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^1
HARDWARE REFERENCE MANUAL
^2 PMAC2 PCI Lite
Preliminary Documentation
^3 PMAC 2 PCI Lite Bus Expansion Card
^4 4XX-603658-xHxx
^5 November 5, 2003
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.com
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. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: [email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain static sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.
Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or conductive materials and/or environments that could cause harm to the controller by damaging components or causing electrical shorts. When our products are used in an industrial environment, install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials.
If Delta Tau Data Systems, Inc. products are directly exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.
EN Dispose in accordance with applicable regulations.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Table of Contents
Table Of Contents i
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
ii Table of Contents
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
INTRODUCTION
Overview
The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or four sinewave or direct PWM servo drives and to pulse-and-direction stepper drives. It has four channels of servo interface circuitry, but its software is capable of eight axes of control. It is software compatible with the PMAC2-PC and the PMAC2 Mini.
The PMAC2 PCI Lite is a full-sized PCI-bus expansion card. While the PMAC2 PCI Lite 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 on-board RS-232 serial port; standalone operation is possible.
Board Configuration
Base Version
The base version of the PMAC2 PCI Lite provides a 1-1/2-slot board with:
40 MHz DSP563xx CPU
128k x 24 zero-wait-state SRAM active memory
512k x 8 flash memory for user backup and firmware
Latest released firmware version (requires V1.17 or newer firmware)
RS-232/422 serial interface, 33 MHz PCI (PC) 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, muxed I/O, direct I/O interface ports
Buffered expansion port.
Clock crystal with
100 ppm accuracy.
PID/notch/feedforward servo algorithms
1-year warranty from date of shipment
One Manuals CD-ROM per set of one to four PMACs in shipment
(Cables, mounting plates, mating connectors not included)
Option 2: Dual-Ported RAM
Dual-ported RAM provides a 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 on-board 8k x 16 bank of dual-ported RAM for PCI or USB. The key component on the board is U1.
Option 3: USB1.1 Communications Port
If using the PMAC-PCI Lite in a standalone application, use this port because it faster than the standard
RS232/422 communications. Use of this port disables the PCI port.
Introduction 1
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Option 5: CPU and Memory Configurations
If the 40 MHz CPU (80 MHz DSP 56002 equivalent) that comes standard does not have sufficient computational power, faster versions are available as options. These options provide a faster CPU IC in
U127, and unlike past CPU upgrades, will not require any additional memory chips.
Option 5CF provides an 80 MHz CPU (160 MHz DSP 56002 equivalent) with zero-wait-state SRAM active memory. Requires V1.17 or newer firmware.
Option 5EF provides a 160 MHz CPU (320 MHz DSP 56002 equivalent) with zero-wait-state SRAM active memory. Requires V1.17 or newer firmware.
Option 6: Extended Servo Algorithm
The standard PID servo algorithm with feedforward and notch filter is suitable for most applications.
Systems with difficult dynamics, especially with significant flexibility, may require a more powerful servo algorithm, such as the Extended Servo Algorithm (ESA).
Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular servo algorithm firmware. This is required only in difficult-to-control systems (resonances, backlash, friction, disturbances, changing dynamics). This option requires a one-time purchase of the Acc-25 program, which is necessary for tuning the Option-6 firmware.
Option 6L: Multi-block Lookahead Firmware
Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles execution. With the lookahead firmware, PMAC controls the speed along the path automatically (without changing the path) to ensure that axis limits are not violated.
Option 7: Plate Mounting
If the PMAC2 PCI Lite is used as a PCI bus expansion board, the standard hardware is used for proper mounting of the board in the bus. However, if it is not installed in a PCI expansion slot, other provisions must be made for mounting.
Option 7 provides a mounting plate connected to the PMAC2 PCI Lite with standoffs. It is used to install the PMAC2 PCI Lite in standalone applications.
Option 8A: High-Accuracy Clock Crystal
The PMAC2 PCI Lite has a clock crystal (component Y1) of nominal frequency 19.6608 MHz (~20
MHz). The standard crystal’s accuracy specification is +/-100 ppm. Long-term velocity accuracy is limited by the accuracy of the crystal, unless an external time base is used.
Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.
Option 10: Firmware Version Specification
Normally the PMAC2 PCI Lite is provided with the newest released firmware version. A label on the
U61 flash memory IC on the CPU board shows the firmware version loaded at the factory.
Option 10 provides for a user-specified firmware version.
Option 12: Analog-to-Digital Converters
With Option 12, eight or 16 channels of on-board multiplexed analog-to-digital converters can be installed. One or two of these converters are read every phase interrupt. The analog inputs are not optically isolated, and each can have a 0 – 5V input range, or a +/-2.5V input range, individually selectable.
Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U28 and connector J1.
Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board is
U29.
2 Introduction
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Option 16: Battery-Backed Parameter Memory
The contents of the standard memory are not retained through a power-down or reset unless they have been saved to flash memory first. Option 16 provides supplemental battery-backed RAM for real-time parameter storage that is ideal for holding machine state parameters in case of an unexpected powerdown.
Option 16 provides a 16k x 24 bank of battery-backed parameter RAM in components U84, U85, U86, with the battery in BT1.
Introduction 3
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
HARDWARE SETUP
Watchdog Timer Jumper
Jumper E19 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. E19 should be put ON only to debug problems with the watchdog timer circuit.
CPU Frequency Control Jumpers
If variable I46 is set to the default value of zero, jumpers E2 and E4 on the base PMAC2 PCI Lite board control the frequency at which the CPU will operate (or attempt to operate). Generally, this will be the highest frequency at which the CPU is rated to operate.
If jumpers E2 and E4 are both OFF, the CPU will operate at a 40MHz frequency.
If E2 is ON and E4 is OFF, the CPU will operate at a 60MHz frequency.
If E2 is OFF and E4 is ON, the CPU will operate at an 80MHz frequency.
If I46 is set to a value greater than zero, E2 and E4 are not used. The CPU frequency is set to 10MHz
(I46+1)
Re-Initialization Jumper
If E3 is off during power-up/reset, the controller will load its last saved set-up parameters from flash memory into active memory. This is the setting for normal operation.
If E3 is on during power-up/reset, the controller will load its factory-default set-up parameters from firmware into active memory. Generally, this is done only if communications cannot be established with the card when it comes up in normal operational mode.
Power-Up State Jumpers
Jumper E20 must be OFF, jumper E21 must be ON, and jumper E22 must be ON, in order for the CPU to copy the firmware from flash memory into active RAM on power-up/reset. This is necessary for normal operation of the card. (Other settings are for factory use only.)
