Delta Tau TURBO PMAC PCI LITE User's Manual

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Delta Tau TURBO PMAC PCI LITE User's Manual | Manualzz

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HARDWARE REFERENCE MANUAL

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Turbo PMAC PCI-Lite

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Programmable Multi-Axis Controller

4xx-603657-THxx

June 21, 2011

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.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 exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.

REVISION HISTORY

REV. DESCRIPTION

1

ADDED 33MHz PCI BUS SPEED, E44-E48

JUMPER SETTINGS, REV 105 LAYOUT &

FEATURE TABLE

REMOVED: OPTION 2B USB, OPTIONS 5D0

& 5D3, OPTION 7

CORRECTED E122 JUMPERS to 1-2

2 ISOLATION JUMPERS IMAGE UPDATE

DATE CHG

10/12/06 CP

05/15/11 S.S

APPVD

S.S

S.S

Turbo PMAC PCI-Lite

Table of Contents

INTRODUCTION ................................................................................................................................................ 1

Board Configuration ............................................................................................................................................... 1

Base Version ...................................................................................................................................................... 1

Option 2: Dual-Ported RAM .............................................................................................................................. 1

Option 5: CPU and Memory Configurations ...................................................................................................... 2

Option 8: High-Accuracy Clock Crystal ............................................................................................................. 2

Option 9T: Auxiliary Serial Port ........................................................................................................................ 2

Option 10: Firmware Version Specification ....................................................................................................... 2

Option 12: Analog-to-Digital Converters ........................................................................................................... 2

Option 15: V-to-F Converter for Analog Input ................................................................................................... 3

Option 16: Battery-Backed Parameter Memory .................................................................................................. 3

Option 18: Identification Number & Real-Time Clock/Calendar Module ............................................................ 3

HARDWARE SETUP .......................................................................................................................................... 4

Power-Supply Configuration Jumpers ..................................................................................................................... 4

Clock Configuration Jumpers ................................................................................................................................. 5

Encoder Configuration Jumpers .............................................................................................................................. 5

Board Reset/Save Jumpers ...................................................................................................................................... 6

Communication Jumpers ........................................................................................................................................ 6

I/O Configuration Jumpers ..................................................................................................................................... 6

Reserved Configuration Jumpers ............................................................................................................................ 7

CPU Jumper Configuration ..................................................................................................................................... 7

Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection .................................................................. 8

Resistor Pack Configuration: Termination Resistors ................................................................................................ 8

Resistor Pack Configuration: Differential or Single-Ended Encoder Selection ......................................................... 8

MACHINE CONNECTIONS ............................................................................................................................ 10

Mounting ............................................................................................................................................................. 10

Power Supplies ..................................................................................................................................................... 10

Digital Power Supply ........................................................................................................................................ 10

Analog Power Supply ....................................................................................................................................... 10

Machine Port Connections (JMACH Connector) ................................................................................................... 11

Overtravel Limits and Home Switches ............................................................................................................... 11

Types of Overtravel Limits ................................................................................................................................ 11

Home Switches ................................................................................................................................................. 11

Incremental Encoder Connection ...................................................................................................................... 11

DAC Output Signals ......................................................................................................................................... 12

Amplifier Enable Signal (AENAx/DIRn) ............................................................................................................ 13

Amplifier Fault Signal (FAULTn) ..................................................................................................................... 13

General-Purpose Digital Inputs and Outputs (JOPTO Port) ................................................................................... 14

Control-Panel Port I/O (JPAN Port) ...................................................................................................................... 15

Command Inputs .............................................................................................................................................. 15

Selector Inputs .................................................................................................................................................. 15

Reset Input ....................................................................................................................................................... 15

Handwheel Inputs ............................................................................................................................................. 15

Optional Voltage to Frequency Converter ......................................................................................................... 15

Thumbwheel Multiplexer Port (JTHW Port) ......................................................................................................... 16

Optional Analog Inputs (JANA Port) .................................................................................................................... 16

Compare Equal Outputs Port (JEQU Port) ............................................................................................................ 17

Serial Port (JRS422 Port) ...................................................................................................................................... 17

Machine Connections Example ............................................................................................................................. 19

SOFTWARE SETUP ......................................................................................................................................... 20

Communications .................................................................................................................................................. 20

Turbo PMAC I-Variables ..................................................................................................................................... 20

Operational Frequency and Baud Rate Setup ......................................................................................................... 20

Table of Contents i

Turbo PMAC PCI-Lite

HARDWARE REFERENCE SUMMARY ........................................................................................................ 22

Board Dimensions (Part Number 603657-100) ...................................................................................................... 22

Board Layout (Part Number 603657-100) ............................................................................................................. 23

Board Dimensions (Part Number 603657-105) ...................................................................................................... 24

Board Layout (Part Number 603657-105) ............................................................................................................. 25

Connectors and Indicators..................................................................................................................................... 26

J1 – Display Port (JDISP Port) ......................................................................................................................... 26

J2 – Control-Panel Port (JPAN Port)................................................................................................................ 26

J3 – Thumbwheel Multiplexer Port (JTHW Port) ............................................................................................... 26

J4 – Main Serial Port (JRS232/422 Port) .......................................................................................................... 26

J5 – General-Purpose Digital Inputs and Outputs (JOPTO Port) ...................................................................... 26

