Delta Tau UMAC Turbo Hardware Reference Manual

Delta Tau UMAC Turbo Hardware Reference Manual
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^1 HARDWARE REFERENCE MANUAL
^2 3U Turbo CPU Board
(3U Turbo PMAC2)
^3 HRM for UMAC Turbo & Turbo Stack
^4 3xx-603382-xHxx
^5 January 29, 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
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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 exposed to hazardous or conductive
materials and/or environments, we cannot guarantee their operation.
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
Contents
INTRODUCTION .....................................................................................................................................................................1
UMAC CPU Boards ....................................................................................................................................................................1
Associated Manuals .....................................................................................................................................................................1
3U Board Configurations.............................................................................................................................................................1
3U Product Configurations (General Description) ......................................................................................................................3
UMAC CPU Basic Specifications ...............................................................................................................................................4
Physical Specifications ..........................................................................................................................................................4
Electrical Specifications ........................................................................................................................................................4
3U TURBO CPU BOARD CONFIGURATION .....................................................................................................................5
Option 2: Bus Interfaces ..............................................................................................................................................................5
Option 4: CPU Type ....................................................................................................................................................................5
Option 5: CPU & Memory Configurations..................................................................................................................................5
Option 8: High-Accuracy Clock Crystal......................................................................................................................................6
Option 9: Serial Port Configuration.............................................................................................................................................6
Option 10: Firmware Revision Specification...............................................................................................................................6
Option 16: Battery-Backed Parameter Memory ..........................................................................................................................6
Option 18: Identification Number & Real Time Clock/Calendar Module...................................................................................7
HARDWARE SETUP ...............................................................................................................................................................9
Clock Source Jumpers .................................................................................................................................................................9
Watchdog Timer Jumper .............................................................................................................................................................9
Operation Mode Jumpers.............................................................................................................................................................9
Firmware Reload Jumper.............................................................................................................................................................9
Re-Initialization Jumper ..............................................................................................................................................................9
Reference Voltage Connect Jumper.............................................................................................................................................9
Interrupt Select Jumpers ..............................................................................................................................................................9
Serial-Port Level Select Jumpers ...............................................................................................................................................10
Re-Initialization Jumper ............................................................................................................................................................10
CONNECTIONS......................................................................................................................................................................11
Stack Connections .....................................................................................................................................................................11
Backplane (UMAC) Connections ..............................................................................................................................................11
PC/104 Connections ..................................................................................................................................................................11
Serial Port Connections .............................................................................................................................................................11
Power Supply Connections........................................................................................................................................................11
TURBO CPU BOARD JUMPERS AND PINOUTS.............................................................................................................13
E0:
Factory Use Only..........................................................................................................................................................13
E1A: Servo and Phase Clock Direction Control........................................................................................................................14
E1B:
Servo/Phase Clock Source Control.............................................................................................................................14
E2:
Reserved for future use.................................................................................................................................................14
E3:
Re-Initialization on Reset Control ................................................................................................................................14
E4:
Reserved for future use................................................................................................................................................14
E7 – E10: IRQ PC Interrupt Select .......................................................................................................................................14
E12: Digital/Analog Reference Connect...............................................................................................................................15
E17 – E18:
Serial Port Select .............................................................................................................................................15
E19: Watchdog Disable Jumper............................................................................................................................................15
E20 – E22:
Power-Up/Reset Load Source..........................................................................................................................15
E23: Firmware Reload Enable ..............................................................................................................................................15
DIP Switch Block S1: PC Bus Base Address ...........................................................................................................................16
TURBO PMAC2 3U CPU BOARD CONNECTOR SUMMARY.......................................................................................17
TURBO PMAC2 3U CPU BOARD CONNECTOR PINOUTS ..........................................................................................19
J7: RS-232/422 Serial Port Connector......................................................................................................................................19
J8: Auxiliary Serial Port Connector (RS232) ...........................................................................................................................20
TB1: 4-Pin Terminal Block .......................................................................................................................................................20
ACCESSORIES .......................................................................................................................................................................21
Contents
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
Contents
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
INTRODUCTION
Delta Tau’s 3U-format Turbo PMAC systems combine the power of the Turbo PMAC family with an integrated
packaging strategy that gives the user revolutionary flexibility and ease of use. The heart of these systems is the
3U Turbo PMAC CPU board, described in this manual. It can either be assembled with piggyback accessory
boards to form a “Turbo Stack,” or connected through a backplane to rack-mounted accessories to form a UMAC
(Universal Motion and Automation Controller) Turbo system. UMAC systems provide integrated connectivity as
well as ease of assembly, diagnostics, and repair.
UMAC CPU Boards
The UMAC is available with either of two CPU boards – Turbo PMAC2 or MACRO Station.
The Turbo PMAC2 CPU board creates a “UMAC Turbo,” a full PMAC controller completely capable of
standalone operation.
The MACRO Station CPU board creates a “UMAC MACRO.” It is a remote slave node on a MACRO ring,
requiring a PMAC2 controller to command it over the ring.
This manual describes the hardware for the UMAC Turbo CPU board; for the UMAC MACRO CPU board,
consult the hardware reference manual for that product.
Associated Manuals
This document is the Hardware Reference Manual for the 3U Turbo CPU board for a UMAC Turbo system. It
describes the hardware features and provides setup instructions.
You will need other manuals as well to use your UMAC Turbo system. Each accessory to the 3U Turbo CPU
board has its own manual, describing its operation and any required software setup of the Turbo CPU.
You will also need the Software Reference Manual for the Turbo PMAC family, and the User’s Guide for the
PMAC or Turbo PMAC families.