Firmware Load Jumper
If jumper E23 is ON during power-up/reset, the board comes up in bootstrap mode which permits the loading of new firmware into the flash-memory IC on the board. When the PMAC Executive program tries to establish communications with a board in this mode, it will detect automatically that the board is in bootstrap mode and ask what file to download as the new firmware.
Jumper E23 must be OFF during power-up/reset for the board to come up in normal operational mode.
Flash Memory Bank Select Jumpers
The flash-memory IC in location U10 on the Flex CPU board has the capacity for eight separate banks of firmware, only one of which can be used at any given time. The eight combinations of settings for jumpers E10A, E10B, and E10C select which bank of the flash memory is used. In the factory production process, firmware is loaded only into Bank 0 which is selected by having all of these jumpers OFF.
Encoder Sample Clock Source Jumpers
Jumper E13 controls the source of the SCLK encoder-sampling clock for each servo IC. The default setting, No Jumper Installed, means that the SCLK signal comes from the servo IC and is output on the
JMACH connectors. This setting is suitable for all but a few special applications.
4 Hardware Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Serial Port Selection Jumper
Jumpers E17 and E18 control which serial-port connector is used. If E17 and E18 connect their pins 1 and 2, the 10-pin RS-232 port connector J5 is used. If E17 and E18 connect their pins 2 and 3, the 26-pin
RS-422 port connector J5A is used. The RS-422 port must be used if several cards are to be daisychained together on a single multi-drop cable.
Output Disable State Jumpers
Jumpers E111 through E114 control the hardware state of the digital command output signals for each channel when the amplifier enable signal for that channel is in the disable state (false). Jumper E11 n ( n =
1 to 4) controls the output signals for channel n on the board.
If E11 n is off (default), the command output signals for channel n are still active when the amplifier enable signal is in the disable state. The Turbo PMAC software should be commanding a net zero command to be output on these signals, and the amplifier-enable signal should be used by the amplifier so that no command output will cause action if it is receiving a disable signal. The Off setting should be used when DAC output format is selected for the channel.
If E11 n is on, the command output signals for channel n are tri-stated when the amplifier-enable signal is in the disable state. This setting is used only with direct-PWM power-block amplifiers that do not use amplifier enable to gate the PWM signals, and in which the zero-command format of 50% top on-time, and 50% bottom on-time cannot be tolerated in the disable state.
Amplifier Enable / EQU Jumper
WARNING
The jumper setting must match the type of driver IC, or damage to the IC will result.
Jumpers E11 and E12 control the polarity of the AENA and EQU lines. Their default setting is 1 to 2 which applies GND to pin 10 of U93 AENA/EQUn driver IC. This is used for 74ACT563, 74ACT573, and ULN2803 model sinking chips.
To source the AENA and EQU lines, apply +V to pin 10 of U93, jump pin 2 to 3. This is used for
UDN2891 model sourcing chip.
Note:
If using ULN2803 or UDN2981 model chips, be sure to plug pin 1 of chip into socket starting at pin 2.
Hardware Setup 5
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Resistor Pack Configuration
Termination Resistors
The PMAC2 PCI Lite 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 Lite board and ringing at signal transitions is a problem, SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing.
All termination resistor packs have independent resistors (no common connection) with each resistor using two adjacent pins. The following table shows which packs are used to terminate each input device:
Input
Encoder 1
Encoder 2
Encoder 3
Encoder 4
Encoder 5
Encoder 6
Encoder 7
Encoder 8
SCLK12&34
Pack
RP60
RP62
RP66
RP68
RP107
RP111
RP108
RP112
RP52
Pack Size
6-pin
6-pin
6-pin
6-pin
6-pin
6-pin
6-pin
6-pin
6-pin
Input
ADC 1 & 2
ADC 3 & 4
ADC 5 & 6
ADC 7 & 8
Fault 1 & 2
Fault 3 & 4
Fault 5 & 6
Fault 7 & 8
SCLK56&78
Pack
RP60
RP61
RP121
RP122
RP63
RP64
RP124
RP125
RP113
Pack Size
8-pin
8-pin
8-pin
8-pin
6-pin
6-pin
6-pin
6-pin
6-pin
Pull-Up/Pull-Down Resistors
The differential input signal pairs to the PMAC2 PCI Lite have user-configurable pull-up/pull-down resistor networks to permit the acceptance of either single-ended or differential signals in one setting, or the detection of lost differential signals in another setting.
The + inputs of each differential pair each have a hard-wired 1 kohm pull-up resistor to +5V. This cannot be changed.
The - inputs of each differential pair each have a hard-wired 2.2 kohm resistor to +5V; each has another
2.2 kohm resistor as part of a socketed resistor pack that can be configured as a pull-up resistor to +5V, or a pull-down resistor to GND.
If this socketed resistor is configured as a pull-down resistor (the default configuration), the combination of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.5V in the absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines alone; it is used for unconnected inputs to prevent the pick-up of spurious noise. It is permissible for differential line-driver inputs.
If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the two parallel 2.2 kohm resistors act as a single 1.1 kohm 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; or if complementary open-collector drivers are used. It is permissible for differential line-driver inputs even without encoder loss detection.
If Pin 1 of the resistor pack (marked by a dot on the pack) matches Pin 1 of the socket (marked by a wide white line on the front side of the board and a square solder pin on the back side of the board), then the pack is configured as a bank of pull-down resistors. If the pack is reversed in the socket, it is configured as a bank of pull-up resistors.
6 Hardware Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
The following table lists the pull-up/pull-down resistor pack for each input device:
Device
Encoder 1
Encoder 2
Encoder 3
Encoder 4
Encoder 5
Encoder 6
Encoder 7
Encoder 8
Resistor Pack
RP43
RP48
RP44
RP49
RP104
RP109
RP105
RP110
Device
ADC/Fault1&2
ADC/Fault3&4
ADC/Fault5&6
ADC/Fault7&8
SCLK12&34
SCLK56&78
Resistor Pack
RP58
RP59
RP119
RP120
RP62
RP123
Connections
Mounting
The PMAC2 PCI Lite can be mounted in one of two ways: in the PCI bus, or using standoffs.
1.
PCI bus: To mount in the PCI bus, simply insert the P1 card-edge connector into the PCI socket. If there is a standard PC-style housing, a bracket at the end of the PMAC2 PCI Lite board can be used to screw into the housing to hold the board down firmly.
2.
Standoffs: At each of the Four Corners of the PMAC2 PCI Lite board, there are mounting holes that can be used to mount the board on standoffs.
Power Supply Connection
The standard PMAC2 PCI Lite requires only 5V power: 3A in a 4-channel configuration, 4A in an 8channel configuration (with Option 1). If the Option 12 A/D converters are installed, a –12V supply is also required. In this case, a +12V supply also can be passed through the card and out to the analog devices feeding the A/D converters.