J6 – Auxiliary I/O Port (JXIO Port) .................................................................................................................. 26

J8 – Machine Connectors (JMACH1 Port) ........................................................................................................ 26

J9 – Compare Equal Outputs Port (JEQU Port) ................................................................................................ 26

J17 – Auxiliary Serial Port (JRS232 Port) ......................................................................................................... 26

J30 – Optional Analog to Digital Inputs (JANA Port) ........................................................................................ 26

J31 – Optional Universal Serial Bus Port (JUSB Port) ...................................................................................... 26

J32 – Expansion Port (JEXP Port) .................................................................................................................... 27

JS1 – External A/D Port (JS1 Port) ................................................................................................................... 27

TB1 – Power Supply Terminal Block (JPWR Connector) ................................................................................... 27

LED Indicators ................................................................................................................................................. 27

Fuse ................................................................................................................................................................. 27

E-POINT JUMPER DESCRIPTIONS .............................................................................................................. 28

E0: Reserved for Future Use ................................................................................................................................ 28

E1 - E2: Machine Output Supply Voltage Configure ............................................................................................ 28

E3 - E6: Servo Clock Frequency Control ............................................................................................................. 29

E7: Machine Input Source/Sink Control ............................................................................................................... 30

E10A, B, C: Flash Memory Bank Select .............................................................................................................. 30

E17A-D: Amplifier Enable/Direction Polarity Control ......................................................................................... 30

E18 – E20: Power-Up/Reset Load Source ............................................................................................................ 31

E21: Power-Up/Reset Load Source ...................................................................................................................... 31

E22 - E23: Control Panel Handwheel Enable ....................................................................................................... 31

E28: Following Error/Watchdog Timer Signal Control ......................................................................................... 31

E29 - E33: Phase Clock Frequency Control .......................................................................................................... 32

E34A - E38: Encoder Sampling Clock Frequency Control .................................................................................... 32

E40-E43: Phase Servo Clock Direction Control ................................................................................................... 32

E44-E50: Reserved for Future Use ....................................................................................................................... 33

E51: Normal/Re-Initializing Power-Up ................................................................................................................ 33

E55 - E65: Host Interrupt Signal Select ................................................................................................................ 33

E72 - E73: Panel Analog Time Base Signal Enable .............................................................................................. 34

E74 - E75: Clock Output Control for External Interpolation ................................................................................. 34

E85: Host-Supplied Analog Power Source Enable ................................................................................................ 34

E87 - E88: Host-Supplied Analog Power Source Enable ...................................................................................... 35

E89: Amplifier-Supplied Switch Pull-Up Enable .................................................................................................. 35

E90: Host-Supplied Switch Pull-Up Enable ......................................................................................................... 35

E98: DAC/ADC Clock Frequency Control ........................................................................................................... 36

E100: Output Flag Supply Select ......................................................................................................................... 36

E101 - E102: Motors 1-4 Amplifier Enable Output Configure .............................................................................. 36

E109: Reserved for Future Use ............................................................................................................................ 37

E110: Serial Port Configure ................................................................................................................................. 37

E111: Clock Lines Output Enable ........................................................................................................................ 37

E119: Watchdog Disable Jumper ......................................................................................................................... 37

E122: XIN Feature Selection ............................................................................................................................... 37

MATING CONNECTORS ................................................................................................................................. 38

Base Board Connectors......................................................................................................................................... 38

ii Table of Contents

Turbo PMAC PCI-Lite

J1 (JDISP)/Display ........................................................................................................................................... 38

J2 (JPAN)/Control Panel .................................................................................................................................. 38

J3 (JTHW)/Multiplexer Port ............................................................................................................................. 38

J4 (JRS422)/RS232 OR 422/Serial Communications.......................................................................................... 38

J5 (JOPT)/OPTO I/O ........................................................................................................................................ 38

J6 (JXIO)/Expansion Board .............................................................................................................................. 38

J8 (JMACH1)/1st Machine Connector............................................................................................................... 38

JS1/A-D Inputs 1-4 ........................................................................................................................................... 38

JEQU/Position Compare .................................................................................................................................. 39

JANA/Analog Inputs Option .............................................................................................................................. 39

CONNECTOR PINOUTS .................................................................................................................................. 40

J1: Display Port Connector .................................................................................................................................. 40

J2: Control Panel Port Connector ......................................................................................................................... 40

J3: Multiplexer Port Connector ............................................................................................................................ 41

J4: Serial Port Connector ..................................................................................................................................... 42

J5: I/O Port Connector ......................................................................................................................................... 43

J6: Auxiliary I/O Port Connector ......................................................................................................................... 44

J8: Machine Port 1 Connector .............................................................................................................................. 45

J9 (JEQU): Position-Compare Connector ............................................................................................................. 47

J30 (JANA) Analog Input Port Connector (Optional) ............................................................................................ 47

J31 (JUSB) Universal Serial Bus Port (Optional) .................................................................................................. 48

JS1: A/D Port 1 Connector................................................................................................................................... 48

TB1 (JPWR) ........................................................................................................................................................ 48

Table of Contents iii

Turbo PMAC PCI Lite

INTRODUCTION

The Turbo PMAC PCI Lite is a member of the Turbo PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands. Its software is capable of 32 axes of control. It can have up to four channels of on-board axis interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its expansion port, connected to Acc-24P or Acc-24P2 boards.