3U Board Configurations
The 3U boards can be configured in either of two fundamental assemblies – "UMAC " and "Stack."
•
UMAC – In the UMAC configuration (once called "Pack") the 3Uformat boards are put together to communicate through a backplane
bus called the UBUS, with all boards installed in a Euro-card rack. In
this configuration, all 3U-format boards or modules can be installed or
withdrawn from the pack individually, providing ease of installation,
debugging, and repair.
The photo at right shows two boards connected through a backplane in
the UMAC configuration. They are not connected directly to each
other.
•
Stack – In the Stack configuration the 3U-format boards are put
together as a stack of piggyback boards, (right, below). This
configuration is ideal for compact, cost-sensitive embedded
applications.
Two boards in UMAC
Configuration
Introduction
1
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
Note:
The Stack boards and related breakout boards can be
installed in a Euro-card rack, creating a hybrid
“stack/pack” configuration. Because the Stack boards
were developed first, this originally was the only way of
creating a “pack” configuration, and pulling boards for
service was an awkward chore. This configuration should
now be used for existing “legacy” systems only.
Two Boards in Stack
Configuration
The following two photos show typical UMAC and Stack configurations. They are intended only to show what a
completed system may look like, not to be instructions on how to put a particular system together.
Sample UMAC Configuration:
Turbo PMAC2 CPU & PC/104, ACC-24E2 4-Axis Interface, ACC-10E 48 Out, ACC-9E 48 In,
ACC-11E 24 In/24 Out Low Power, Accessory E Power Supply
Sample "Stack" Configuration
PC/104 Computer, Turbo PMAC2 CPU, 2 ACC-2E 4-Axis Interface Boards
2
Introduction
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
3U Product Configurations (General Description)
Assemblies of 3U-format boards can be made with either of two CPU processor boards – a 3U MACRO-CPU
board, or a 3U Turbo PMAC2 CPU board. Most other 3U-format boards, labeled “Accessory” boards, can be
used with either CPU board.
•
•
When the 3U MACRO-CPU board is used, the resulting assemblies are called “UMAC MACRO” or "3U
MACRO Stack."
When the 3U Turbo PMAC2 CPU board is used, the resulting assemblies are called “UMAC Turbo” or
"Turbo Stack."
Refer to the "UMAC & 3U Stack Products Selection Guide" for more detailed descriptions of how the rack and
stack products are integrated.
UMAC and 3U-Stack Products
UMAC Products
Stack Products
UMAC Turbo
UMAC MACRO
Turbo Stack
MACRO Stack
The UMAC Turbo is composed of
a 3U-format Turbo PMAC2 CPU
board and a set of accessory boards
in 3U-format, all plugged in a
common UBUS backplane and
installed inside a 3U format rack. A
PC/104 computer and several
optional
communication
accessories (including all of the
major FieldBuses, MACRO and
Ethernet) can be installed inside the
UMAC
system
providing
convenient flexibility and virtually
unlimited expandability.
The UMAC MACRO is composed
of a MACRO Interface/CPU board
and a set of accessory boards in 3Uformat, all plugged in a common
UBUS backplane and installed
inside a 3U format rack. The UMAC
MACRO must receive commands
from
an
external
MACRO
compatible device like a PMAC2
Ultralite or a UMAC Turbo system.
The UMAC MACRO does not
support a PC/104 or communication
accessories and it is preferred for
distributed control over a MACRO
ring connection.
The Turbo stack is composed of a
3U-format Turbo PMAC2 CPU
board and a set of accessory boards
in 3U-format plugged to it in a stack
configuration. The Turbo stack
configuration is less expensive than
the UMAC Turbo system but it is
limited to eight axes of motion
control versus 32 axes on a UMAC
Turbo system. The Turbo Stack is
selected over a UMAC Turbo
system because is more compact,
allowing its installation inside
already existing cabinets with some
space limitations.
The MACRO stack is composed of
a MACRO Interface/CPU board
and a set of accessory boards in
3U-format plugged to it in a stack
configuration.
The
UMAC
MACRO must receive commands
from an external MACRO
compatible device like a PMAC2
Ultralite or a UMAC Turbo
system. The MACRO Stack is
selected over a UMAC MACRO
syst em because it is more compact,
allowing its installation inside
already existing cabinets with some
space limitations.
Introduction
3
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
UMAC CPU Basic Specifications
Physical Specifications
Size:
33.5cm x 9.9cm x 3.8cm (13.2" x 3.9" x 1.4")
Weight:
¼ lb.
Temperature
Operating:
0°C to 60°C (32°)F to 140°F)
Storage:
12°C to 82°C (10°F to 180°F)
Humidity:
10% to 95%, noncondensing
Electrical Specifications
Power:
1A @ +5V (±5%)
Battery:
3.0V Lithium Cell, 1200mAh, 2/3A-size, no tabs; or 3.6V Lithium Cell, 1000 mAh, 1.00"
can
Expected battery life: 10 years (standard), 6-9 months (Opt. 5).
Recommended replacement: 24 months (standard), 3-6 months (Opt. 5)
4
Introduction
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
3U TURBO CPU BOARD CONFIGURATION
The base version of the 3U Turbo PMAC2 CPU board provides a 1-slot 3U-format Eurocard board with:
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•
•
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•
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80 MHz DSP56303 CPU (120 MHz PMAC equivalent)
128k x 24 SRAM compiled/assembled program memory (Opt. 5C0)
128k x 24 SRAM user data memory (Opt. 5C0)
1M x 8 flash memory for user backup & firmware (Opt. 5C0)
Latest released firmware version
RS-232/422 serial interface
Inter-board “stack” connectors for piggyback servo and I/O accessory boards
Backplane UBUS expansion connector for “pack” servo and I/O accessory boards
If the “3A0” part prefix for the CPU board is ordered, the board comes with a standard Eurocard front plate with
top and bottom installation screws. (Top and bottom plates are provided with the ACC-Px pack frame.