The power can be provided in several ways:
Bus connector: If the PMAC2 PCI Lite is mounted in an electrically active PCI bus slot, it draws its
5V and +/-12V power from the bus automatically.
Terminal block: The TB1 2/4-point terminal block can be used to bring in 5V power, especially in standalone applications. Point 1 is GND; Point 2 is +5V. Points 3 and 4 are needed only if the
Option-12 A/D converters are ordered.
JMACH connectors: Up to 2A may be brought in through each 100-pin JMACH connector from an
Acc-8 board or its equivalent, provided the cable is 500mm (20 inches) or less in length.
Machine Port Connections
The PMAC2 PCI Lite has a 100-pin high-density header for each pair of servo interface channels.
Through this connector, pass all of the digital signals to and from the amplifier, encoder, and flags for the two channels. Typically, this header is connected with a matching Delta Tau Acc-8 family 2-channel breakout board or equivalent through a provided 100-pin flat cable.
The machine port connectors are:
J9 (JMACH1)
J10 (JMACH2)
Board Channels 1 & 2
Board Channels 3 & 4
Display Port
The J6 (JDISP) display port provides a 14-pin IDC header for connection to the Acc-12 family of displays. Flat cables are provided with each of these displays for direct connection between the display and this port.
Hardware Setup 7
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
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). In addition, they can be used to support hundreds, or even thousands of multiplexed I/O points on accessory boards.
Delta Tau provides the following accessory boards that can be connected to the multiplexer port. Each comes with a flat cable for direct connection to the port.
Acc-8D Option 7 Resolver-to-Digital Converter Board
Acc-18 Thumbwheel Board
Acc-34 family of Digital I/O Boards
Acc-35A and B Extender Boards
I/O Port
The J3 (JIO) I/O port provides 32 TTL-compatible 5V CMOS I/O points on a 40-pin IDC header.
Direction is selectable by byte. These are used as general-purpose digital I/O points. Acc-21A provides a convenient connections adapter from this port to OPTO-22 style boards.
Serial Ports
The PMAC2 PCI Lite has two serial-port connectors. Only one of these can be used in an application.
J5 is a 10-pin IDC header for RS-232 communications. It can be connected to a standard DB9 RS-
232 connector on a host computer or terminal via a flat cable such as the Acc-3L. A commercially available DB9-to-DB25 adapter can be added to this flat cable if the host computer or terminal has a
DB25 serial connector. Jumpers E17 and E18 on the PMAC2 PCI Lite must connect pins 1 and 2 to use this port.
J5A is 26-pin IDC header for RS-422 communications. It can be connected to a standard DB25 RS-
422 connector on a host computer or terminal via a flat cable such as the Acc-3D. Jumpers E17 and
E18 on the PMAC2 PCI Lite must connect pins 2 and 3 to use this port.
A/D-Converter Port
If the Option 12 A/D converters are ordered, the J1 (JANA) analog-input port is provided on the PMAC2 on a 20-pin IDC header. Option 12 provides eight analog inputs at 0 – 5V, or +/-2.5V levels. Option 12A provides eight additional analog inputs at these levels. The +12V and –12V supplies can either be brought in on this connector, or brought out on it for the external analog circuitry, if they have been brought in through TB1 or P1.
Handwheel Port
The J7 (JHW) handwheel port provides two limited supplemental channels, each with a 2-channel encoder input, and a pulse-and-direction or PWM top-and-bottom pair output. All inputs and outputs are digital 5V differential line-driver pairs.
8 Hardware Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
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 Lite board plugged in a PCI bus slot will be recognized by the operating system when the computer is booted up. The available PCI address, Dual-
Ported RAM address and Interrupt lines are set automatically by the operating system and can be checked
(but not modified) in the MOTIONEXE.EXE application.
Open MOTIONEXE and press Setup for the
PCI device desired
The PMAC2 PCI Lite board may have the optional on-board Dual-Ported RAM circuitry which is ordered through Option-2. If the dual-ported RAM circuitry is not on-board, manually disable its automatically assigned use through the setup page of MOTIONEXE:
MOTIONEXE version number
Disable Interrupts and Dual Ported
RAM if not used
The MOTIONEXE application will look first for PMAC PCI boards on the PCI bus and will assign device numbers from Device0 to each PMAC PCI sequentially until all the PMAC PCI boards found have a device number assigned. Then, manually add other devices for either ISA bus or Serial port communications.
After each PMAC has a device number assigned to it, communications through the PCI bus are identical to the ISA bus. Any application written for the ISA bus using the Delta Tau provided 32-bits communication libraries provided will not require any further change and the process is transparent.
Communications Setup 9
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
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 Lite board is found. Therefore, it is important to take note of the all the devices and their parameters defined in MOTIONEXE before installing a new PMAC board in the computer.
10 Communications Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
FLEX CPU BOARD JUMPER DESCRIPTIONS
Flex CPU Board Jumper Descriptions 11
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
E1: Watchdog Disable Jumper
E Point and
Physical Layout
E1
Description
Jump pin 1 to 2 to disable Watchdog timer. (For test purposes only.)
Remove jumper to enable Watchdog timer.
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.
Default
No jumper installed
Default
Pins 1 and 2 jumpered
E4 – E6: Power-Up/Reset Load Source
E Point and
Physical Layout
E6
Description
Remove jumper E4;
Jump E5 pin 1 to 2;
Jump E6 pin 2 to 3; to read flash IC on power-up/reset.
Other combinations are for factory use only; the board will not operate in any other configuration.
E4
E7: Firmware Reload Enable
E Point and
Physical Layout
E7
Description
Jump pin 1 to 2 to reload firmware through serial or bus port.
Remove jumper for normal operation.
E10A, B, C: Flash Memory Bank Select
E Point and
Physical Layout
E10A
Description
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.
E10C
Default
No E4 jumper installed;
E5 and E6 jump pin 1 to 2
Default
No jumper installed
Default
No jumpers installed
12 Flex CPU Board Jumper Descriptions
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
JUMPER DESCRIPTIONS
E1: Servo and Phase Clock Direction Control
E Point and
Physical Layout
Location Description Default
E1 C2 Remove jumper for PMAC2 PCI Lite to use its internally generated servo and phase clock signals and to output these signals on the J5A serial port connector.
No jumper installed
Jump pins 1 and 2 for PMAC2 PCI Lite to expect to receive its servo and phase clock signals on the J5A serial port connector.
Note: If the E1 jumper is ON and the servo and phase clocks are not brought in on the J5A serial port, the watchdog timer will trip immediately.
E2: CPU Frequency Select
E Point and
Physical Layout
E2
Location
C2
Description Default
Remove jumper for 40MHz operation (E4 OFF also) or for 80MHz operation (E4 ON) with I46 = 0.