The Turbo PMAC PCI Lite is a full-sized PCI-bus expansion card. While the Turbo PMAC PCI Lite is capable of PCI bus communications, with or without the optional dual-ported RAM, it does not need to be inserted into a PCI expansion slot. Communications can be done through an RS-232 or RS-422 serial port. Standalone operation is possible.

ICs U140, U143, and U147 are installed in the Turbo version of the

PMAC Lite PCI board.

The same circuit board with some ICs not installed produces a (non-Turbo) PMAC PCI Lite controller.

The above diagram shows the key components installed in the Turbo configuration only.

Board Configuration

Base Version

The base version of the Turbo PMAC PCI Lite provides a 1-1/2-slot board with:

80 MHz DSP56303 CPU (120 MHz PMAC equivalent)

128k x 24 SRAM compiled/assembled program memory (5C0)

128k x 24 SRAM user data memory (5C0)

1M x 8 flash memory for user backup & firmware (5C0)

Latest released firmware version

RS-232/422 serial interface, 33 MHz PCI (PC) bus interface

Four channels axis interface circuitry, each including:

16-bit +/-10V analog output

3-channel differential/single-ended encoder input

Four input flags, two output flags

Interface to external 16-bit serial ADC

Display, control panel, muxed I/O, direct I/O interface ports

PID/notch/feedforward servo algorithms

Extended "pole-placement" servo algorithms

1-year warranty from date of shipment

One manual 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 very 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 8k x 16 bank of dual-ported RAM in component. The key component on the board is U1.

Introduction 1

Turbo PMAC PCI Lite

Option 5: CPU and Memory Configurations

The various versions of Option 5 provide different CPU speeds and main memory sizes integrated on the main board. Only one Option 5xx may be selected for the board.

The CPU is a DSP563x IC as component U127. The CPU is available in different speeds and with different internal memory sizes.

The compiled/assembled-program memory SRAM ICs are located in U141, U144 and U148. 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 SRAM ICs are located in U140, U143, and U147. 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.

The flash memory IC is located in U146. This IC forms the non-volatile memory for the board’s firmware, the user setup variables, and for user programs, tables, and buffers. It can be 1M x 8, 2M x 8, or 4M x 8 in capacity.

Option 5C0 is the standard CPU and memory configuration. It is provided automatically if no Option

5xx is specified. It provides an 80 MHz DSP56303 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 5C3 provides an 80 MHz DSP56303 CPU (120 MHz PMAC equivalent) with 8k x 24 of internal memory, 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.

Option 5E0 provides a 160 MHz DSP56311 CPU (240 MHz PMAC equivalent) with 128k x 24 of internal memory, 128k x 24 of compiled/assembled program memory, 128k x 24 of user data memory and a 1M x 8 flash memory.

Option 5E3 provides a 160 MHz DSP56311 CPU (240 MHz PMAC equivalent) with 128k x 24 of internal memory, 512k x 24 of compiled/assembled program memory, 512k x 24 of user data memory and a 4M x 8 flash memory.

Option 8: High-Accuracy Clock Crystal

The Turbo PMAC 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.

Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.

Option 9T: Auxiliary Serial Port

Option 9T adds an auxiliary RS-232 port on the CPU piggyback board. The key components added are

IC U22 and connector J8 on the CPU board.

Option 10: Firmware Version Specification

Normally the Turbo PMAC PCI Lite is provided with the newest released firmware version. A label on the U146 flash memory IC shows the firmware version loaded at the factory.

Option 10 provides for a user-specified firmware version.

Option 12: Analog-to-Digital Converters

Option 12 permits the installation of 8 or 16 channels of on-board multiplexed analog-to-digital converters. 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.

2 Introduction

Turbo PMAC PCI Lite

Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U20 and connector J30.

Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board is U22.

Option 15: V-to-F Converter for Analog Input

The JPAN control panel port on the Turbo PMAC PCI Lite has an optional analog input called Wiper

(because it is often tied to a potentiometer’s wiper pin). Turbo PMAC PCI Lite can digitize this signal by passing it through an optional voltage-to-frequency converter, using E-point jumpers to feed this into the

Encoder 4 circuitry (no other use is then permitted), and executing frequency calculations using the time base feature of the encoder conversion table.

Option 15 provides a voltage-to-frequency converter in component U18 that permits the use of the

Wiper input on the control panel port.

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. The battery is located at component BT1.

Option 16A provides a 32k x 24 bank of battery-backed parameter RAM in components U142, U145, and U149, fitting in the smaller footprint for those locations.

Option 18: Identification Number & Real-Time Clock/Calendar Module

Option 18 provides a module that contains an electronic identification number, and possibly a real-time clock/calendar.

Option 18A provides an electronic identification number module.

Introduction 3

Turbo PMAC PCI Lite

HARDWARE SETUP

On the PMAC, there are many jumpers (pairs of metal prongs), called E-points. Some have been shorted together; others have been left open. These jumpers customize the hardware features of the board for a given application and must be setup appropriately. The following is an overview of the several PMAC jumpers grouped in appropriate categories. For a complete description of the jumper setup configuration, refer to the Turbo PMAC PCI Lite E-Point Jumper Descriptions section of this manual.