Option 2: Bus Interfaces
The 3U Turbo PMAC2 CPU board comes standard only with a serial interface. Option 2 provides a faster bus
interface for high-speed communications. The interface is PC/104 bus compatible (mechanical, electrical, and
software), so it is software-compatible with the ISA bus. However, the board is not PC/104 form-factor
compliant, and it can only be placed on top of a PC/104 stack.
•
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Option 2: PC/104 interface. Stacking connectors from solder side of CPU board.
Option 2B: 32k x 16 bank of on-board dual-ported RAM (requires Option 2)
Option 4: CPU Type
The Turbo PMAC2-3U CPU board comes standard with a DSP56303 CPU IC as component U1. This CPU has
enough internal memory to process the servo and commutation for the first 15 motors entirely from internal
memory; these algorithms for the last 17 motors must be processed from slower external memory. The optional
DSP56309 CPU has additional internal memory, so the processing of these motors is significantly improved. The
processor type in the board is reported on receipt of the CPU command.
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Option 4C: 80 MHz DSP56309 CPU IC. Recommended for control of more than 16 axes, especially with
PMAC-based commutation. Not compatible with any Option 5Dx.
Option 4D: 100 MHz DSP56309 CPU IC. Recommended for control of more than 16 axes, especially with
PMAC-based commutation. Not compatible with any option 5Cx
Option 5: CPU & Memory Configurations
The various versions of Option 5 provide different CPU speeds and main memory sizes on the piggyback CPU
board. Only one Option 5xx may be selected for the board.
The CPU is a DSP5630x IC as component U1. It is currently available only as an 80 MHz or 100 MHz device
(with computational power equivalent to a 120 MHz or 150 MHz non-Turbo PMAC, respectively), but higher
speed versions will be available shortly.
The compiled/assembled-program “P”memory SRAM ICs are located in U14, U15, and U16. These ICs form the
active memory for the firmware, compiled PLCs, and user-written phase/servo algorithms. These can be 128k x 8
ICs (for a 128k x 24 bank), fitting in the smaller footprint, or they can be the larger 512k x 8 ICs (for a 512k x 24
bank), fitting in the full footprint.
The user-data memory (“x/y”) SRAM ICs are located in U11, U12, and U13. These ICs form the active memory
for user motion programs, uncompiled PLC programs, and user tables and buffers. These can be 128k x 8 ICs (for
a 128k x 24 bank), fitting in the smaller footprint, or they can be the larger 512k x 8 ICs (for a 512k x 24 bank),
fitting in the full footprint.
3U Turbo CPU Board Configuration
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
The flash memory IC is located in U10. 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.
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Option 5C0 is the standard CPU and memory configuration. It is provided automatically if no Option 5xx is
specified. It provides an 80 MHz CPU (120 MHz PMAC equivalent), 128k x24 of compiled/assembled
program memory, 128k x 24 of user data memory; and a 1M x 8 flash memory.
Option 5C1 provides an 80 MHz CPU (120 MHz PMAC equivalent), 128k x 24 of compiled/assembled
program memory, an expanded 512k x 24 of user data memory, and a 2M x 8 flash memory.
Option 5C2 provides an 80 MHz CPU (120 MHz PMAC equivalent), an expanded 512k x 24 of
compiled/assembled program memory, 128k x 24 of user data memory, and a 2M x 8 flash memory.
Option 5C3 provides an 80 MHz CPU (120 MHz PMAC equivalent), an expanded 512k x 24 of
compiled/assembled program memory, an expanded 512k x 24 of user data memory, and a 4M x 8 flash
memory. Check factory for availability of this option.
Option 5D0 provides a 100 MHz CPU (150 MHz PMAC equivalent), 128k x24 of compiled/assembled
program memory, 128k x 24 of user data memory; and a 1M x 8 flash memory.
Option 5D1 provides a 100 MHz CPU (150 MHz PMAC equivalent), 128k x 24 of compiled/assembled
program memory, an expanded 512k x 24 of user data memory, and a 2M x 8 flash memory.
Option 5D2 provides a 100 MHz CPU (150 MHz PMAC equivalent), an expanded 512k x 24 of
compiled/assembled program memory, 128k x 24 of user data memory, and a 2M x 8 flash memory.
Option 5D3 provides a 100 MHz CPU (150 MHz PMAC equivalent), an expanded 512k x 24 of
compiled/assembled program memory, an expanded 512k x 24 of user data memory, and a 4M x 8 flash
memory. Check factory for availability of this option.
Option 8: High-Accuracy Clock Crystal
The 3U Turbo CPU board has a clock crystal (component Y1) of nominal frequency 19.6608 MHz (~20 MHz).
The standard crystal’s accuracy specification is +/-100 ppm.
• Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.
Option 9: Serial Port Configuration
The 3U Turbo CPU board comes standard with a single RS-232/422 serial port, a second serial port can be added.
•
Option 9T adds an auxiliary RS-232 port on the CPU board. The key components added are IC U22 and
connector J8 on the CPU board.
Option 10: Firmware Revision Specification
Normally the 3U Turbo CPU board is provided with the newest released firmware revision. Some users may wish
to “freeze” their designs on an older revision. A label on the U10 flash memory IC shows the firmware revision
loaded at the factory. The VERSION command can be used to report what firmware revision is currently
installed.
