^1 HARDWARE REFERENCE MANUAL ^2 Turbo PMAC2 Eth Ultralite ^3 Programmable Multi-Axis Controller ^4 4xx-603862-1xx ^5 February 15, 2010 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 © 2010 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. DESCRIPTION DATE CHG APPVD 1 NEW MANUAL CREATION 06/27/08 CP S. SATTARI 2 REVISED PART NUMBER DEFINITION, P. 4 UPDATED MECHANICAL DRAWING, P. 6 UPDATED SYSTEM WIRING, P. 7 UPDATED J5 & J8 PINOUTS/CONNECTORS, P.12,14 ADDED J10 INFORMATION, P. 18 01/28/09 CP S.SATTARI 3 CORRECTION IN J5 PIN-OUT TABLE UPDATED WIRING FOR HANDWHEEL PORT IMAGE 02/15/10 CP S.
Turbo PMAC2 Eth Ultralite Manual Table of Contents INTRODUCTION ........................................................................................................................................ 1 Overview .................................................................................................................................................... 1 Configuration.......................................................................................................................................
Turbo PMAC2 Eth Ultralite Manual Introduction Overview The Turbo PMAC2 Eth Ultralite is a member of the Turbo PMAC family of boards optimized for interface to the system through the MACRO ring and therefore does not contain on-board axis interface circuitry (which is what makes it Ultralite). It can command up to 32 axes through the MACRO ring. The Turbo PMAC2 Eth Ultralite is a stand-alone unit which can be communicated with via RS232, USB or Ethernet connections.
Turbo PMAC2 Eth Ultralite Manual • • • Two channels supplemental interface circuitry, each including: o 2-channel differential/single-ended encoder input o One output command signal set, configurable as pulse-and-direction or PWM top-and-bottom pair Direct I/O interface port 1-year warranty from date of shipment (Cables not included) Macro Ring Connector Options If a MACRO interface is desired (which is the usual reason for use of the board), at least one of the MACRO connector options must be selected.
Turbo PMAC2 Eth Ultralite Manual The flash memory IC is located in U26. This IC forms the non-volatile memory for the board’s firmware, the user setup variables, and for user programs, tables, and buffers. It can be 1M x 8, 2M x 8, or 4M x 8 in capacity. • Option 5C0: Default CPU speed and memory configuration: 80MHz DSP56303 CPU (8Kx24 internal memory), 128Kx24 SRAM compiled/assembled program memory, 128Kx24 SRAM user data memory, 1Mx8 flash memory.
Turbo PMAC2 Eth Ultralite Manual Part Number Definition Based on the different options available for the Turbo PMAC 2 Eth Ultralite, there will be a single line part number used for ordering and identification. The assigned part number is based on the following chart: A B C D E F G H J K L Turbo PMAC2 ETH Ultralite 5 A 3 B C0 - Opt. 5C0 80MHz DSP 563xx CPU 256 Kx24 SRAM 1 Mx8 flash* (Standard) C3 - Opt. 5C3 80MHz DSP 563xx CPU 1024 Kx24 SRAM 4 Mx8 flash* F3 - Opt.
Turbo PMAC2 Eth Ultralite Manual Hardware Setup Receiving and Unpacking Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the Turbo PMAC2 Eth Ultralite is received, do the following immediately: 1. Inspect the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the drive. 2. Remove the controller from the shipping container and remove all packing materials.
Turbo PMAC2 Eth Ultralite Manual The controller is mounted to the back panel with four M4 screws and internal-tooth lock washers. It is important that the teeth break through any anodization on the controllers’s mounting gears to provide a good electrically conductive path in as many places as possible. Mount the controller on the back panel so there is airflow at both the top and bottom areas of the controller (at least three inches).
