USER4 PLIM4 MLIM4 HOME4 ACCFLT4 WD0/ SCLK34+ 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 Function Description Notes Input Input Input Input Input Input Input Input Input Input Input Input Input Input Output Input / Output Encoder 4 negative A channel Encoder 4 positive B channel Encoder 4 negative
PMAC2 PCI Hardware Reference Manual J10 JMACH2 Connector (Continued) Front View Pin# Symbol 93 PWMCTOP4+ DIR4+ PWMCTOP4DIR4PWMCBOT4+ PULSE4+ PWMCBOT4PULSE4GND GND +5V 94 95 96 97 98 99 Function Output Output Output Output Common Common Output / Input Description Notes Phase B top Cmd. or PFM direction Phase B top Cmd. or PFM direction Phase B bottom Cmd. or PFM pulse Phase B bottom Cmd.
PMAC2 PCI Hardware Reference Manual J11 JMACH3 Connector (Continued) Front View Pin# Symbol 22 SCLK56- Input / Output 23 24 25 26 27 28 29 30 31 32 33 34 35 Output Output Output Output Input Input Input Input Output Output Input Input Output 47 48 49 ADC_CLK5+ ADC_CLK5ADC_STB5+ ADC_STB5ADC_DAA5+ ADC_DAA5ADC_DAB5+ ADC_DAB5AENA5+ AENA5FAULT5+ FAULT5PWMATOP5+ DAC_CLK5+ PWMATOP5DAC_CLK5PWMABOT5+ DAC5A+ PWMABOT5DAC5APWMBTOP5+ DAC_STB5+ PWMBTOP5DAC_STB5PWMBBOT5+ DAC5B+ PWMBBOT5DAC5BPWMCTOP5+ DIR5+ PWMCT
PMAC2 PCI Hardware Reference Manual J11 JMACH3 Connector (Continued) Front View Pin# Symbol 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 GND GND CHA6+ CHA6CHB6+ CHB6CHC6+ CHC6CHU6 CHV6 CHW6 CHT6 USER6 PLIM6 MLIM6 HOME6 ACCFLT6 WD0/ SCLK56+ Common Common Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Output Input / Output Reference voltage Reference voltage Encoder 6 positive A channel Encoder 6 negative A channel Encoder 6 positive B channel Enco
PMAC2 PCI Hardware Reference Manual J11 JMACH3 Connector (Continued) Front View Pin# Symbol 92 PWMBBOT6DAC6BPWMCTOP6+ DIR6+ PWMCTOP6DIR6PWMCBOT6+ PULSE6+ PWMCBOT6PULSE6GND GND +5V 93 94 95 96 97 98 99 Function Output Output Output Output Output Common Common Output / Input Description Notes Phase B bottom Cmd. or DAC B serial data Phase B top Cmd. or PFM direction Phase B top Cmd. or PFM direction Phase B bottom Cmd. or PFM pulse Phase B bottom Cmd.
PMAC2 PCI Hardware Reference Manual J12 JMACH4 Connector (Continued) Front View Pin# Symbol Function Description 20 21 WD0/ SCLK78+ Notes Output Input / Output Watchdog output Encoder sample clock SCLK78- Input / Output Encoder sample clock Output Output Output Output Input Input Input Input Output Output Input Input Output 47 48 49 ADC_CLK7+ ADC_CLK7ADC_STB7+ ADC_STB7ADC_DAA7+ ADC_DAA7ADC_DAB7+ ADC_DAB7AENA7+ AENA7FAULT7+ FAULT7PWMATOP7+ DAC_CLK7+ PWMATOP7DAC_CLK7PWMABOT7+ DAC7A+ PWMABOT7DA
PMAC2 PCI Hardware Reference Manual J12 JMACH4 Connector (Continued) Front View Pin# Symbol Function Description 51 +5V Notes Output / Input +5V power +5V Output / Input +5V power For external circuit or from external Supply For external circuit or from external supply 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 GND GND CHA8+ CHA8CHB8+ CHB8CHC8+ CHC8CHU8 CHV8 CHW8 CHT8 USER8 PLIM8 MLIM8 HOME8 ACCFLT8 WD0/ SCLK78+ Common Common Input Input Input Input Input Input Input Input
PMAC2 PCI Hardware Reference Manual J12 JMACH4 Connector (Continued) Front View Pin# Symbol Function 90 PWMBTOP8DAC_STB8PWMBBOT8+ DAC8B+ PWMBBOT8DAC8BPWMCTOP8+ DIR8+ PWMCTOP8DIR8PWMCBOT8+ PULSE8+ PWMCBOT8PULSE8GND 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 Cmd.
PMAC2 PCI Hardware Reference Manual TB2 (3-Pin Terminal Block) This terminal block provides the output for PMAC2's watchdog timer relay, both normally open and normally closed contacts. Pin# Symbol Function Description Notes 1 WD_NC Output Watchdog relay out Normally closed 2 COM Input Watchdog return +V or 0V 3 WD_NO Output Watchdog relay out Normally open Note: The normally closed relay contact is open while PMAC2 is operating properly — it has power and the watchdog timer is not tripped.
PMAC2 PCI Hardware Reference Manual 38 Base Board Connector Pinouts
PMAC2 PCI Hardware Reference Manual BASE BOARD JUMPERS LAYOUT Base Board Jumpers Layout 39
PMAC2 PCI Hardware Reference Manual 40 Base Board Jumpers Layout
Schematics SCHEMATICS PMAC2 PCI Hardware Reference Manual 41
42 Schematics PMAC2 PCI Hardware Reference Manual
Schematics PMAC2 PCI Hardware Reference Manual 43
44 Schematics PMAC2 PCI Hardware Reference Manual
Schematics PMAC2 PCI Hardware Reference Manual 45