Jump pin 1 to 2 for 60MHz operation (E4 OFF) with
I46 = 0.
Not used if I46 > 0.
No jumper installed
Jumper installed
E3: Normal/Re-Initializing Power-Up/Reset
Default E Point and
Physical Layout
E3
Location
C2
Description
Jump pin 1 to 2 to re-initialize on power-up/reset, loading factory default settings.
Remove jumper for normal power-up/reset, loading user-saved settings.
E4: CPU Frequency Select
No jumper installed
E Point and
Physical Layout
E4
Location Description
C2 Remove jumper for 40MHz operation (E2 OFF also) or for 60MHz operation (E4 ON) with I46 = 0.
Jump pin 1 to 2 for 80MHz operation (E2 OFF) with
I46 = 0.
Not used if I46 > 0
E5 – E6: (Reserved for Future Use)
Default
No jumper installed
(standard or Opt 5B)
Jumper installed (Opt
5C)
PMAC2 PCI Lite Jumper Descriptions 13
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
E13 - E14: Encoder Sample Clock Direction Control
E Point and
Physical Layout
E13
Location Description
E14
D1
D2
Remove jumper to output SCLK generated in first
ASIC on SCLK_12 and SCLK_34, or to control direction by software.
Jump pins 1 to 2 to input SCLK signal for 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.
Remove jumper to output SCLK generated in second
ASIC on SCLK_56 and SCLK_78, or to control direction by software.
Jump pins 1 to 2 to input SCLK signal for second
ASIC on SCLK_78 and output this signal on
SCLK_56.
Jump pins 2 to 3 to input SCLK signal for second
ASIC on SCLK_56 and output this signal on
SCLK_78.
Note: E14 is installed only if Option 1 has been ordered.
E17 - E18: Serial Port Type Selection
Default
No jumper installed
No jumper installed
E Point and
Physical layout
E17
Location Description Default
C1 Connect pins 1 and 2 to use the RS-232 port on the J5 connector.
Connect pins 2 and 3 to use the RS-422 port on the
J5A connector.
Jumper installed in 1-2 position
E18 C1 Connect pins 1 and 2 to use the RS-232 port on the J5 connector.
Connect pins 2 and 3 to use the RS-422 port on the
J5A connector.
Jumper installed in 1-2 position
Serial Port Choice : Because both RS-232 and RS-422 ports are always provided, jumpers must be set correctly to use the port of choice. Jumpers E17 and E18 must connect pins 1 and 2 to use the RS-232 port on the J5 connector; to use the RS-422 port on the J5A connector, they must connect pins 2 and 3.
14 PMAC2 PCI Lite Jumper Descriptions
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
E115
E116
E117
E118
E111-118: Command Output Disable State
E Point and
Physical Layout
Location Description
E111
E112
E113
C1
Jump pin 1 to 2 of E11 n 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 amplifier-enable signal for Channel n is in disable state.
E114
Default
No jumper installed
PMAC2 PCI Lite Jumper Descriptions 15
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
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 stranded 14-wire
Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1
J2 (JTHW)/Multiplexer Port
Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 - T&B Ansley P/N 609-2641
171-26 T&B Ansley standard flat cable stranded 26-wire
Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0
J3 (JIO)/Digital I/O
Two 40-pin female flat cable connector Delta Tau P/N 014-R00F40-0K0 - T&B Ansley P/N 609-4041
171-40 T&B Ansley standard flat cable stranded 40-wire
Phoenix varioface module type FLKM 40 (male pins)
J5 (JRS232)/RS-232 Serial Communications
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
J5A (JRS422)/RS-422 Serial Communications
Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 - T&B Ansley P/N 609-2641
171-26 T&B Ansley standard flat cable stranded 26-wire
Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0
J6 (JDISP)/Display
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 stranded 14-wire
Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1
J7 (JHW)/Auxiliary Channel
Two 20-pin female flat cable connector Delta Tau P/N 014-R00F20-0K0 - T&B Ansley P/N 609-2041
171-20 T&B Ansley standard flat cable stranded 20-wire
Phoenix varioface modules type FLKM20 (male pins)
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
16 Mating Connectors
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 (JMACH1)/Machine Port 1
Two 100-pin high-density box header with center key, 0.050” pitch - AMP P/N 1-04068-7, Delta Tau
P/N 014-00010-FPB
High-density flat cable stranded 100-wire
J10 (JMACH2)/Machine Port 2
Two 100-pin high-density box header with center key, 0.050” pitch - AMP P/N 1-04068-7, Delta Tau
P/N 014-00010-FPB
High-density flat cable stranded 100-wire
Mating Connectors 17
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
BASE BOARD CONNECTOR PINOUTS
J1 (JANA) Analog Input Port Connector
This connector is present only if Option 12 is ordered.
Pin #
1
2
3
9
10
11
12
13
14
4
5
6
7
8
Symbol
ANAI00
ANAI01
ANAI02
ANAI03
ANAI04
ANAI05
ANAI06
ANAI07
ANAI08
ANAI09
ANAI10
ANAI11
ANAI12
ANAI13
Function
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Description
Analog input 0
Analog input 1
Analog input 2
Analog input 3
Analog input 4
Analog input 5
Analog input 6
Analog input 7
Analog input 8
Analog input 9
Analog input 10
Analog input 11
Analog input 12
Analog input 13
Notes
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
15
16
17
18
ANAI14
ANAI15
GND
+12V
Input
Input
Common
Output
Analog input 14
Analog input 15
PMAC common
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
Not isolated from digital
Positive supply voltage To power external circuitry
19 GND Common PMAC common
20 -12V Output
*This signal is present only if Option-12A is ordered.
Not isolated from digital
Negative supply voltage To power external circuitry
The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2.
18 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J2 (JTHW) Multiplexer Port Connector
Pin #
1
2
3
Symbol
GND
GND
DAT0
Function Description
Common PMAC common
Common
Input
PMAC common
Data-0 input
SEL4
DAT5
SEL5
DAT6
SEL6
DAT7
SEL7
N.C.