•
Option 10 provides for a user-specified firmware version.
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 power-down. The battery is located at
component BT1.
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6
Option 16A provides a 32k x 24 bank of battery-backed parameter RAM in components U17, U18, and U19,
fitting in the smaller footprint for those locations.
Option 16B provides a 128k x 24 bank of battery-backed parameter RAM in components U17, U18, and U19,
filling the full footprint for those locations.
3U TurboCPU Board Configuration
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Option 18: Identification Number & Real Time Clock/Calendar Module
Option 18 provides a module at location U5 on the CPU board that contains an electronic identification number,
and possibly a real-time clock/calendar.
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•
Option 18A provides an electronic identification-number module.
Option 18B provides an electronic identification-number module with a battery-backed real-time clock and
calendar. The year representation in the calendar is a 4-digit value, so there are no “Y2K” problems.
3U Turbo CPU Board Configuration
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
8
3U TurboCPU Board Configuration
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
HARDWARE SETUP
Clock Source Jumpers
In order to operate, the Turbo CPU board must receive servo and phase clock signals from a source external to the
board. These clock signals can be brought into the board from one of three possible ports: the stack connector,
the UBUS backplane connector, or the front-side main serial-port connector. Jumpers E1A and E1B must be
configured properly for the clock source you use.
To receive the clock signals over the UBUS backplane, usually from an ACC-24E2x axis-interface board or an
ACC-5E MACRO-interface board, E1A must connect pins 1 and 2, and E1B must connect pins 2 and 3. This
configuration is typical for a UMAC Turbo “pack” system. The clock signals are output on the main serial port.
To receive the clock signals through the stack connectors, usually from an ACC-2E axis-interface board, E1A
must connect pins 1 and 2, and the E1B jumper must be removed. This configuration is typical for a Turbo Stack
system. The clock signals are output on the main serial port.
To receive the clock signals through the main serial port, usually from another PMAC system or a reference
signal generator, E1A must connect pins 2 and 3, and E1B must connect pins 1 and 2. This configuration is rarely
used, but permits complete synchronization to the system that is generating the clock signals.
Watchdog Timer Jumper
Jumper E19 should be OFF for normal operation, leaving the watchdog timer circuit active and prepared to shut
down the card in case of a severe problem. Putting jumper E19 ON disables the watchdog timer circuit. This
should only be used for test purposes, in trying to track down the source of watchdog timer trips. Normal
operation of a system with this jumper ON should never be attempted, as an important safety feature is disabled.
Operation Mode Jumpers
Jumpers E20, E21, and E22 control the operational mode of the 3U Turbo CPU. For normal operation, E20 must
be OFF, E21 must be ON, and E22 must be ON. Other settings of these jumpers are for factory use only.
Firmware Reload Jumper
Jumper E23 should be OFF for normal operation. If you want to load new firmware into the flash-memory IC on
the CPU, E23 should be ON when the card is powered up. This puts the card in “bootstrap mode”, ready to
accept new firmware. If you then try to establish communications to the card with the Executive program, either
over the main serial port or the PC/104 bus port, the Executive program will automatically recognize that the card
is in bootstrap mode, and prompt you for the firmware file to download.
Re-Initialization Jumper
Jumper E3 should be OFF for normal operation, where the last saved I-variable values are loaded from flash
memory into active memory at power-up/reset. If E3 is ON during power-up/reset, the factory default I-variable
values are instead loaded into active memory at power-up/reset. The last saved values are not lost when this
happens. This jumper is typically only used when the system’s set up has a problem severe enough that
communications does not work – otherwise, a $$$*** command can be used for re-initialization.
Reference Voltage Connect Jumper
Jumper E12 permits the reference voltage for the analog and digital circuits in the 3U Turbo PMAC2 system to be
tied together. If you are not isolating the analog circuits from the digital circuits, this jumper should be ON.
(Note that in a Turbo Stack system, you cannot isolate these circuits from each other.) If you are isolating the
analog circuits from the digital circuits, using separate isolated supplies for the two circuits, this jumper should be
OFF.
Interrupt Select Jumpers
If the Option 2 PC/104-bus interface is installed, the 3U Turbo CPU can interrupt the PC/104 host computer over
one of four interrupt lines as selected by jumpers E7 – E10. At most one of these jumpers should be ON in any
configuration.
3U Turbo CPU Board Configuration
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
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•
E7 ON selects interrupt line IRQ10
E8 ON selects interrupt line IRQ11
E9 ON selects interrupt line IRQ12
E10 ON selects interrupt line IRQ15
Serial-Port Level Select Jumpers
The standard J7 serial port can be used for either RS-232 or RS-422 serial communications. To use RS-232,
jumpers E17 and E18 should connect pins 1 and 2; to use RS-422, jumpers E17 and E18 should connect pins 2
and 3.
Re-Initialization Jumper
If jumper E3 is installed when the board is powered-up or reset, the board firmware will go through a reinitialization process, returning most I-variables to factory default values. It will also go through an system autodetection process, selecting which of the Servo ICs and MACRO ICs that it finds will be the source of the servo
and phase clock signals for the system.
10
Hardware Setup
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
CONNECTIONS
Stack Connections
If the 3U Turbo CPU board is used in a “Turbo Stack” configuration, the stack accessory boards (ACC-2E, 3E,
4E, and 6E) are mounted on top (component side) of the CPU board. The solder-side prong connectors of these
stack boards insert into the mating component-side sockets of the board below it. All four corners of these boards
provide mounting holes for standoff connections between boards. The stacking connectors provide for the
Eurocard “4T” standard of 20mm (0.8”) spacing between boards, so standoff lengths must be chosen accordingly.
