User's Manual

Turbo PMAC PCI HRM
30 Machine Connections
Flags Power Supply (Optional)
Each channel of PMAC has four dedicated digital inputs on the machine connector: +LIMn, -LIMn
(overtravel limits), HMFLn (home flag), and FAULTn (amplifier fault). If the PMAC is ordered with the
Option-1 (8-axis PMAC) these inputs can be kept isolated from other circuits. A power supply from 12 to
24V connected on pin 59 of J7 could be used to power the corresponding opto-isolators. In this case, jumper
E89 must be removed and jumper E90 must connect pins 1-2.
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. The direction sense of +LIMn and -LIMn is as
follows: +LIMn should be placed at the negative end of travel, and -LIMn should be placed at the positive
end of travel.
Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection
The PMAC PCI is provided with 6-pin sockets for SIP resistor packs for the input flag sets. Each PMAC
PCI is shipped with no resistor packs installed. If the flag or digital inputs circuits are in the 12V to 24V
range, no resistor pack should be installed in these sockets. For flags or digital inputs at 5V levels, quad
1kΩ SIP resistor packs (1KSIP6C) should be installed in these sockets. The following table lists the voltage
selection resistor pack sockets for each input device:
Device Resistor Pack Device Resistor Pack
Flags 1 RP77 Flags 5 RP113
Flags 2 RP83 Flags 6 RP119
Flags 3 RP89 Flags 7 RP125
Flags 4 RP94 Flags 8 RP130
Types of Overtravel Limits
PMAC expects a closed-to-ground connection for the limits to not be considered on fault. This arrangement
provides a failsafe condition and therefore it cannot be reconfigured differently in PMAC. Usually a passive
normally closed switch is used. If a proximity switch is needed instead, use a 15V normally closed to
ground NPN sinking type sensor.
Jumper E89, E90 and E100 must be set appropriately for the type of sensor used.
Home Switches
While normally closed-to-ground switches are required for the overtravel limits inputs, the home switches
could be either normally closed or normally open types. The polarity is determined by the home sequence
setup, through the I-variables I902, I907, ... I977. However, for the following reasons, the same type of
switches used for overtravel limits are recommended:
• Normally closed switches are proven to have greater electrical noise rejection than normally open types.
• Using the same type of switches for every input flag simplifies maintenance stock and replacements.