Power-Supply Configuration Jumpers

J7 (JMACH2)

A+V

(12-24V)

(PIN 9)

J9 (JEQU)

A+V

(12-24V)

(PIN 9)

E89

+12V

E85

A+15V

(PIN59)

+5V

V/F

3

E90

1

Input

Flags

1

E100

3

AENAs

(EQUs)

AGND

DACs

+5V

(PIN1)

(PIN2)

AGND

(PIN58)

E87

GND

-12V

E88

GND

(PIN3)

(PIN4)

A-15V

(PIN60)

P1(BUS) / TB1

JMACH1

E85, E87, E88: Analog Circuit Isolation Control – These jumpers control whether the analog circuitry on the PMAC is isolated from the digital circuitry, or electrically tied to it. In the default configuration, these jumpers are off, keeping the circuits isolated from each other (provided separate isolated supplies are used).

E89-E90: Input Flag Supply Control – If E90 connects pins 1 and 2 and E89 is ON, the input flags

(+LIMn, -LIMn, HMFLn, and FAULTn) are supplied from the analog A+15V supply, which can be isolated from the digital circuitry. If E90 connects pins 1 and 2 and E89 is OFF, the input flags are supplied from a separate A+V supply through pin 9 of the J9 JEQU connector. This supply can be in the

+12V to +24V range and can be kept isolated from the digital circuitry. If E90 connects pins 2 and 3, the input flags are supplied from the digital +12V supply and isolation from the digital circuitry is defeated.

E100: AENA/EQU Supply Control – If E100 connects pins 1 and 2, the circuits related to the AENAn,

EQUn, and FAULTn signals will be supplied from the analog A+15V supply, which can be isolated from the digital circuitry. If E100 connects pins 2 and 3, the circuits will be supplied from a separate A+V supply brought in on pin 9 of the J9 JEQU connector. This supply can be in the +12V to +24V range, and can be kept isolated from the digital circuitry.

4 Hardware Setup

Turbo PMAC PCI Lite

Clock Configuration Jumpers

E3-E6: Servo Clock Frequency Control – The jumpers E3 – E6 determine the servo-clock frequency by controlling how many times it is divided down from the phase-frequency. The default setting of E3 and

E4 OFF, E5 and E6 ON divides the phase-clock frequency by four, creating a 2.25 kHz servo-clock frequency. This setting is seldom changed.

E29-E33: Phase Clock Frequency Control – Only one of the jumpers E29 – E33, which select the phase-clock frequency, may be on in any configuration. The default setting of E31 ON, which selects a 9 kHz phase-clock frequency, is seldom changed.

E34-E38: Encoder Sample Clock – Only one of the jumpers E34 – E38, which select the encoder sample clock frequency, may be on in any configuration. The frequency must be high enough to accept the maximum true count rate (no more than one count in any clock period), but a lower frequency can filter out longer noise spikes. The anti-noise digital delay filter can eliminate noise spikes up to one sample-clock cycle wide.

E40-E43: Servo and Phase Clock Direction Control – Jumpers E40 – E43 determine the direction of the phase and servo clocks. All of these jumpers must be ON for the card to use its internally generated clock signals and to output these on the serial port connector. If any of these jumpers is OFF, the card will expect to input these clock signals from the serial port connector, and its watchdog timer will trip immediately if it does not receive these signals. The card number (0 – 15) for serial addressing of multiple cards on a daisy-chain serial cable, set by these jumpers on older controllers, is determined by the Turbo PMAC variable I0. See the Software Setup section of this manual for details.

E98: DAC/ADC Clock Frequency Control – Leave E98 in its default setting of 1-2, which creates a

2.45 MHz DCLK signal, unless connecting an Acc-28 A/D-converter board. In this case, move the jumper to connect pins 2 and 3, which creates a 1.22 MHz DCLK signal.

Encoder Configuration Jumpers

Encoder Complementary Line Control – The selection of the type of encoder used, either single ended or differential is made through the resistor packs configuration and not through a jumper configuration, as on older controllers.

E22-E23: Control-Panel Handwheel Enable – Putting these jumpers ON ties the handwheel-encoder inputs on the JPAN control-panel port to the Channel 2 encoder circuitry. If the handwheel inputs are connected to Channel 2, no encoder should be connected to Channel 2 through the JMACH1 connector.

E72-E73: Control Panel Analog Input Enable – Putting these jumpers ON ties the output of the Option

10 voltage-to-frequency converter that can process the Wiper analog input on the JPAN control panel port to the Channel 4 encoder circuitry. If the frequency signal is connected to Channel 4, no encoder should be connected to Channel 4 through the JMACH1 connector.

E74-E75: Encoder Sample Clock Output – Putting these jumpers ON ties the encoder sample-clock signal to the CHC4 and CHC4/ lines on the JMACH1 port. This permits the clock signal to be used to synchronize external encoder-processing devices like the Acc-8D Option 8-interpolator board. With these jumpers ON, no encoder input signal should be connected to these pins.

Hardware Setup 5

Turbo PMAC PCI Lite

Board Reset/Save Jumpers

E50: Flash-Save Enable/Disable Control – If E50 is ON (default), the active software configuration of the PMAC can be stored to non-volatile flash memory with the SAVE command. If the jumper on E50 is removed, this Save function is disabled, and the contents of the flash memory cannot be changed.