GND
BRLD/
GND
IPLD/
GND
+5V
INIT/
SEL0
DAT1
SEL1
DAT2
SEL2
DAT3
SEL3
DAT4
15
16
17
18
19
20
21
22
23
24
25
26
12
13
14
9
10
11
4
5
6
7
8
Output
Input
Output
Input
Output
Input
Output
Input
Select-0 output
Data-1 input
Select-1 output
Data-2 input
Select-2 output
Data-3 input
Select-3 output
Data-4 input
Output
Input
Output
Select-4 output
Data-5 input
Select-5 output
Input
Output
Input
Output
Data-6 input
Select-6 output
Data-7 input
Select-7 output
No Connection No connection
Common PMAC common
Output
Common
Output
Buffer request
PMAC common
In position
Common
Output
Input
PMAC common
+5Vdc supply
PMAC reset
Notes
Data input from MUX port accessories
Address/data output for MUX port accessories
Data input from MUX port accessories
Address/data output for MUX port accessories
Data input from MUX port accessories
Address/data output for MUX port accessories
Data input from MUX port accessories
Address/data output for MUX port accessories
Data input from MUX port accessories
Address/data output for MUX port accessories
Data input from MUX port accessories
Address/data output for MUX port accessories
Data input from MUX port accessories
Address/data output for MUX port accessories
Data input from MUX port accessories
Address/data output for MUX port accessories
Low is buffer required
Low is in position
Power supply out
Low is reset
Base Board Connector Pinouts 19
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J3 (JI/O) General Input/Output Connector
Pin #
1
Symbol
I/O00
Function Description
In/Out Digital I/O 0
Notes
Software direction ctrl.
21
22
23
24
25
15
16
17
18
19
20
10
11
12
13
14
5
6
7
2
3
4
8
9
I/O14
I/O15
I/O16
I/O17
I/O18
I/O19
I/O20
I/O21
I/O22
I/O23
I/O24
I/O01
I/O02
I/O03
I/O04
I/O05
I/O06
I/O07
I/O08
I/O09
I/O10
I/O11
I/O12
I/O13
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
Digital I/O 1
Digital I/O 2
Digital I/O 3
Digital I/O 4
Digital I/O 5
Digital I/O 6
Digital I/O 7
Digital I/O 8
Digital I/O 9
Digital I/O 10
Digital I/O 11
Digital I/O 12
Digital I/O 13
Digital I/O 14
Digital I/O 15
Digital I/O 16
Digital I/O 17
Digital I/O 18
Digital I/O 19
Digital I/O 20
Digital I/O 21
Digital I/O 22
Digital I/O 23
Digital I/O 24
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
31
32
33
34
35
36
26
27
28
29
30
I/O25
I/O26
I/O27
I/O28
I/O29
I/O30
I/O31
GND
GND
PHASE/
SERVO/
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
In/Out
Common
Common
Output
Output
Digital I/O 25
Digital I/O 26
Digital I/O 27
Digital I/O 28
Digital I/O 29
Digital I/O 30
Digital I/O 31
Reference voltage
Reference voltage
Phase clock
Servo clock
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
Software direction ctrl.
For latching data
For latching data
37
38
39
GND
GND
+5V
Common
Common
Output
Reference voltage
Reference voltage
Supply voltage To power external circuitry
40 +5V Output Supply voltage To power external circuitry
The JI/O connector provides 32 input/output pins at TTL levels. Direction can be controlled in byte-wide groups.
20 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J5 (JRS232) Serial Port Connector
Pin #
1
2
DSR
4
5
6
7
Symbol
PHASE
DTR
TXD/
CTS
RXD/
RTS
DSR
Function
Output
Bidirect
Input
Input
Output
Output
Bidirect
Description
Phasing clock
Data terminal ready
Receive data
Clear to send
Send data
Req. to send
Data set ready
Notes
Tied to DSR
Host transmit data
Host ready bit
Host receives data
PMAC ready bit
Tied to DTR
8
9
SERVO
GND
Output
Common
Servo clock
PMAC common
10 +5V Output +5Vdc supply Power supply out
The JRS232 connector provides the PMAC2-PC with the ability to communicate serially with an RS232 port. This connector cannot be used for daisy-chain interconnection of multiple PMACs. The J5A RS-
422 port must be used for daisy chaining.
E17 and E18 must connect pins 1 and 2 to use the RS-232 port for serial communications.
J5A (RS422) Serial Port Connector
JRS422 (26-PIN Connector)
Pin #
1
2
Symbol
CHASSI
S+5V
Function Description
Common
Output
PMAC common
+5Vdc supply
Front View
Notes
10
11
12
13
14
15
3
4
5
6
7
8
9
RD-
RD+
SD-
SD+
CS+
CS-
RS+
RS-
DTR
INIT/
GND
DSR
SDIO-
Input
Input
Output
Output
Input
Input
Output
Output
Bidirect
Input
Common
Bidirect
Bidirect
Receive data
Receive data
Send data
Send data
Clear to send
Clear to send
Req. to send
Req. to send
Data term read
PMAC reset
PMAC common
Data set ready
Special data
Diff. I/O low true
Diff. I/O high true
Diff. I/O low true
Diff. I/O high true
Diff I/O high true
Diff. I/O low true
Diff. I/O high true
Diff I/O low true
Tied to DSR
Low is "reset"
Tied to DTR
Diff. I/O low true
16
17
18
19
20
SDIO+
SCIO-
SCIO+
SCK-
SCK+
Bidirect
Bidirect
Bidirect
Bidirect
Bidirect
Special data
Special ctrl.
Special ctrl.
Special clock
Special clock
Diff. I/O high true
Diff I/O low true
Diff. I/O high true
Diff. I/O low true
Diff. I/O high true
21
22
23
SERVO-
SERVO+
PHASE-
Bidirect
Bidirect
Bidirect
Servo clock
Servo clock
Phase clock
Diff. I/O low true
Diff. I/O high true
Diff. I/O low true
24
25
PHASE+
GND
Bidirect
Common
Phase clock
PMAC common
Diff. I/O high true
26 +5V Output +5Vdc supply Power supply out
E17 and E18 must connect pins 2 and 3 to use the RS-422 port for serial communications. This connector could be also used to daisychain interconnect multiple PMACs for synchronized operation.
Base Board Connector Pinouts 21
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J6 (JDISP) Display Connector
Pin # Symbol
1 VDD
Function
Output
Description
+5V power
Notes
Power supply out
2
3
4
5
6
7
8
9
VSS
RS
VEE
E
R/W
DB1
DB0
DB3
Common
Output
Output
Output
Output
Output
Output
Output
PMAC common
Read strobe
Contrast adjust. VEE
Display enable
Read or write
Display data1
Display data0
Display data3
TTL signal out
0 to +5 Vdc *
High is enable
TTL signal out
10
11
12
DB2
DB5
DB4
Output
Output
Output
Display data2
Display data5
Display data4
13
14
DB7
DB6
Output
Output
Display data7
Display data6
The JDISP connector is used to drive the 2-line x 24-character (Acc-12), 2 x 40 (Acc-12A) LCD, or the 2 x 40 vacuum fluorescent (Acc-12C) display unit. The DISPLAY command may be used to send messages and values to the display.
