^1 HARDWARE REFERENCE MANUAL ^2 Turbo PMAC PCI-Lite ^3 Programmable Multi-Axis Controller ^4 4xx-603657-THxx ^5 June 21, 2011 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.
REVISION HISTORY REV. 1 2 DESCRIPTION ADDED 33MHz PCI BUS SPEED, E44-E48 JUMPER SETTINGS, REV 105 LAYOUT & FEATURE TABLE REMOVED: OPTION 2B USB, OPTIONS 5D0 & 5D3, OPTION 7 CORRECTED E122 JUMPERS to 1-2 ISOLATION JUMPERS IMAGE UPDATE DATE CHG APPVD 10/12/06 CP S.S 05/15/11 S.S S.
Turbo PMAC PCI-Lite Table of Contents INTRODUCTION ................................................................................................................................................ 1 Board Configuration ............................................................................................................................................... 1 Base Version ......................................................................................................................................
Turbo PMAC PCI-Lite HARDWARE REFERENCE SUMMARY ........................................................................................................ 22 Board Dimensions (Part Number 603657-100) ...................................................................................................... 22 Board Layout (Part Number 603657-100) ............................................................................................................. 23 Board Dimensions (Part Number 603657-105) ...............
Turbo PMAC PCI-Lite J1 (JDISP)/Display ........................................................................................................................................... 38 J2 (JPAN)/Control Panel .................................................................................................................................. 38 J3 (JTHW)/Multiplexer Port .............................................................................................................................
Turbo PMAC PCI Lite INTRODUCTION The Turbo PMAC PCI Lite is a member of the Turbo PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands. Its software is capable of 32 axes of control. It can have up to four channels of on-board axis interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its expansion port, connected to Acc-24P or Acc-24P2 boards.
Turbo PMAC PCI Lite Option 5: CPU and Memory Configurations The various versions of Option 5 provide different CPU speeds and main memory sizes integrated on the main board. Only one Option 5xx may be selected for the board. The CPU is a DSP563x IC as component U127. The CPU is available in different speeds and with different internal memory sizes. The compiled/assembled-program memory SRAM ICs are located in U141, U144 and U148.
Turbo PMAC PCI Lite 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 Turbo PMAC PCI Lite has an optional analog input called Wiper (because it is often tied to a potentiometer’s wiper pin).
Turbo PMAC PCI Lite HARDWARE SETUP On the PMAC, there are many jumpers (pairs of metal prongs), called E-points. Some have been shorted together; others have been left open. These jumpers customize the hardware features of the board for a given application and must be setup appropriately. The following is an overview of the several PMAC jumpers grouped in appropriate categories.
Turbo PMAC PCI Lite Clock Configuration Jumpers E3-E6: Servo Clock Frequency Control – The jumpers E3 – E6 determine the servo-clock frequency by controlling how many times it is divided down from the phase-frequency. The default setting of E3 and E4 OFF, E5 and E6 ON divides the phase-clock frequency by four, creating a 2.25 kHz servo-clock frequency. This setting is seldom changed.
Turbo PMAC PCI Lite Board Reset/Save Jumpers E50: Flash-Save Enable/Disable Control – If E50 is ON (default), the active software configuration of the PMAC can be stored to non-volatile flash memory with the SAVE command. If the jumper on E50 is removed, this Save function is disabled, and the contents of the flash memory cannot be changed.
Turbo PMAC PCI Lite signal. With this jumper connecting pins 1 and 2, this pin outputs the warning following error status line for the selected coordinate system. E101-E102: Motors 1 - 4 AENA/EQU voltage configure – Caution: A wrong setting of these jumpers will damage the associated output IC. The U37 driver IC controls the AENA and EQU signals of motors 1 - 4. With the default sinking output driver IC (ULN2803A or equivalent) in U37, these jumpers must connect pins 1 and 2 to supply the IC correctly.
Turbo PMAC PCI Lite Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection The PMAC is provided with 6-pin sockets for SIP resistor packs for the input flag sets. Each PMAC is shipped with no resistor packs installed. If the flag or digital inputs circuits are in the 12V to 15V range, no resistor pack should be installed in these sockets. For flags or digital inputs at 5V levels, quad 1k SIP resistor packs (1KSIP6C) should be installed in these sockets.