Turbo PMAC2 Eth Ultralite Manual System Wiring 8 Inputs / 8 Outputs TTL Level (typically used to create multiplexed I /O with accessory boards ) 8 Sinking/Sourcing Digital Inputs 4 Sourcing /Sinking Digital Outputs Watchdog relay contacts 1 Sinking/Sourcing Input 2 5 2 3 2 1 1 9 1 7 1 5 1 3 1 1 9 7 5 3 1 2 6 2 4 2 2 2 0 1 8 1 6 1 4 1 2 1 0 8 6 4 2 1 3 1 2 2 5 J 10 J THW 1 1 2 4 1 0 2 3 9 2 2 8 2 1 7 2 0 6 1 9 5 1 8 4 1 7 3 1 6 2 1 5 Handwheel DAC output A
Turbo PMAC2 Eth Ultralite Manual Pushbutton Switches There are two pushbutton switches located at the bottom of the unit next to the 24V power supply input. These buttons are accessible for reinitializing the board back to factory default settings and loading new firmware revisions. FW LOAD switch The FW LOAD switch is used to download new firmware to the controller. When holding down this switch while powering up, the system will go into bootstrap mode.
Turbo PMAC2 Eth Ultralite Manual Pin # 1 2 3 4 5 6 Symbol VCC DD+ GND SHELL SHELL Function N.C. DATADATA+ Ground Shield Shield Ethernet / Modbus Connection, J2 This connector is used for Ethernet communications from the Turbo PMAC2 Eth Ultralite to a PC or into an Ethernet network. The default IP address for all Delta Tau products with Ethernet communication capability is 192.6.94.5 which can be changed with the proper software provided by Delta Tau.
Turbo PMAC2 Eth Ultralite Manual Fieldbus Setup Connector, J3 This connector is a 10-pin female flat cable connector directly connected to the Fieldbus communication device installed in the system based on order options. You should use SyCon program to set up the communication module. SyCon is a universal Fieldbus configuration tool developed by Hilscher Corporation and is used to configure the PMAC Gateway. Delta Tau has licensed SyCon and it is provided as part of the PMAC Gateway product.
Turbo PMAC2 Eth Ultralite Manual Profibus J4 DB9 Female Pin # Symbol 1 N.C. 2 +5VDC 3 RXD/TXD-P RS 485 4 CNTR-P 5 DGND* 6 +5VDC 7 N.C. 8 RXD/TXD-N RS 485 9 N.C. * E8 jumper should be in 1-2 position 5 4 9 3 8 2 7 1 6 Function Positive Power Supply Receive / Send Data –P Control Counter TTL Reference Ground * Positive Power Supply Receive / Send Data -N CANopen Pin # 1 2 3 4 5 6 7 8 9 J4 DB9 Female Symbol N.C. CAN_L CAN_GND N.C. N.C. N.C. CAN_H N.C. N.
Turbo PMAC2 Eth Ultralite Manual General Purpose I/O Connection, J5 The 25 pin D-Sub connector located on the top of the controller provides eight optically isolated inputs, four optically isolated outputs, and controller watchdog output with both normally closed and normally open contacts. The connector also has an extra input which can be used as sinking or sourcing input regardless of the other inputs setup.
Turbo PMAC2 Eth Ultralite Manual Inputs wiring There are eight inputs on the I/O connector, which can be used as sinking or sourcing inputs.