E51: Re-Initialization on Reset Control – If E51 is OFF (default), PMAC executes a normal reset, loading active memory from the last saved configuration in non-volatile flash memory. If E51 is ON,

PMAC re-initializes on reset, loading active memory with the factory default values.

Communication Jumpers

PCI Bus Base Address Control The selection of the base address of the card in the I/O space of the host PC's expansion bus is assigned automatically by the operating system and it is not selected through a jumper configuration.

E49: Serial Communications Parity Control – Jump pin 1 to 2 for NO serial parity. Remove jumper for

ODD serial parity.

E55-E65: Interrupt Source Control – These jumpers control which signals are tied to interrupt lines

IR5, IR6 and IR7 on PMAC’s programmable interrupt controller (PIC), as shown in the interrupt diagram. Only one signal may be tied into each of these lines.

E110: Serial Port Configure – Jump pin 1 to 2 for use of the J4 connector as RS-232. Jump pin 2 to 3 for use of the J4 connector as RS-422.

E111: Clock Lines Output Enable – Jump pin 1 to 2 to enable the Phase, Servo and Init lines on the J4 connector. Jump pin 2 to 3 to disable the Phase, Servo and Init lines on the J4 connector. E111 on positions 1 to 2 is necessary for daisy-chained PMACs sharing the clock lines for synchronization.

I/O Configuration Jumpers

Caution:

A wrong setting of these jumpers will damage the associated output IC.

E1-E2: Machine Output Supply Configure – With the default sinking output driver IC (ULN2803A or equivalent) in U13 for the J5 JOPTO port outputs, these jumpers must connect pins 1 and 2 to supply the

IC correctly. If this IC is replaced with a sourcing output driver IC (UDN2981A or equivalent), these jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly.

E7: Machine Input Source/Sink Control – With this jumper connecting pins 1 and 2 (default) the machine input lines on the J5 JOPTO port are pulled up to +5V or the externally provided supply voltage for the port. This configuration is suitable for sinking drivers. If the jumper is changes to connect pins 2 and 3, these lines are pulled down to GND. This configuration is suitable for sourcing drivers.

E17A - E17D: Motors 1-4 Amplifier-Enable Polarity Control – Jumpers E17A through E17D control the polarity of the amplifier enable signal for the corresponding motor 1 to 4. When the jumper is ON

(default), the amplifier-enable line for the corresponding motor is low true so the enable state is lowvoltage output and sinking current, and the disable state is not conducting current. With the default

ULN2803A sinking driver used by the PMAC on U37, this is the fail-safe option, allowing the circuit to fail in the disable state. With this jumper OFF, the amplifier-enable line is high true so the enable state is not conducting current, and the disable state is low-voltage output and sinking current. Generally, this setting is not recommended.

E28: Following-Error/Watchdog-Timer Signal Control – With this jumper connecting pins 2 and 3

(default), the FEFCO/ output on pin 57 of the J8 JMACH1 servo connector outputs the watchdog timer

6 Hardware Setup

Turbo PMAC PCI Lite signal. With this jumper connecting pins 1 and 2, this pin outputs the warning following error status line for the selected coordinate system.

E101-E102: Motors 1 - 4 AENA/EQU voltage configure

Caution:

A wrong setting of these jumpers will damage the associated output IC.

The U37 driver IC controls the AENA and EQU signals of motors 1 - 4. With the default sinking output driver IC (ULN2803A or equivalent) in U37, these jumpers must connect pins 1 and 2 to supply the IC correctly. If this IC is replaced with a sourcing output driver IC (UDN2981A or equivalent), these jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly.

E122: XIN7 Feature Selection – Jump 1-2 to bring the PowerGood signal into register XIN7 at

Y:$070801 bit 7.

Reserved Configuration Jumpers

E0: Reserved for future use

E44-48 Reserved for future use (no jumper installed)

E109: Reserved for future use

CPU Jumper Configuration

E10A-E10C: Flash Memory Bank Select Jumpers – The flash-memory IC in location U146 on the

Turbo PMAC PCI Lite 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.

E18-E20: Power-Up State Jumpers – Jumper E18 must be OFF, jumper E19 must be ON, and jumper

E20 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.)

E21: Firmware Load Jumper – If jumper E21 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 automatically detect that the board is in bootstrap mode and ask what file to download as the new firmware.

Note:

Jumper E21 must be OFF during power-up/reset for the board to come up in normal operational mode.

E119: Watchdog Timer Jumper - Jumper E119 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. E1 should only be put ON to debug problems with the watchdog timer circuit.

Hardware Setup 7

Turbo PMAC PCI Lite

Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection

The PMAC is provided with 6-pin sockets for SIP resistor packs for the input flag sets. Each PMAC is shipped with no resistor packs installed. If the flag or digital inputs circuits are in the 12V to 15V range, no resistor pack should be installed in these sockets. For flags or digital inputs at 5V levels, quad 1k SIP resistor packs (1KSIP6C) should be installed in these sockets. The following table lists the voltage selection resistor pack sockets for each input device:

Device

Flags 1

Flags 2

Flags 3

Flags 4

Resistor Pack

RP77

RP83

RP89

RP94

Resistor Pack Configuration: Termination Resistors

The PMAC 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 PMAC 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 are the types that 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:

Device

Encoder 1

Encoder 2

Encoder 3

Encoder 4

Resistor Pack

RP61

RP63

RP67

RP69

Pack Size

6-pin

6-pin

6-pin

6-pin

Resistor Pack Configuration: Differential or Single-Ended Encoder

Selection

The differential input signal pairs to the PMAC 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 k pull-up resistor to +5V. This cannot be changed.