J7 (JHW) Handwheel Encoder Connector
Pin #
1
Symbol
GND
Function Description
Common Reference voltage
Notes
9
10
11
12
13
14
15
16
2
3
4
5
6
7
8
+5V
HWA1+
HWA1-
HWB1+
HWB1-
HWA2+
HWA2-
HWB2+
HWB2-
PUL1+
PUL1-
DIR1+
DIR1-
PUL2+
PUL2-
Output
Input
Input
Input
Input
Input
Input
Input
Input
Output
Output
Output
Output
Output
Output
Supply voltage
PFM positive pulse
PFM negative pulse
PFM positive dir out
PFM negative dir out
PFM positive pulse
PFM negative pulse
To power external circuitry
HW positive A channel Also pulse input
HW negative A channel Also pulse input
HW positive B channel Also direction input
HW negative B channel Also direction input
HW positive A channel Also pulse input
HW negative A channel Also pulse input
HW positive B channel Also direction input
HW negative B channel Also direction input
Also PWM bottom output
Also PWM bottom output
Also PWM top output
Also PWM top output
Also PWM bottom output
Also PWM bottom output
17
18
19
DIR2+
DIR2-
GND
Output
Output
Common
PFM positive dir. out
PFM negative dir out
Reference voltage
Also PWM top output
Also PWM top output
20 +5V Output Supply voltage To power external circuitry
The VHW connector provides for two 2-channel encoder inputs and two sets of pulse outputs.
22 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J8 (JEQU) Position Compare Output Connector
Pin #
1
Symbol
EQU1/
Function Description
Output Encoder 1 comp-Eq
Notes
Programmed polarity
5
6
7
2
3
4
EQU2/
EQU3/
EQU4/
EQU5/
EQU6/
EQU7/
Output
Output
Output
Output
Output
Output
Encoder 2 comp-Eq
Encoder 3 comp-Eq
Encoder 4 comp-Eq
Encoder 5 comp-Eq
Encoder 6 comp-Eq
Encoder 7 comp-Eq
Programmed polarity
Programmed polarity
Programmed polarity
Programmed polarity
Programmed polarity
Programmed polarity
8
9
EQU8/
+V
Output
Supply
Encoder 8 comp-Eq
Positive supply
Programmed polarity
+5V
10 GND Common Digital ground
This connector provides the position-compare outputs for the eight encoder channels.
J9 (JMACH1) Connector Description
J9 JMACH1 Connector
Pin#
1
2
6
7
8
9
10
11
3
4
5
12
13
14
15
16
17
18
19
20
21
22
23
Symbol
+5V
+5V
GND
GND
CHA1+
CHA1-
CHB1+
CHB1-
CHC1+
CHC1-
CHU1
CHV1
CHW1
CHT1
USER1
PLIM1
MLIM1
HOME1
ACCFLT1
WD0/
SCLK12+
SCLK12-
ADC_CLK1+
Function Description
Output / Input +5V power
Front View
Notes
For external circuit or from external supply
Output / Input +5V power
Common
Common
Input
For external circuit or from external supply
Reference voltage
Reference voltage
Encoder 1 positive A channel Also pulse input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Positive overtravel limit
Negative overtravel limit
Home switch input
Accessory fault flag
Output Watchdog output
Input / Output Encoder sample clock
Input / Output Encoder sample clock
Output
Encoder 1 negative A channel Also pulse input
Encoder 1 positive B channel Also direction input
Encoder 1 negative B channel Also direction input
Encoder 1 positive C channel Index channel
Encoder 1 negative C channel Index channel
Channel 1 U flag Hall effect, fault code, or subcount
Channel 1 V flag Hall effect, fault code, or subcount
Channel 1 W flag
Channel 1 T flag
General purpose user flag
Hall effect, fault code, or subcount
Fault code, or sub-count
Hardware capture flag, or subcount
Hardware capture flag
A/D converter clock
Hardware capture flag
Hardware capture flag
For loss of ACC supply voltage
Low is PMAC watchdog fault
Direction controlled by PMAC2 jumper
Direction controlled by PMAC2 jumper
Programmable frequency
Base Board Connector Pinouts 23
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 JMACH1 Connector
(Continued)
Pin# Symbol
25
26
ADC_STB1+
ADC_STB1-
27 ADC_DAA1+
Function Description
Output
Output
Input
Front View
Notes
A/D converter strobe
A/D converter strobe
Programmable sequence
Programmable sequence
Channel A ADC serial data MSB first
28 ADC_DAA1-
29 ADC_DAB1+
30 ADC_DAB1-
31
32
AENA1+
AENA1-
33
34
FAULT1+
FAULT1-
35 PWMATOP1+
DAC_CLK1+
36 PWMATOP1-
DAC_CLK1-
37 PWMABOT1+
DAC1A+
38 PWMABOT1-
DAC1A-
39 PWMBTOP1+
DAC_STB1+
40 PWMBTOP1-
DAC_STB1-
41 PWMBBOT1+
DAC1B+
42 PWMBBOT1-
DAC1B-
43 PWMCTOP1+
DIR1+
44 PWMCTOP1-
DIR1-
45 PWMCBOT1+
PULSE1+
46 PWMCBOT1-
PULSE1-
47
48
GND
GND
49 +5V
50
51
52
53
54
55
+5V
+5V
+5V
GND
GND
CHA2+
Input
Input
Input
Output
Output
Input
Input
Output
Output
Output
Output
Channel A ADC serial data MSB first
Channel B ADC serial data MSB first
Channel B ADC serial data MSB first
Amplifier enable
Amplifier enable
High is enable
Low is enable
Amplifier fault
Amplifier fault
Phase A Top CMD or DAC clock
Phase A Top CMD or DAC clock
Phase A Bottom CMD or
DAC A serial data
Phase A Bottom CMD or
DAC A serial data
Programmable polarity
Programmable polarity
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Output
Output
Output
Output
Output
Output
Phase B Top CMD or DAC strobe
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 or PFM direction
Phase B Top CMD or PFM direction
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Output
Output
Common
Common
Phase B Bottom CMD or
PFM pulse
Phase B Bottom CMD or
PFM pulse
Reference voltage
Reference voltage
Output / Input +5V power
Output / Input +5V power
Programmable function control
Programmable function control
For external circuit or from external supply
For external circuit or from external supply
Output / Input +5V power
Output / Input +5V power
Common
Common
Input
For external circuit or from external supply
For external circuit or from external supply
Reference voltage
Reference voltage
Encoder 2 positive A channel Also pulse input
24 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 JMACH1 Connector
(Continued)
Pin#
56
57
58
Symbol
CHA2-
CHB2+
CHB2-
Function Description
Input
Input
Input
Front View
Notes
Encoder 2 negative A channel Also pulse input
Encoder 2 positive B channel Also direction input
Encoder 2 negative B channel Also direction input
59
60