Turbo PMAC PCI Lite If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the two parallel 2.2 k resistors act as a single 1.1 k pull-up resistor, holding the line at +5V in the absence of an external signal. This configuration is required if encoder-loss detection is desired. It is required if complementary open-collector drivers are used. It is permissible for differential line-driver inputs even without encoder loss detection.
Turbo PMAC PCI Lite MACHINE CONNECTIONS Typically, the user connections are made to a terminal block that is attached to the JMACH connector by a flat cable (Acc-8D or 8P). The pinout numbers on the terminal block are the same as those on the JMACH connector.
Turbo PMAC PCI Lite Machine Port Connections (JMACH Connector) Overtravel Limits and Home Switches When assigned for the dedicated uses, these signals provide important safety and accuracy functions. +LIMn and -LIMn are direction-sensitive overtravel limits that must be actively held low (sourcing current from the pins to ground) to permit motion in their direction.
Turbo PMAC PCI Lite Example: differential quadrature encoder connected to channel #1 DAC Output Signals If PMAC is not performing the commutation for the motor, only one analog output channel is required to command the motor. This output channel can be either single-ended or differential, depending on what the amplifier is expecting. For a single-ended command using PMAC channel 1, connect DAC1 (pin 43) to the command input on the amplifier.
Turbo PMAC PCI Lite Amplifier Enable Signal (AENAx/DIRn) Most amplifiers have an enable/disable input that permits complete shutdown of the amplifier regardless of the voltage of the command signal. PMAC's AENA line is meant for this purpose. If not using a direction and magnitude amplifier or voltage-to-frequency converter, use this pin to enable and disable the amplifier (wired to the enable line). AENA1/DIR1 is pin 47. This signal is an open-collector output with a 3.
Turbo PMAC PCI Lite General-Purpose Digital Inputs and Outputs (JOPTO Port) PMAC’s J5 or JOPTO connector provides eight general-purpose digital inputs and eight general-purpose digital outputs. Each input and each output has its own corresponding ground pin in the opposite row. The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Delta Tau’s Acc-21F is a six-foot cable for this purpose.
Turbo PMAC PCI Lite Control-Panel Port I/O (JPAN Port) The J2 (JPAN) connector is a 26-pin connector with dedicated control inputs, dedicated indicator outputs, a quadrature encoder input, and an analog input. The control inputs are low-true with internal pull-up resistors. They have predefined functions unless the control-panel-disable I-variable (I2) has been set to 1.
Turbo PMAC PCI Lite Frequency Decode When used in this fashion, Encoder 4 must be set up for pulse-and-direction decode by setting I915 to 0 or 4. Usually, a value of 4 is used because with CHB4 (direction) unconnected, a positive voltage causes the counter to count up. The encoder conversion table can then take the difference in the counter each servo cycle and scale it, providing a value proportional to frequency, and therefore to the input voltage.
Turbo PMAC PCI Lite Only one pair of analog-to-digital converter registers is available to the PMAC processor at any given time. The data appears to the processor at address Y:$78808. The data from the selected analog input 0 to 7 (ANAI00-ANAI07) appears in the low 12 bits; the data from the selected analog input 8 to 15 (ANAI08-ANAI15) appears in the high 12 bits (this data is only present if Option 12A has been ordered).
Turbo PMAC PCI Lite DB-25 Female IDC-26 1 1 Do not connect wire #26 18 PMAC (IDC-26) PMAC (DB-25) 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 1 14 2 (TXD) 15 3 (RXD) 16 4 (RTS) 17 5 (CTS) 18 6 (DSR) 19 7 (Gnd) 20 (DTR) 8 21 9 22 10 23 11 24 12 25 13 No Connect Machine Connections
Turbo PMAC PCI Lite Machine Connections Example Amplifier Motor ±15 Volts Power Supply Load Flags Encoder #1 Pin # 53 55 51 58 1 3 17 19 21 23 25 27 43 45 47 49 58 #2 Pin # 54 56 52 58 2 4 18 20 22 24 26 28 44 46 48 50 58 ACC-8D or ACC-8P #3 #4 SYMBOL Pin # Pin # 39 40 -LIMn 41 42 HMFLn 37 38 +LIMn 58 58 AGND 1 2 +5V 3 4 GND 5 6 CHCn 7 8 CHCn/ 9 10 CHBn 11 12 CHBn/ 13 14 CHAn 15 16 CHAn/ 29 30 DACn 31 32 DACn/ 33 34 AENAn/DIRn 35 36 FAULTn 58 58 AGND 58 AGND 59 A+15V/OPT+V 60 A-15V PMAC installed in
Turbo PMAC PCI Lite SOFTWARE SETUP Communications Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32bits Windows® based computers. With Pewin 32 Pro, a Turbo PMAC PCI Lite board plugged in a PCI bus slot will be recognized by the operating system when the computer is boot up.
