User's Manual

PMAC2 PCI Hardware Reference Manual
Introduction 1
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. It can also support up to eight channels of off-board axis interface circuitry through its
expansion port, connected to Acc-24P or Acc-24P2 ISA-format boards. Acc-24 boards in PCI format are
not yet available.
The PMAC2 PCI is a full-sized PCI-bus expansion card, with a small piggyback board containing the
CPU board. This piggyback board occupies part of the next slot, but ½-sized boards are permitted in this
next slot. While the PMAC2 PCI is capable of PCI bus communications, with or without the optional on-
board dual-ported RAM, it does not need to be inserted into a PCI expansion slot. Communications can
be done through the standard RS-232/RS-422 serial port. Standalone operation is possible.
Board Configuration
Base Version
The base version of the PMAC2 PCI provides a 1-1/2-slot board with:
• 40MHz DSP563xx CPU (Option 5AF, 80MHz 56002 equivalent)
• 128k x 24 0-wait-state flash-backed SRAM
• 512k x 8 flash memory for user backup & firmware
• Latest released firmware version
• RS-232/RS422 serial interface, PCI bus interface
• Four channels axis interface circuitry, each including:
• Three output command signal sets, configurable as either:
 Two serial data streams to external DACs, 1 pulse-and-direction
 Three PWM top-and-bottom pairs
• 3-channel differential/single-ended encoder input
• Nine input flags, two output flags
• Interface to two external serial ADCs, 8 to 18 bits
• Two channels supplemental interface circuitry, each including:
• 2-channel differential/single-ended encoder input
• One output command signal set, configurable as
pulse-&-direction or PWM top-and-bottom pair
• Display, MACRO, muxed I/O, direct I/O interface ports
• PID/notch/feedforward servo algorithms
• 1-year warranty from date of shipment
• One manual per set of one to four PMACs shipped
(Cables, mounting plates, mating connectors not included)
Option 1: Additional Four Channels Axis Interface Circuitry
• Option 1 provides an additional four channels of on-board axis interface circuitry, identical to the
standard first four channels. The key components on the board are the DSPGATE1 IC at U7 and
connectors J11 and J12.
Option 2: Dual-Ported RAM
Dual-ported RAM provides a very high-speed communications path for bus communications with the
host computer through a bank of shared memory. DPRAM is advised if more than 100 data items per
second are to be passed between the controller and the host computer in either direction.
• Option 2 provides an 8k x 16 bank of dual-ported RAM. The key component on the board is U28.