61
CHC2+
CHC2-
CHU2
62
63
64
65
66
67
68
69
70
71
72
CHV2
CHW2
CHT2
USER2
PLIM2
MLIM2
HOME2
ACCFLT2
WD0/
SCLK12+
SCLK12-
73
74
75
ADC_CLK2+
ADC_CLK2-
ADC_STB2+
76 ADC_STB2-
77 ADC_DAA2+
78 ADC_DAA2-
79 ADC_DAB2+
80 ADC_DAB2-
81
82
83
AENA2+
AENA2-
FAULT2+
84 FAULT2-
85 PWMATOP2+
DAC_CLK2+
86 PWMATOP2-
DAC_CLK2-
87 PWMABOT2+
DAC2A+
88 PWMABOT2-
DAC2A-
89 PWMBTOP2+
DAC_STB2+
Input
Input
Input
Input
Input
Input
Input
Encoder 2 positive C channel Index channel
Encoder 2 negative C channel Index channel
Channel 2 U flag Hall effect, fault code, or subcount
Channel 2 V flag Hall effect, fault code, or subcount
Channel 2 W flag
Channel 2 T flag
General purpose user flag
Hall effect, fault code, or subcount
Fault code, or sub-count
Hardware capture flag, or subcount
Hardware capture flag Input
Input
Input
Input
Positive overtravel limit
Negative overtravel limit
Home switch input
Accessory fault flag
Output Watchdog output
Input / Output Encoder sample clock
Hardware capture flag
Hardware capture flag
For loss of ACC supply voltage
Input / Output Encoder sample clock
Output
Output
Output
A/D converter clock
A/D converter clock
A/D converter strobe
Low is PMAC watchdog fault
Direction controlled by PMAC2 jumper
Direction controlled by PMAC2 jumper
Programmable frequency
Programmable frequency
Programmable sequence
Output
Input
Input
Input
Input
Output
Output
Input
Input
Output
A/D converter strobe Programmable sequence
Channel A ADC serial data MSB first
Channel A ADC serial data MSB first
Channel B ADC serial data
Channel B ADC serial data
Amplifier enable
Amplifier enable
Amplifier fault
Amplifier fault
Phase A Top CMD or DAC clock
MSB first
MSB first
High is enable
Low is enable
Programmable polarity
Programmable polarity
Programmable function control
Output
Output
Output
Output
Phase A Top CMD or DAC clock
Phase A Bottom CMD or
DAC A serial data
Phase A Bottom CMD or
DAC A serial data
Phase B Top CMD or DAC strobe
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Base Board Connector Pinouts 25
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 JMACH1 Connector
(Continued)
Pin# Symbol
90 PWMBTOP2-
DAC_STB2-
91 PWMBBOT2+
DAC2B+
92 PWMBBOT2-
DAC2B-
Function Description
Output
Output
Output
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
Front View
Notes
Programmable function control
Programmable function control
Programmable function control
93 PWMCTOP2+
DIR2+
94 PWMCTOP2-
DIR2-
Output
Output
Phase B Top CMD or PFM direction
Phase B Top CMD or PFM direction
Programmable function control
Programmable function control
95 PWMCBOT2+
PULSE2+
96 PWMCBOT2-
PULSE2-
97
98
GND
GND
Output
Output
Common
Common
Phase B Bottom CMD or
PFM pulse
Phase B Bottom CMD or
PFM pulse
Reference voltage
Reference voltage
Programmable function control
Programmable function control
99
100
+5V
+5V
Output / Input +5V power
Output / Input +5V power
For external circuit or from external supply
For external circuit or from external supply
The JMACH1 connector provides the interface pins for channels 1 and 2. Usually, it is connected to a breakout board, such as one of the Acc-8x family of boards, or an application-specific interface board.
J10 (JMACH2) Connector Description
8
9
10
11
3
4
5
6
7
J10 JMACH2 Connector
Pin#
1
2
12
13
Symbol
+5V
+5V
GND
GND
CHA3+
CHA3-
CHB3+
CHB3-
CHC3+
CHC3-
CHU3
CHV3
CHW3
Function
Common
Common
Input
Input
Input
Input
Input
Input
Input
Description
Output / Input +5V power
Output / Input +5V power
Input
Input
Front View
Notes
For external circuit or from external supply
For external circuit or from external supply
Reference voltage
Reference voltage
Encoder 3 positive A channel Also pulse input
Encoder 3 negative A channel Also pulse input
Encoder 3 positive B channel Also direction input
Encoder 3 negative B channel Also direction input
Encoder 3 positive C channel Index channel
Encoder 3 negative C channel Index channel
Channel 3 U flag
Channel 3 V flag
Channel 3 W flag
Hall effect, fault code, or subcount
Hall effect, fault code, or subcount
Hall effect, fault code, or subcount
26 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
23
24
25
ADC_CLK3+
ADC_CLK3-
ADC_STB3+
26 ADC_STB3-
27 ADC_DAA3+
28 ADC_DAA3-
29 ADC_DAB3+
30 ADC_DAB3-
31
32
33
AENA3+
AENA3-
FAULT3+
34 FAULT3-
35 PWMATOP3+
DAC_CLK3+
36 PWMATOP3-
DAC_CLK3-
37 PWMABOT3+
DAC3A+
38 PWMABOT3-
DAC3A-
39 PWMBTOP3+
DAC_STB3+
40 PWMBTOP3-
DAC_STB3-
41 PWMBBOT3+
DAC3B+
42 PWMBBOT3-
DAC3B-
43 PWMCTOP3+
DIR3+
44 PWMCTOP3-
DIR3-
45 PWMCBOT3+
PULSE3+
J10 JMACH2 Connector
(Continued)
Pin#
14
15
Symbol
CHT3
USER3
Function Description
Input
Input
Channel 3 T flag
General purpose user flag
Front View
Notes
Fault code, or sub-count
Hardware capture flag, or sub-count
16
17
18
19
20
21
22
PLIM3
MLIM3
HOME3
ACCFLT3
WD0/
SCLK34+
SCLK34-
Input
Input
Input
Input
Output
Output
Output
Output
Output
Input
Positive overtravel limit
Negative overtravel limit
Home switch input
Accessory fault flag
Watchdog output
Input / Output Encoder sample clock
Input / Output Encoder sample clock
Hardware capture flag
Hardware capture flag
Hardware capture flag
For loss of acc supply voltage
Low is PMAC watchdog fault
Direction controlled by
PMAC2 jumper
Direction controlled by
PMAC2 jumper
A/D converter clock
A/D converter clock
A/D converter strobe
Programmable frequency
Programmable frequency
Programmable sequence
A/D converter strobe Programmable sequence
Channel A ADC serial data MSB first
Input
Input
Input
Output
Output
Input
Input
Output
Output
Channel A ADC serial data MSB first
Channel B ADC serial data MSB first
Channel B ADC serial data
Amplifier enable
Amplifier enable
Amplifier fault
Amplifier fault
Phase A Top CMD or DAC clock
Phase A Top CMD or DAC clock
MSB first
High is enable
Low is enable
Programmable polarity
Programmable polarity
Programmable function control
Programmable function control
Output
Output
Output