The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 k resistor to +5V. Each also has another 2.2 k 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 desirable for unconnected inputs to prevent the pick-up of spurious noise. It is permissible for differential line-driver inputs.

8 Hardware Setup

Turbo PMAC PCI Lite

If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the two parallel 2.2 k resistors act as a single 1.1 k pull-up resistor, holding the line at +5V in the absence of an external signal. This configuration is required if encoder-loss detection is desired. It is required if complementary open-collector drivers are used. It is permissible for differential line-driver inputs even without encoder loss detection.

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 square solder pin on the front 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.

The following table lists the pull-up/pull-down resistor pack for each input device:

Device

Encoder 1

Encoder 2

Encoder 3

Encoder 4

Resistor

Pack

RP60

RP62

RP66

RP68

Pack Size

6-pin

6-pin

6-pin

6-pin

Hardware Setup 9

Turbo PMAC PCI Lite

MACHINE CONNECTIONS

Typically, the user connections are made to a terminal block that is attached to the JMACH connector by a flat cable (Acc-8D or 8P). The pinout numbers on the terminal block are the same as those on the

JMACH connector. The possible choices for breakout boards are:

Board Mounting Breakout Style

Acc-8P DIN – Rail

Acc-8D DIN – Rail

Acc-8DCE DIN – Rail

Monolithic

Monolithic

Modular

Breakout

Connector

Notes

Terminal Block Simple Phoenix contact board

Terminal Block Headers for connection to option boards

D-sub connector Fully shielded for easy CE mark compliance

Mounting

The PMAC can be mounted in one of two ways: in the PCI bus, or using standoffs.

PCI bus: To mount in the PCI bus, simply insert the P1 card-edge connector into PCI socket. If there is a standard PC-style housing, a bracket at the end of the PMAC board can be used to screw into the housing to hold the board down firmly.

Standoffs: At each of the four corners of the PMAC board, there are mounting holes that can be used to mount the board on standoffs.

Power Supplies

Digital Power Supply

2A @ +5V (+/-5%) (10 W)

(Eight-channel configuration, with a typical load of encoders)

The host computer provides the 5V power supply in the case PMAC is installed in its internal bus.

With the board plugged into the bus, it will automatically pull +5V power from the bus and it cannot be disconnected. In this case, there must be no external +5V supply, or the two supplies will fight each other, possibly causing damage. This voltage could be measured between pins 1 and 3 of the terminal block.

In a stand-alone configuration, when PMAC is not plugged in a computer bus, it will need an external

5V supply to power its digital circuits. The +5V line from the supply should be connected to pin 1 or

2 of the JMACH connector (usually through the terminal block), and the digital ground to pin 3 or 4.

Acc-1x provides different options for the 5V power supply.

Analog Power Supply

0.3A @ +12 to +15V (4.5W)

0.25A @ -12 to -15V (3.8W)

(Eight-channel configuration)

The analog output circuitry on PMAC is optically isolated from the digital computation circuitry, and so requires a separate power supply. This is brought in on the JMACH connector. The positive supply (+12 to +15V) should be brought in on the A+15V line on pin 59. The negative supply (-12 to -15V) should be brought in on the A-15V line on pin 60. The analog common should be brought in on the AGND line on pin 58.

Typically, this supply can come from the servo amplifier. Many commercial amplifiers provide such a supply. If this is not the case, an external supply may be used. Acc-2x provides different options for the ±

15V power supply. Even with an external supply, the AGND line should be tied to the amplifier common.

It is possible to get the power for the analog circuits from the bus, but doing so defeats optical isolation. In this case, no new connections need to be made. However, be sure jumpers E85, E87, E88, E89, and E90 are set up for this circumstance. (The card is not shipped from the factory in this configuration.)

10 Machine Connections

Turbo PMAC PCI Lite

Machine Port Connections (JMACH Connector)

Overtravel Limits and Home Switches

When assigned for the dedicated uses, these signals provide important safety and accuracy functions.

+LIMn and -LIMn are direction-sensitive overtravel limits that must be actively held low (sourcing current from the pins to ground) to permit motion in their direction. The direction sense of +LIMn and -

LIMn is as follows: +LIMn should be placed at the negative end of travel, and -LIMn should be placed at the positive end of travel.

Types of Overtravel Limits

PMAC expects a closed-to-ground connection for the limits to not be considered on fault. This arrangement provides a failsafe condition and therefore it cannot be reconfigured differently in PMAC.

Usually a passive normally closed switch is used. If a proximity switch is needed instead, use a 15V normally closed-to-ground NPN sinking type sensor.

JMACH1 JMACH JMACH1

+Lim

51

51

+Lim

59

+15V

+

Output

-

JMACH2, PIN 59

12-24V

DC

51

+Lim

58

AGnd

58

AGnd

Dry Contact 15 Volts proximity 15-24 Volts proximity

Jumper E89, E90 and E100 must be set appropriately for the type of sensor used.