Turbo PMAC PCI Lite If the host computer baud rate does not match the Turbo PMAC’s baud rate, either the Turbo PMAC’s baud rate must be changed through the bus communications port, or the Turbo PMAC must be reinitialized by resetting or powering up with the E51 jumper ON. This forces the Turbo PMAC to the default baud rate of 38,400. Note: To use the baud rate of 115,200, the CPU must be operating at an exact multiple of 30MHz (i.e., 30, 60, 90, 120, or 150MHz).
Turbo PMAC PCI Lite HARDWARE REFERENCE SUMMARY Board Dimensions (Part Number 603657-100) 22 Hardware Reference Summary
Turbo PMAC PCI Lite Board Layout (Part Number 603657-100) 1 2 3 4 5 6 7 8 9 A Hardware Reference Summary B Feature Location Feature Location E0 A6 E55 B7 E1 A6 E57 B7 E2 A6 E58 B7 E3 A8 E59 B7 E4 A8 E61 B7 E5 A7 E62 B7 E6 A7 E63 B6 E7 A6 E65 B6 E10A A2 E72 A9 E10B A2 E73 A9 E10C B2 E74 A9 E17A A8 E75 B9 E17B A8 E85 B5 E17C A8 E87 C5 E17D A7 E88 A2 E18 B4 E89 B5 E19 B4 E90 B5 E20 B4 E98 A4 E21 B4 E100 A3 E22 A9 E1
Turbo PMAC PCI Lite Board Dimensions (Part Number 603657-105) 24 Hardware Reference Summary
Turbo PMAC PCI Lite Board Layout (Part Number 603657-105) Feature E0 E1 E2 E3 E4 E5 E6 E7 E10 E10A E10B E10C E17A E17B E17C E17D E18 E19 E20 E21 E22 E23 E28 E29 E30 E31 E32 E33 E34 E34A E35 E36 E37 E38 E40 E41 E42 E43 E44 E45 E46 E47 E48 E49 E50 Hardware Reference Summary Location A5 A5 A5 A8 A8 A8 A7 A6 B1 B2 B2 B2 A8 A8 A8 A8 B4 B4 B4 B4 A9 A9 B7 A8 A8 A8 A8 A8 A8 A8 A8 A8 A8 A8 B5 B5 B5 B5 C5 C5 C5 C5 C5 C5 C5 Feature E51 E55 E57 E58 E59 E61 E62 E63 E65 E72 E73 E74 E75 E85 E87 E88 E89 E90 E98 E100 E1
Turbo PMAC PCI Lite Connectors and Indicators J1 – Display Port (JDISP Port) The JDISP connector allows connection of the Acc-12 or Acc-12A liquid crystal displays, or of the Acc12C vacuum fluorescent display. Both text and variable values may be shown on these displays by using the DISPLAY command, executing in either motion or PLC programs.
Turbo PMAC PCI Lite This optional port allows communicating with PMAC through a standard USB connection. J32 – Expansion Port (JEXP Port) This port is used to connect to PMAC accessory board that require data and address bus access. JS1 – External A/D Port (JS1 Port) This port is only used when connecting to Acc-28A/B analog-to-digital converter boards.
Turbo PMAC PCI Lite E-POINT JUMPER DESCRIPTIONS E0: Reserved for Future Use E Point and Physical Layout Location Description Default E0 A6 For future use. No jumper E1 - E2: Machine Output Supply Voltage Configure E Point and Physical Layout Location E1 A6 Description Default Jump pin 1 to 2 to apply +V (+5V to 24V) to pin 10 of U13 (should be ULN2803A for sink output configuration) JOPTO Machine outputs M01M08.
Turbo PMAC PCI Lite E3 - E6: Servo Clock Frequency Control The servo clock (which determines how often the servo loop is closed) is derived from the phase clock (see E98, E29 - E33) through a divide-by-N counter. Jumpers E3 through E6 control this dividing function.