If Delta Tau assembles the stack, it will install the proper standoffs.
Backplane (UMAC) Connections
To connect the 3U Turbo CPU board to the UBUS backplane, simply insert the P1 connector into one of the
sockets on an ACC-Ux UBUS backplane board. It does not matter which socket on the UBUS backplane board is
used, although customarily, the CPU board is installed in the leftmost slot. Typically the backplane board will
already have been installed in a Eurorack frame (ACC-Px or equivalent), so the CPU board is simply slid into one
of the slot guides in the frame until mates with the backplane board; then the front-plate screws are tightened for a
firm connection to the rack and backplane.
If a power supply has been connected to the UBUS backplane board, this power will automatically be supplied to
the Turbo CPU board. The UBUS backplane board is capable of supplying isolated analog and digital supplies,
but the 3U-format power supplies (ACC-Ex, ACC-F) provided by Delta Tau do not keep these two supplies
isolated from each other.
PC/104 Connections
If the Option 2 PC/104 connector is installed, the 3U Turbo CPU board may be mounted on the top of a PC/104
stack. Because it does not pass the connector through, it may only be mounted on the top of such a stack. The 3U
Turbo CPU board has four mounting holes in the standard PC/104 locations for standoff connections to the
PC/104 stack. Note that the PC/104 connector used on the 3U Turbo CPU board provides for the Eurocard “4T”
standard of 20mm (0.8”) spacing between boards, not the PC/104 standard of 15mm (0.6”), so standoff lengths
must be chosen accordingly.
Serial Port Connections
The standard J7 serial-port connector on the front edge of the 3U Turbo CPU board is an IDC 26-pin header. The
connector is designed so a standard flat-cable connection (such as a Delta Tau ACC-3D cable) to a DB-25
connector can be used. From there, a standard DB25-to-DB9 adapter can be used if necessary. The servo and
phase clock signals can either be input or output on this connector, depending on the setting of jumpers E1A and
E1B.
The auxiliary J8 serial-port connector that comes with Option 9T is an IDC 10-pin header. The connector is
designed so a standard flat-cable connection (such as a Delta Tau ACC-3L cable) to a DB-9 connector can be
used. From there, a standard DB9-to-DB25 adapter can be used if necessary.
Power Supply Connections
The TB1 4-point terminal block on the Turbo CPU board can be used to bring in +5V and +/-15V power to the
system, particularly in a stack configuration. (In a “UMAC” backplane configuration, the power is almost always
brought in through the UBUS backplane board instead.) Note that with a single reference voltage on this
connector, there can be no isolation between the supplies (stack configurations have no provisions for isolating
analog and digital supplies anyway).
3U Turbo CPU Board Configuration
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11
3U Turbo CPU Board for UMAC Turbo & Turbo Stack
Connections
12
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
TURBO CPU BOARD JUMPERS AND PINOUTS
The "Location" columns of the following tables refer to the mapped locations shown in the drawing below:
CPU Card Layout
Note:
Pin 1 of an E-point is masked by an "X" in white ink on the composite side, and by a square
solder pad on the solder side.
E0:
Factory Use Only
Turbo CPU Board Jumpers and Pinouts
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13
3U Turbo CPU Board for UMAC Turbo & Turbo Stack
E1A: Servo and Phase Clock Direction Control
E Point &
Physical Layout
Location
Description
Default
A-2
Jump pins 1 and 2 or remove jumper for the UMAC Turbo system
to use its internally generated servo and phase clock signals and to
output these signals on the J7 serial port connector on the Turbo
CPU board. E1B should connect pins 2 and 3 or be removed.
Pins 1-2
jumpered
Jump pins 2 and 3 for the UMAC Turbo system to expect to
receive its servo and phase clock signals on the J7 serial port
connector on the Turbo CPU board. E1B should also connect pins
1 and 2.
E1B: Servo/Phase Clock Source Control
E Point &
Physical Layout
Location
B-1
Description
Jump pin 1 to 2 to get phase and servo clocks from J7 RS422
connector (from an external source such as another PMAC).
Jump pin 2 to 3 to get phase and servo clocks from P1 backplane
connector (from an ACC-24E2x, or equivalent board).
Remove jumper to get phase and servo clocks from J2 Stack
connector (from an ACC-2E or equivalent board).
E2:
Reserved for future use
E3:
Re-Initialization on Reset Control
E Point &
Physical Layout
Location
C-3
E4:
Default
OFF – default
for Stack
configuration
2-3 – default for
Pack
configuration
Description
Default
Remove jumper for normal reset mode (default).
Jump pins 1 to 2 for re-initialization on reset.
No jumper
installed
Reserved for future use
E7 – E10: IRQ PC Interrupt Select
E Point &
Physical Layout
E7:
Location
C-1
E8:
C-1
E9:
C-1
E10:
C-1
14
Description
Default
Jump E7 pin 1 to 2 to permit UMAC to interrupt PC on PC/104
bus interrupt line IRQ10.
Remove E7 jumper to inhibit interrupt capability on this line.
Jump E8 pin 1 to 2 to permit UMAC to interrupt PC on PC/104
bus interrupt line IRQ11.
Remove E8 jumper to inhibit interrupt capability on this line.
Jump E9 pin 1 to 2 to permit UMAC to interrupt PC on PC/104
bus interrupt line IRQ12.
Remove E9 jumper to inhibit interrupt capability on this line.
Jump E10 pin 1 to 2 to permit UMAC to interrupt PC on PC/104
bus interrupt line IRQ15.
Remove E10 jumper to inhibit interrupt capability on this line.