Output
Output
Output
Output
Output
Output
Phase A Bottom CMD or
DAC A serial data
Phase A Bottom CMD or
DAC A serial data
Phase B Top CMD or DAC strobe
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 or PFM direction
Phase B Top CMD or PFM direction
Phase B Bottom CMD or
PFM pulse
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Base Board Connector Pinouts 27
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J10 JMACH2 Connector
(Continued)
Pin# Symbol
46 PWMCBOT3-
PULSE3-
47 GND
48
49
GND
+5V
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
+5V
+5V
+5V
GND
GND
CHA4+
CHA4-
CHB4+
CHB4-
CHC4+
CHC4-
CHU4
CHV4
CHW4
CHT4
USER4
PLIM4
MLIM4
HOME4
ACCFLT4
WD0/
SCLK34+
SCLK34-
73
74
ADC_CLK4+
ADC_CLK4-
75
76
ADC_STB4+
ADC_STB4-
77 ADC_DAA4+
78 ADC_DAA4-
79 ADC_DAB4+
80 ADC_DAB4-
Function Description
Output
Common
Phase B Bottom CMD or
PFM pulse
Reference voltage
Front View
Notes
Programmable function control
Common
Common
Common
Input
Input
Input
Input
Reference voltage
Output / Input +5V power
Output / Input +5V power
Output / Input +5V power
Output / Input +5V power
For external circuit or from external supply
For external circuit or from external supply
For external circuit or from external supply
For external circuit or from external supply
Reference voltage
Reference voltage
Encoder 4 positive A channel Also pulse input
Encoder 4 negative A channel Also pulse input
Encoder 4 positive B channel Also direction input
Encoder 4 negative B channel Also direction input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output
Encoder 4 positive C channel Index channel
Encoder 4 negative C channel Index channel
Channel 4 U flag Hall effect, fault code, or subcount
Channel 4 V flag Hall effect, fault code, or subcount
Channel 4 W flag
Channel 4 T flag
General purpose user flag
Hall effect, fault code, or subcount
Fault code, or sub-count
Hardware capture flag, or sub-count
Hardware capture flag Positive overtravel limit
Negative overtravel limit
Home switch input
Accessory fault flag
Watchdog output
Input / Output Encoder sample clock
Input / Output Encoder sample clock
Hardware capture flag
Hardware capture flag
For loss of ACC supply voltage
Low is PMAC watchdog fault
Direction controlled by
PMAC2 jumper
Direction controlled by
PMAC2 jumper
Output
Output
Output
Output
Input
Input
Input
Input
A/D converter clock
A/D converter clock
Programmable frequency
Programmable frequency
A/D converter strobe
A/D converter strobe
Programmable sequence
Programmable sequence
Channel A ADC serial data MSB first
Channel A ADC serial data MSB first
Channel B ADC serial data MSB first
Channel B ADC serial data MSB first
28 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J10 JMACH2 Connector
(Continued)
Pin#
81
82
83
Symbol
AENA4+
AENA4-
FAULT4+
Function Description
Output
Output
Input
Amplifier enable
Amplifier enable
Amplifier fault
Front View
Notes
High is enable
Low is enable
Programmable polarity
84 FAULT4-
85 PWMATOP4+
DAC_CLK4+
86 PWMATOP4-
DAC_CLK4-
87 PWMABOT4+
DAC4A+
88 PWMABOT4-
DAC4A-
89 PWMBTOP4+
DAC_STB4+
90 PWMBTOP4-
DAC_STB4-
91 PWMBBOT4+
DAC4B+
92 PWMBBOT4-
DAC4B-
93 PWMCTOP4+
DIR4+
Input
Output
Output
Output
Output
Output
Output
Output
Output
Output
Amplifier fault
Phase A Top CMD or DAC clock
Phase A Top CMD or DAC clock
Phase A Bottom CMD or
DAC A serial data
Phase A Bottom CMD or
DAC A serial data
Phase B Top CMD or DAC strobe
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 or PFM direction
Programmable polarity
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
94 PWMCTOP4-
DIR4-
95 PWMCBOT4+
PULSE4+
96 PWMCBOT4-
PULSE4-
97
98
99
100
GND
GND
+5V
+5V
Output
Output
Output
Phase B Top CMD or PFM direction
Phase B Bottom CMD or
PFM pulse
Phase B Bottom CMD or
PFM pulse
Common
Common
Reference voltage
Reference voltage
Output / Input +5V power
Output / Input +5V power
Programmable function control
Programmable function control
Programmable function control
For external circuit or from external supply
For external circuit or from external supply
The JMACH2 connector provides the interface pins for channels 3 and 4. Usually, it is connected to a breakout board, such as one of the Acc-8x family of boards, or an application-specific interface board.
Base Board Connector Pinouts 29
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
TB1 (2/4-Pin Terminal Block)
This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2 board when it is not in a bus configuration. When the PMAC2 Lite is in a bus configuration, these supplies come through the bus connector from the bus power supply automatically; in this case, this terminal block should not be used.
Pin#
1
2
Symbol
GND
+5V
Function Description
Common
Input
Reference voltage
Positive supply voltage
Notes
Supplies all PMAC digital circuits
3
4
+12V
-12V
Input
Input
Positive supply voltage
Negative supply voltage
+12v to +15v; not required on-board; used on J1 to supply analog inputs
-12v to -15v; required for opt-12 ADCs; used on J1 to supply analog inputs
Note: Unless Option 12 (Analog-to-Digital Converters) is included on the board, only pins 1 and 2 will be provided on this terminal block.
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#
1
2
3
Symbol
WD_NC
COM
WD_NO
Function Description
Output
Input
Output
Watchdog relay out
Watchdog return
Watchdog relay out
Notes
Normally closed
+V or 0V
Normally open
Note: The normally closed relay contact is open while PMAC2 Lite is operating properly — it has power and the watchdog timer is not tripped. This contact is closed when the PMAC2 Lite is not operating properly (either the PMAC has lost power or the watchdog timer has tripped). The normally open relay contact is closed while PMAC2 is operating properly, and open when PMAC2 is not operating properly.
30 Base Board Connector Pinouts
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