Home Switches

While normally closed-to-ground switches are required for the overtravel limits inputs, the home switches could be either normally closed or normally open types. The polarity is determined by the home sequence setup, through the I-variables I902, I907, ... I977. However, for the following reasons, the same type of switches used for overtravel limits are recommended:

Normally closed switches are proven to have greater electrical noise rejection than normally open types.

Using the same type of switches for every input flag simplifies maintenance stock and replacements.

Incremental Encoder Connection

Each JMACH connector provides two +5V outputs and two logic grounds for powering encoders and other devices. The +5V outputs are on pins 1 and 2; the grounds are on pins 3 and 4. The encoder signal pins are grouped by number: all those numbered 1 (CHA1, CHA1/, CHB1, CHC1, etc.) belong to encoder #1. The encoder number does not have to match the motor number, but usually does.

If the PMAC is not plugged into a bus and drawing its +5V and GND from the bus, use these pins to bring in +5V and GND from the power supply. Connect the A and B (quadrature) encoder channels to the appropriate terminal block pins. For encoder 1, the CHA1 is pin 25, CHB1 is pin 21. If it is a singleended signal, leave the complementary signal pins floating. Do not ground them. However, if singleended encoders are used, make sure the resistor packs are in the default position (RP-60/62/66/68). For a differential encoder, connect the complementary signal lines — CHA1/ is pin 27, and CHB1/ is pin 23.

The third channel (index pulse) is optional. For encoder 1, CHC1 is pin 17, and CHC1/ is pin 19.

Machine Connections 11

Example: differential quadrature encoder connected to channel #1

Turbo PMAC PCI Lite

DAC Output Signals

If PMAC is not performing the commutation for the motor, only one analog output channel is required to command the motor. This output channel can be either single-ended or differential, depending on what the amplifier is expecting. For a single-ended command using PMAC channel 1, connect DAC1 (pin 43) to the command input on the amplifier. Connect the amplifier's command signal return line to PMAC's

AGND line (pin 58). In this setup, leave the DAC1/ pin floating. Do not ground it.

For a differential command using PMAC channel 1, connect DAC1 (pin 43) to the plus-command input on the amplifier. Connect DAC1/ (pin 45) to the minus-command input on the amplifier. PMAC’s

AGND should still be connected to the amplifier common. If the amplifier is expecting separate sign and magnitude signals, connect DAC1 (pin 43) to the magnitude input. Connect AENA1/DIR1 (pin 47) to the sign (direction input). Amplifier signal returns should be connected to AGND (pin 58). This format requires some parameter changes on PMAC. (See Ix25.) Jumper E17 controls the polarity of the direction output. This may have to be changed during the polarity test. This magnitude-and-direction mode is suited for driving servo amplifiers that expect this type of input and for driving voltage-to-frequency

(V/F) converters, such as PMAC’s Acc-8D Option 2 board, for running stepper motor drivers.

If using PMAC to commutate the motor, use two analog output channels for the motor. Each output may be single-ended or differential, just as for the DC motor. The two channels must be numbered consecutively, with the lower-numbered channel having an odd number (e.g., use DAC1 and DAC2 for a motor, or DAC3 and DAC4, but not DAC2 and DAC3, or DAC2 and DAC4).

For our motor #1 example, connect DAC1 (pin 43) and DAC2 (pin 45) to the analog inputs of the amplifier.

If using the complements as well, connect DAC1/ (pin 45) and DAC2/ (pin 46) the minus-command inputs; otherwise leave the complementary signal outputs floating. To limit the range of each signal to +/- 5V, use parameter Ix69. Any analog output not used for dedicated servo purposes may be utilized as a generalpurpose analog output. Usually this is done by defining an M-variable to the digital-to-analog-converter register (suggested M-variable definitions M102, M202, etc.), then writing values to the M-variable. The analog outputs are intended to drive high-impedance inputs with no significant current draw. The 220 output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the output circuitry, but any current draw above 10 mA can result in noticeable signal distortion.

Example:

JMACH1

DAC1

43

45

DAC1/

58

AGND

Connect to the amplifier +10V command input

12 Machine Connections

Turbo PMAC PCI Lite

Amplifier Enable Signal (AENAx/DIRn)

Most amplifiers have an enable/disable input that permits complete shutdown of the amplifier regardless of the voltage of the command signal. PMAC's AENA line is meant for this purpose. If not using a direction and magnitude amplifier or voltage-to-frequency converter, use this pin to enable and disable the amplifier (wired to the enable line). AENA1/DIR1 is pin 47. This signal is an open-collector output with a 3.3 k pull-up resistor to +V, which is a voltage selected by jumper E100. The pull-up resistor packs are RP43 for channels 1-4. For early tests, this amplifier signal should be under manual control.

JMACH1

AENA1

47

AGND

58

Connect to the amplifier enable input

This signal could be either sinking or sourcing as determined by chips U37 (see jumpers E100-E102).

For 24 Volts operation E100 must connect pins 2-3 and a separate power supply must be brought on pins

9-7 of the J9 JEQU connector. The polarity of the signal is controlled by jumpers E17A to E17D. The default is low-true (conducting) enable. In addition, the amplifier enable signal could be manually controlled setting Ix00=0 and using the suggested definition of the Mx14 variable.