No jumper
installed
No jumper
installed
No jumper
installed
No jumper
installed
Turbo CPU Board Jumpers and Pinouts
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
E12: Digital/Analog Reference Connect
E Point &
Physical Layout
Location
B-2
Description
Jump pin 1 to 2 to tie digital GND reference to analog AGND
reference when using joint supply (e.g. from TB1 or PC/104).
Remove jumper to maintain separate GND and AGND reference
voltages to keep isolation when using separate supplies.
Default
Pins 1-2
jumpered
E17 – E18: Serial Port Select
E Point &
Physical Layout
E17:
Location
Description
Default
A-3
Jump E17 pin 1 to 2 to select RS-232 serial data input from J7.
Jump E17 pin 2 to 3 to select RS-422 serial data input from J8.
Pins 1-2
jumpered
E18:
A-3
Jump E18 pin 1 to 2 to select RS-232 serial handshake input from
J7.
Jump E18 pin 2 to 3 to select RS-422 serial handshake input from
J8.
Pins 1-2
jumpered
E19: Watchdog Disable Jumper
E Point &
Physical Layout
Location
A-1
Description
Jump pin 1 to 2 to disable Watchdog timer (for test purposes
only!!).
Remove jumper to enable Watchdog timer.
Default
No jumper
installed
E20 – E22: Power-Up/Reset Load Source
E Point &
Physical Layout
E20:
Location
C-3
Description
To load active memory from flash IC on power-up/reset,
Remove jumper E20;
Jump E21 pin 1 to 2
Jump E22 pin 1 to 2.
Other combinations are for factory use only; the board will not
operate in any other configuration.
Default
No E20 jumper
installed
E21 and E22
jump pin 1 to 2
E23: Firmware Reload Enable
E Point &
Physical Layout
Location
C-3
Description
Jump pin 1 to reload firmware through serial or bus port.
Default
No jumper
installed
Remove jumper for normal operations.
Turbo CPU Board Jumpers and Pinouts
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15
3U Turbo CPU Board for UMAC Turbo & Turbo Stack
DIP Switch Block S1: PC Bus Base Address
S1B
S1A
4
3
2
1
8
7
6
5
4
3
2
1
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
⇑
⇑
⇑
⇑
⇑
⇑
⇑
⇑
⇑
⇑
⇑
⇑
⇓
⇓
⇓
⇓
⇓
⇓
⇓
⇓
⇓
⇓
⇓
⇓
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
The 12 DIP switches on block S1 (location B-3) set the base address of the Turbo PMAC2-3U on the PC/104 bus. Together
they form a binary number. Each switch, if in the ON (closed) position, sets its bit to 0; if in the OFF (open) position, sets its
bit to 1. The possible base addresses are all multiples of 16, so switch 1 sets a bit value of 16, switch 2 sets a bit value of 32,
and so on.
S1A Switch #
1
2
3
4
5
6
7
8
S1B Switch #
1
2
3
4
Bit Value
16 (10h)
32 (20h)
64 (40h)
128 (80h)
256 (100h)
512 (200h)
1024
(400h)
2048
(800h)
Default
OFF (x1)
ON (x0)
ON (x0)
ON (x0)
ON (x0)
OFF (x1)
ON (x0)
Default Value
16 (10h)
0
0
0
0
512 (200h)
0
ON (x0)
0
4096
(1000h)
8192
(2000h)
16384
(4000h)
32768
(8000h)
ON (x0)
0
ON (x0)
0
ON (x0)
0
ON (x0)
0
Your Value
528 (210h)
Total
Value:
If you wish to set the board to a different bus address, it is best to specify that address in hexadecimal form, because each hex
digit corresponds to 4 switches. The last hex digit of the base address is always zero.
For example, you wish to set the base address on the PC bus to 992 decimal, or 03E0 hex. The first "0" corresponds to
switches 1 through 4 of S1B. All of these should be ON to set their bits to 0. The "3" corresponds to switches 5 through 8 of
S1A. Switches 8 and 7 should be ON, and switches 6 and 5 should be OFF to define the "3." The "E" corresponds to
switches 1 through 4. Switches 4, 3, and 2 should be OFF, and switch 1 should be ON to define the E."
16
Turbo CPU Board Jumpers and Pinouts
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
TURBO PMAC2 3U CPU BOARD CONNECTOR SUMMARY
J1:
Stack Connector
J2:
Stack Connector
J1A, B:
PC/104 Main Connector, 64-pin prong connector (Option 2 required)
J2C, D:
PC/104 AT Connector, 40-pin prong connector (Option 2 required)
J5:
JTAG/OnCE (for factory use only): 10-pin IDC connector
J6:
JISP (for factory use only): 8-pin SIP connector
J7:
*
RS-232/RS-422 Serial Port Connector
J8:
*
Auxiliary RS-232 Serial Port (Option 9T required)
J21:
JISP_B (for factory use only) (SIP 8 connector)
P1:
UBUS Expansion Port (96-pin DIN connector)
JPWR Power Supply Connector: 4-point terminal block
TB1:
*
*
Pinouts shown in next section. Connectors not flagged with an asterisk are for internal use or factory setup.