Turbo PMAC2 Eth Ultralite Manual To write to the outputs, you need to define these M variables: M52->Y:$078402,2 M53->Y:$078402,3 M54->Y:$078402,4 M55->Y:$078402,5 ; ; ; ; M60->X:$078402,0,8 M61->Y:$078406,0,8 M62->X:$078406,0,8 ; Direction control for DAT0 to DAT7 ; Data type control DAT0 to DAT7 ; Data inversion control M60=$FF M61=$FF M62=$0 DAT2 DAT3 DAT4 DAT5 Line; Line; Line; Line; J2 J2 J2 J2 Pin Pin Pin Pin 6 7 8 9 or or or or 19 20 21 22 ;Setting the Direction control to 1, meaning out
Turbo PMAC2 Eth Ultralite Manual 1 6 HW1_CHA1Handwheel Quadrature input A/ 7 HW1_CHB1Handwheel Quadrature input B/ 8 DGND Digital Ground 9 ADC1+ Analog-to-Digital input, positive signal 10 ADC2+ Analog-to-Digital input, positive signal 11 DAC1+ ±10VDC output 12 DIR1+ Direction output 13 PUL1+ Pulse output 14 HW1_CHA1+ Handwheel Quadrature input A 15 HW1_CHB+ Handwheel Quadrature input B to use the ADCs with single ended signal, connect the ADC1- and ADC2- to pin 8 DGND Handwheel Wiring The Handwheel wiri
Turbo PMAC2 Eth Ultralite Manual Single-Ended Signal J8 8 7 15 6 14 5 13 4 12 3 11 2 Differential Signal 8 1 10 J8 9 7 15 6 14 5 13 4 12 3 11 2 10 1 9 Differential S ignal 2 Differential S ignal 1 -10V DC +10V DC GND on the analog signal side To read the value of the ADCs, make sure the correct strobe word is written to the ADCs.
Turbo PMAC2 Eth Ultralite Manual Note: Please note that the DAC output is a filtered PWM signal and is limited by the max phase settings which cannot be changed because of Realtime Express network requirements. Pulse and Direction Output This output can be connected to any stepper motor amplifier or it can be used to generate pulses for any other application.
Turbo PMAC2 Eth Ultralite Manual J9 24V DC Input Phoenix PCB Edge Connector Pin # 1 2 3 Symbol GND N.C. +24V Function Ground Connection from power supply +24VDC input from power supply MACRO Connector Based on the option that you have, either the MACRO fiber connector or the MACRO RJ45 connector is installed on the controller. • Option A provides the MACRO-ring fiber optic SC-style interface connector. The key component on the board is U49.
Turbo PMAC2 Eth Ultralite Manual (special M-variable definitions) to capitalize on this feature. Up to 32 of the multiplexed I/O boards may be daisy-chained on the port, in any combination. 1. 2. 3. 26-pin female flat cable connector T&B Ansley P/N 609-2641 Standard flat cable stranded 26-wire T&B Ansley P/N 171.
Turbo PMAC2 Eth Ultralite Manual How to use THW Port as general purpose IO (8 Input and 8 Output): 1. WX:$78400, $FF00 ;IO Direction Control 2. WY:$78404, $FFFF ;IO Data Type Control 3.
Turbo PMAC2 Eth Ultralite Manual Software Setup Host Communications To communicate with Turbo PMAC2 Eth Ultralite from your host computer, use any of the provided communication ports. The choice only affects the speed at which you will be talking to the controller. You can communicate with the controller over the Serial communication or Ethernet ports without any special software.
Turbo PMAC2 Eth Ultralite Manual A pop-up window will state that it cannot verify the compatibility of the driver with Windows XP. Click the Continue Anyway button install the driver on your computer. You should then be able to see the device in Windows’ Device Manager. Once you have established connection between the controller and the computer, start your software by clicking on the Pewin32PRO2 icon either from your desktop or from the Start menu.
Turbo PMAC2 Eth Ultralite Manual From the Setup drop-down menu, click on Force All Windows to Device Number. Click the Insert button. Select the communication port from the list. All the available Serial ports (COM1, COM2, …) and Delta Tau USB products are present in the list. If you’re trying to communicate through an Ethernet port and the IP address for the PMAC is not in the list, click the New button: Select the Ethernet (Eth) option and click OK. Enter the IP address of the controller.
Turbo PMAC2 Eth Ultralite Manual After selecting the communication port with the controller, click OK. The selected device is now added to the list, and is referred to as PMAC ##. You can have up to 32 PMAC devices defined on the software. To check the communications, click the Test button. If communication is successful, you will see a confirmation message.