Turbo PMAC PCI Lite E7: Machine Input Source/Sink Control E Point and Physical Layout Location Description E7 A6 Jump pin 1 to 2 to apply +5V to input reference resistor sip pack. This will bias MI1 to MI8 inputs to +5V for OFF state. Input must then be grounded for ON state. Jump pin 2 to 3 to apply GND to input reference resistor sip pack. This will bias MI1 to MI8 inputs to GND for OFF state. Input must then be pulled up for ON state (+5V to +24V).
Turbo PMAC PCI Lite E18 – E20: Power-Up/Reset Load Source E Point and Physical Layout Location E18 B4 Description To read flash IC on power-up/reset, remove jumper E18. Jump E19. Jump E20. Other combinations are for factory use only. The board will not operate in any other configuration. Default No E18 jumper installed; Jump E19 and E20 E20 E21: Power-Up/Reset Load Source E Point and Physical Layout Location E21 B4 Description Jump pin 1 to 2 to reload firmware through serial or bus port.
Turbo PMAC PCI Lite E29 - E33: Phase Clock Frequency Control Jumpers E29 through E33 control the speed of the phase clock, and, indirectly, the servo clock, which is divided down from the phase clock (see E3 - E6). No more than one of these five jumpers may be on at a time. Phase Clock Frequency E29 E30 E31 E32 E33 E98 Connects Pins 1 and 2 E98 Connects Pins 2 and 3 ON OFF OFF OFF OFF 2.26 kHz 1.13 kHz OFF ON OFF OFF OFF 4.52 kHz 2.26 kHz OFF OFF ON OFF OFF 9.04 kHz 4.
Turbo PMAC PCI Lite E44-E50: Reserved for Future Use E Point and Physical Layout Location Description Default E44 E45, etc. C5 Reserved for future use No jumper E51: Normal/Re-Initializing Power-Up E Point and Physical Layout Location Description E51 B6 Jump pin 1 to 2 to re-initialize ON power-up/reset. Remove jumper for normal power-up/reset.
Turbo PMAC PCI Lite E72 - E73: Panel Analog Time Base Signal Enable E Point and Physical Layout Location E72 A9 Jump pin 1 to 2 to allow V to F converter FOUT derived from wiper input on J2 to connect to CHA4. No jumper installed E73 A9 Jump pin 1 to 2 to allow V to F converter FOUT/ derived from wiper input on J2 to connect to CHA4/. No jumper installed Description Default Note: With these jumpers ON, no encoder should be wired into ENC4 on JMACH1.
Turbo PMAC PCI Lite E87 - E88: Host-Supplied Analog Power Source Enable E Point and Physical Layout Location Description Jump pin 1 to pin 2 to allow AGND to come from PC bus (ties amplifier and PMAC GND together. Defeats OPTO coupling.). Note: that if E87 is changed, E85 and E88 must also be changed. Also see E90. E88 A2 Jump pin 1 to pin 2 to allow A-14V to come from PC bus (ties amplifier and PMAC power supply together. Defeats OPTO coupling.).
Turbo PMAC PCI Lite E98: DAC/ADC Clock Frequency Control E Point and Physical Layout Location E98 A4 Description Default Jump pin 1 to 2 to provide a 2.45 MHz DCLK signal to DACs and ADCs. Jump pin 2 to 3 to provide a 1.22 MHz DCLK signal to DACs and ADCs. Important for high accuracy A/D conversion on Acc-28. 1-2 Jumper installed Note: This also divides the phase and servo clock frequencies in half.
Turbo PMAC PCI Lite E109: Reserved for Future Use E Point and Physical Layout Location Description Default B6 For future use. No jumper Default E109 E110: Serial Port Configure E Point and Physical Layout Location Description E110 A7 Jump pin 1 to 2 for use of the J4 connector as RS232. Jump pin 2 to 3 for use of the J4 connector as RS-422.
Turbo PMAC PCI Lite MATING CONNECTORS This section lists several options for each connector. Choose an appropriate one for your application. Base Board Connectors J1 (JDISP)/Display 1. Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 – T&B Ansley P/N 609-1441 2. 171-14 T&B Ansley standard flat cable stranded 14-wire 3. Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1 J2 (JPAN)/Control Panel 1.
Turbo PMAC PCI Lite JEQU/Position Compare 1. 2. 3. Two 10-pin female flat cable connector Delta Tau P/N 014-R00F10-0K0 – 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 JANA/Analog Inputs Option 1. 2. 3.