Turbo CPU Board Jumpers and Pinouts
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17
Turbo CPU Board for UMAC Turbo & Turbo Stack
18
Turbo PMAC2 3U CPU Board Connector Summary
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
TURBO PMAC2 3U CPU BOARD CONNECTOR PINOUTS
J7: RS-232/422 Serial Port Connector
(26-pin Header at Location A-2)
Pin #
Symbol
Function
Description
Front View
Notes
1
CHASSI
Common
Turbo PMAC2-3U Common
2
S+5V
Output
+5VDC Supply
Deactivated by "ES"
3
RD- / RXDInput
Receive Data
Diff. low TRUE / low TRUE
4
RD+
Input
Receive Data
Diff. high TRUE
5
SD- / TXDOutput
Send Data
Diff. low TRUE / low TRUE
6
SD+
Output
Send Data
Diff. high TRUE
7
CS+ / CTS
Input
Clear to Send
Diff. high TRUE / high TRUE
8
CSInput
Clear to Send
Diff. low TRUE
9
RS+ / RTS
Output
Request to Send
Diff. high TRUE / high TRUE
10
RSOutput
Request to Send
Diff. low TRUE
11
DTR
Bidirect
Data Terminal Ready
Shorted to DSR
12
INIT/
Input
Turbo PMAC2-3U Reset
Low is "RESET"
13
GND
Common
Turbo PMAC2-3U Common
14
DSR
Bidirect
Data Set Ready
Shorted to DTR
15
SDIOBidirect
Special Data
Diff. I/O low TRUE
16
SDIO+
Bidirect
Special Data
Diff. I/O high TRUE
17
SCIOBidirect
Special CTRL.
Diff. I/O low TRUE
18
SCIO+
Bidirect
Special CTRL.
Diff. I/O high TRUE
19
SCKBidirect
Special Clock
Diff. I/O low TRUE
20
SCK+
Bidirect
Special Clock
Diff. I/O high TRUE
21
SERVOBidirect
Servo Clock
Diff. I/O low TRUE
22
SERVO+
Bidirect
Servo Clock
Diff. I/O high TRUE
23
PHASEBidirect
Phase Clock
Diff. I/O low TRUE
24
PHASE+
Bidirect
Phase Clock
Diff. I/O high TRUE
25
GND
Common
Turbo PMAC2-3U Common
26
+5V
Output
+5VDC Supply
Power Supply Out
The RS-232 / 422 connector provides the Turbo PMAC2-3U with the ability to communicate both in RS422 and RS232. In
addition, this connector is used to daisy chain interconnect multiple Turbo PMAC2-3Us for synchronized operation.
The connector is arranged so a flat cable can connect directly to a DB-25 serial connector on the other end.
Jumpers E17 and E18 should connect pins 1 and 2 to use this port for RS-232 communications; they should connect pins 2
and 3 to use this port for RS-422 communications.
Turbo PMAC2 3U CPU Board Connector Pinouts
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19
Turbo CPU Board for UMAC Turbo & Turbo Stack
J8: Auxiliary Serial Port Connector
(RS232)
Pin #
(10-pin Header at Location A-3)
Symbol
Function
Description
Front View
Notes
1
PHASE
In/Out
Phasing Clock
2
DTR
Bidirect
Data Terminal Ready
Shorted to DSR.
3
TXD/
Input
Receive Data
Low TRUE
4
CTS
Input
Clear to Send
High TRUE
5
RXD/
Output
Send Data
Low TRUE
6
RTS
Output
Request to Send
High TRUE
7
DSR
Bidirect
Data Set Ready
Shorted to DTR.
8
SERVO
In/Out
Servo Clock
9
GND
Common
Turbo PMAC2-3U Common
10
+5V
Output
+5VDC Supply
Note 1: If communicating to Turbo PMAC2-3U over this connector with a modem-style terminal emulator such as
Microsoft Windows Terminal, line 1 should not be connected.
Note 2: SERVO and PHASE are outputs if jumper E1 is OFF; they are inputs if Jumper E1 is ON.
The J8 connector provides an auxiliary RS-232 serial port, independent of the main serial port at J7. It is provided if Option
9T is ordered.
TB1: 4-Pin Terminal Block
(Location A-3)
Pin #
Symbol
Function
1
2
GND
+5V
Common
Input
Description
Notes
Reference Voltage
Positive Supply Voltage
Supplies all Turbo PMAC2-3U digital
circuits
3
+12V
Input
Positive Supply Voltage
+12V to +15V; Not required on-board;
used on J1 to supply analog inputs
4
-12V
Input
Negative Supply Voltage
-12V to +15V; Required for Opt-12
ADCs; used on J1 to supply analog inputs
This terminal block can be used to provide the input for the power supply for the circuits on the Turbo PMAC2-3U board
when it is not in a bus configuration. When the Turbo PMAC2-3U is in a bus configuration, these supplies automatically
come through the bus connector from the bus power supply; in this case, this terminal block should not be used.
20
Turbo PMAC2 3U CPU Board Connector Pinouts
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3U Turbo CPU Board for UMAC Turbo & Turbo Stack
ACCESSORIES
Both the Turbo and the MACRO CPU boards can support either the Stack or the UMAC configuration. The
systems are configured modularly with the selection of a series of accessory boards, some appropriate for the
Stack, and some appropriate for the UMAC. These accessories are listed here; they are described briefly in the
Configuration section following. Each has its own manual for detailed description.
The following table shows 3U products by function:
Turbo PMAC2-3U
CPU Board Options
“Stack” Piggyback
Accessory Boards
UMAC BackplaneMountable
Accessory Boards –
Axis
UMAC BackplaneMountable
Accessory Boards –
I/O
Option 2 Family: Bus
Interface (Stack
Configuration Only)
Option 8 Family: HighAccuracy Clock Crystal
Option 18 Family:
Identification Number &
Real Time Clock/Calendar
Module
ACC-1E: 2-Axis Interface
Stack Board, 300-60281010x (UMAC MACRO only)
ACC-4E: Isolated 24-In/24Out Stack Board, 300602872-10x
ACC-15E: Isolated 12-In/12Out Driver & Breakout
Board, 300-603488-10x
PC/104 Assembly,
3R0-0PC104-10x
ACC-24E2, 2-Axis Digital
PWM, 300-603397-10x
ACC-24E2A Option 1A,
Additional 2-Axis Analog,
3A1-603398-10x
ACC-3E1, 48/96/144 I/O,
300-603359-10x
ACC-11E, Isolated 24-In/24Out Board, 300-603307-10x
Option 4 Family: CPU Type
Option 10: Firmware
Revision Specification
Option 5 Family: CPU
Speed and Memory
Configurations
Option 16 Family: BatteryBacked Parameter Memory
ACC-2E: 4-Axis Interface
Stack Board,
300-602805-10x
ACC-6E: 8/16-Channel 12Bit ADC Stack Board, 300602810-10x
ACC-3E: 48/96/144 TTL I/O
Stack Board,
300-602811-10x
ACC-13 Family: Terminal
Block Boards for ACC-8DE
and ACC-8FE
CPU Module, 100CMM686-10x
Floppy Drive, 100-FLOPPYDRV
Keyboard, 100-RT6255-101
IDE Controller & Hard
Drive, 100-CMT107-000
Front Panel Interface
Assembly, 3F5-603382-100
Mouse, 100-OMSSER-MSE
Monitor, 100-OC706T-017
Ethernet Utility Module,
300-603467-10x
ACC-24E2A, 2-Axis
Analog, 300-603398-10x
ACC-24E2 Option 1D,
Additional 2-Axis Digital
PWM,
3D1-603397-10x
ACC-24E2S, 4-Axis
Stepper, 300-603441-10x
ACC-9E, 48 In,
300-603283-10x
ACC-10E, Isolated 48Output Board,
300-603299-10x
ACC-12E, Isolated 24In/24-Hi-Power-Out Board,
3A0-603277-10x
ACC-14E, 48 I/O,
300-603472-10x
ACC-54E, USB/Ethernet
TCP/IP Communication,
300-603467-10x
ACC-55E, (UNET)
Universal Field Bus Adapter
Network Card,
300-603485-10x
ACC-15E, 12 In / 12 Out,
Opto22, 300-603488-10x
UMAC BackplaneMountable
Accessory Boards –
Communication
ACC-5E, Macro & I/O
Interface, 300-603437-10x
Accessories
21
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Turbo CPU Board for UMAC Turbo & Turbo Stack
UMAC BackplaneMountable
Accessory Boards –
Miscellaneous
ACC-28E, 2/4 Channel
16-Bit A/D Converter,
300-603404-10x
ACC-36E, 16-Channel 12Bit A/D Converter,
300-603483-10x
ACC-51E, x4096
Interpolator, 300-60343810x
ACC-53E, SSI,
300-603360-10x
ACC-56E, Extender Card,
300-603401-10x
ACC-57E, Yaskawa or
Mitsubishi ABS, Encoder
Unit, 300-603484-10x
ACC-U4, UBUS 4-Slot
Backplane,
300-603462-10x
ACC-U6, UBUS 6-Slot
Backplane,
300-603403-10x
ACC-U8, UBUS 8-Slot
Backplane,
300-603463-10x
ACC-U10, UBUS 10-Slot
Backplane,
300-603464-10x
ACC-U12, UBUS 12-Slot
Backplane,
300-603465-10x
ACC-U14, UBUS 14-Slot
Backplane,
300-603466-10x
ACC-U16, UBUS 16-Slot
Backplane,
300-603471-10x
ACC-U18, UBUS 18-Slot
Backplane,
300-603491-10x
4-Axis Analog ± 10V Input
Linear Amplifier, 24VDC,
0.5/1A, 300-603489-10x
4-Axis Analog ± 10V Input
PWM Amplifier, 48VDC,
2/4A, 300-603443-10x
Backplane, Double Analog
Amplifier, 300-603470-10x
Backplane, Single Analog
Amplifier, 300-603490-10x
2-Axis Digital PWM
Amplifier, 360VDC, 4/8A,
400-603391-10x
2-Axis Digital PWM/Macro
Amplifier, 360VDC, 8/16A,
400-603392-10x
Single Axis Digital
PWM/Macro Amplifier,
360VDC, 8/16A,
401-603391-10x
Single-Axis Digital PWM
Amplifier, 360VDC, 8/16A,
401-603492-10x
Power Supply for 3U Digital
PWM Amplifiers,
400-603428-10x
Backplane, Digital PWM,
300-603435-10x
ACC-58E, R/D Converter,
16 Bit, 300-603482-10x
UBUS (UMAC's
Backplane Boards)
Amplifiers – Analog
±10VDC Input
(Brush Motors)
Amplifiers – Digital
PWM Input
(brushless)
4-Axis Analog ± 10V Input
PWM Amplifier, 70VDC,
8/12A, 300-603486-10x
Power Supplies –
DC Input
ACC-F, 3U DC to DC
Converter,10A,
30F-603216-OPT
Power Supplies –
AC Input
ACC-E, 3U AC Power
Supply, 8A,
30E-603269-OPT
ACC-E1, 3U AC Power
Supply, 14A,
31E-603269-OPT
ACC-E2, AC Power Supply,
20A, 32E-603468-OPT
3U Rack, 10-1/2 Slot (42T)
542-602932-10x
3U Rack, 15-3/4 Slot (63T)
563-602932-10x
3U Rack, 21 Slot (84T)
584-602932-10x
UMAC Chassis
Assemblies (Rack)
3U Rack, Variable Width per
Customer Requirements
(custom design),
500-602932-10x
Accessories
22
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