Turbo PMAC PCI Lite CONNECTOR PINOUTS J1: Display Port Connector J1 JDISP (14-Pin Connector) Front View 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 +5 VDC * 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 Disp
Turbo PMAC PCI Lite J2 JPAN (26-Pin Connector) Continued Front View Pin # Symbol Function 16 17 18 19 20 HWCA IPLD/ BRLD/ ERLD/ WIPER Input Output Output Output Input Description Notes Handwheel enc. A channel In position ind. (C.S.) Buffer request ind. Fatal follow err (C.S.) Feed pot wiper 5v TTL sq. pulse, must use E23 (CHA2) Low lights LED Low lights LED Low lights LED 0 to +10v input, must use E72, E73 (CHA4) 21 (SPARE) N.c. 22 HWCB Input Handwheel enc. B channel 5v TTL sq.
Turbo PMAC PCI Lite J3 JTHW (26-Pin Connector) Continued Front View Pin # Symbol Function Description Notes 23 IPLD/ Output In position Low is In Position 24 GND Common PMAC common 25 +5V Output +5Vdc supply Power supply out 26 INIT/ Input PMAC reset Low is Reset The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels.
Turbo PMAC PCI Lite J4 JRS422 (26-Pin Connector) Continued Front View The JRS422 connector provides the PMAC with the ability to communicate both in RS422 and RS232. In addition, this connector is used to daisy chain interconnect multiple PMACs for synchronized operation. Jumper E110 selects between RS-232 or RS-422 signal types.
Turbo PMAC PCI Lite J5 JOPT (34-Pin Connector) Continued Front View Pin # Symbol Function 28 29 30 31 32 33 GND MO2 GND MO1 GND +V Common Output Common Output Common Input/ Output Description PMAC common Machine output 2 PMAC common Machine output 1 PMAC common +V power I/O Notes Low-true (Sinking); High-true (Sourcing) Low-true (Sinking); High-true (Sourcing) +V = +5V to +24V +5V out from PMAC, +5 to +24V in from external source, diode isolation from PMAC 34 GND Common PMAC common This connector
Turbo PMAC PCI Lite J8: Machine Port 1 Connector J8 JMACH1 (60-Pin Header) Front View 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 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 +5V +5V GND GND CHC3 CHC4 CHC3/ CHC4/ CHB3 CHB4 CHB3/ CHB4/ CHA3 CHA4 CHA3/ CHA4/ CHC1 CHC2 CHC1/ CHC2/ CHB1 CHB2 CHB1/ CHB2/ CHA1 CHA2 CHA1/ CHA2/ DAC3 DAC4 DAC3/ DAC4/ AENA3/DIR3 AENA4/DIR4 FAULT3 FAULT4 +LIM3 +LIM4 -LIM3 -LIM4 HMFL3 Output Output Common Common Input
Turbo PMAC PCI Lite J8: Machine Port 1 Connector (Continued) J8 JMACH1 (60-Pin Header) Front View Pin # Symbol Function Description Notes 42 HMFL4 Input Home-flag 4 10 43 DAC1 Output Analog out positive 1 4 44 DAC2 Output Analog out positive 2 4 45 DAC1/ Output Analog out negative 1 4,5 46 DAC2/ Output Analog out negative 2 4,5 47 AENA1/DIR1 Output Amp-Ena/dir. 1 6 48 AENA2/DIR2 Output Amp-Ena/dir.
Turbo PMAC PCI Lite J9 (JEQU): Position-Compare Connector J9 JEQU (10-Pin Connector) Front View Pin # Symbol Function Description Notes 1 EQU1/ Output Encoder 1 comp-EQ Low is true 2 EQU2/ Output Encoder 2 comp- EQ Low is true 3 EQU3/ Output Encoder 3 comp- EQ Low is true 4 EQU4/ Output Encoder 4 comp- EQ Low is true 5 EQU5/ Output Amp enable 1 Low is true 6 EQU6/ Output Amp enable 2 Low is true 7 EQU7/ Output Amp enable 3 Low is true 8 EQU8/ Output Amp enable 4 Low is true 9 A+V Supply Positive supp
Turbo PMAC PCI Lite J31 (JUSB) Universal Serial Bus Port (Optional) Pin # Symbol Function 1 2 3 4 5 6 VCC DD+ GND Shell Shell N.C.