Amplifier Fault Signal (FAULTn)

This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems, and can shut down action. The polarity is programmable with I-variable Ix25 (I125 for motor #1) and the return signal is analog ground (AGND). FAULT1 is pin 49. With the default setup, this signal must actively be pulled low for a fault condition. In this setup, if nothing is wired into this input, PMAC will consider the motor not to be in a fault condition. The amplifier fault signal could be monitored using the properly defined Mx23 variable.

JMACH1

JEQU, PIN 9

FAULT1

49

Connect to the amplifier fault output

58

AGND

+

-

Connect to the amplifier fault output

49 FAULT1

12-15 Volts signal (E100 on 1-2) 15-24 Volts signal (E100 on 2-3)

Some amplifiers share the amplifier fault output with the amplifier enable\disable status output. In this case a special PLC code must be written with the following sequence:

Disable the amplifier fault input (see Ix25)

Enable the motor (J/ command).

Wait for the amplifier fault input to be false (monitor Mx23).

Re-enable the amplifier fault input (see Ix25).

Machine Connections 13

Turbo PMAC PCI Lite

General-Purpose Digital Inputs and Outputs (JOPTO Port)

PMAC’s J5 or JOPTO connector provides eight general-purpose digital inputs and eight general-purpose digital outputs. Each input and each output has its own corresponding ground pin in the opposite row.

The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Delta Tau’s Acc-21F is a six-foot cable for this purpose. Characteristics of the JOPTO port on the PMAC:

16 I/O points; 100 mA per channel, up to 24V

Hardware selectable between sinking and sourcing in groups of eight. Default is all sinking (inputs can be changed simply by moving a jumper. Sourcing outputs must be special-ordered or fieldconfigured)

Eight inputs, eight outputs only; no changes. Parallel (fast) communications to PMAC CPU

Not opto-isolated; easily connected to Opto-22 (PB16) or similar modules through Acc-21F cable

Jumper E7 controls the configuration of the eight inputs. If it connects pins 1 and 2 (the default setting), the inputs are biased to +5V for the OFF state, and they must be pulled low for the ON state. If E7 connects pins 2 and 3, the inputs are biased to ground for the OFF state, and must be pulled high for the

ON state. In either case, a high voltage is interpreted as a 0 by the PMAC software, and a low voltage is interpreted as a 1.

Caution:

Do not connect these outputs directly to the supply voltage or damage to the

PMAC will result from excessive current draw.

PMAC is shipped standard with a ULN2803A sinking (open-collector) output IC for the eight outputs.

These outputs can sink up to 100 mA and have an internal 3.3 k pull-up resistor to go high (RP18). A high-side voltage (+5 to +24V) can be provided to Pin 33 of the JOPTO connector, and allow this to pull up the outputs by connecting pins 1 and 2 of Jumper E1. In addition, Jumper E2 must connect pins 1 and

2 for a ULN2803A sinking output.

It is possible for these outputs to be sourcing drivers by substituting a UDN2981A IC for the ULN2803A.

This U13 IC is socketed, and so may easily be replaced. For this driver, the internal resistor packs pulldown instead. With a UDN2981A driver IC, Jumper E1 must connect pins 2 and 3, and Jumper E2 must connect pins 2 and 3.

Caution:

Having Jumpers E1 and E2 set wrong can damage the IC. The +V output on this connector has a 2A fuse, F1, for excessive current protection.

The outputs can be configured individually to a different output voltage by removing the internal pull-up resistor pack RP18 and connecting to each output a separate external pull-up resistor to the desired voltage level.

Example: Standard configuration using the ULN2803A sinking (open-collector) output IC

14 Machine Connections

Turbo PMAC PCI Lite

Control-Panel Port I/O (JPAN Port)

The J2 (JPAN) connector is a 26-pin connector with dedicated control inputs, dedicated indicator outputs, a quadrature encoder input, and an analog input. The control inputs are low-true with internal pull-up resistors. They have predefined functions unless the control-panel-disable I-variable (I2) has been set to

1. If this is the case, they may be used as general-purpose inputs by assigning M-variable to their corresponding memory-map locations (bits of Y address $78800).

Command Inputs

JOG-/, JOG+/, PREJ/ (return to pre-jog position), and HOME/ affect the motor selected by the FDPn/ lines (see below). The ones that affect a coordinate system are STRT/ (run), STEP/, STOP/ (abort), and

HOLD/ (feed hold) affect the coordinate system selected by the FDPn/ lines.

Selector Inputs

Caution:

It is not a good idea to change the selector inputs while holding one of the jog inputs low. Releasing the jog input will then not stop the previously selected motor. This can lead to a dangerous situation.

The four low-true BCD-coded input lines FDP0/ (LSBit), FDP1/, FDP2/, and FDP3/ (MSBit) form a lowtrue BCD-coded nibble that selects the active motor and coordinate system (simultaneously). These are usually controlled from a single 4-bit motor/coordinate-system selector switch. The motor selected with these input lines will respond to the motor-specific inputs. It will also have its position following function turned on (Ix06 is set to 1 automatically). The motor just de-selected has its position following function turned off (Ix06 is set to 0 automatically).

Alternate Use

If I2 has been set to 1, the discrete inputs can be used for parallel-data servo feedback or master position.

The Acc-39 Handwheel Encoder Interface board provides 8-bit parallel counter data from a quadrature encoder to these inputs. Refer to the Acc-39 manual and Parallel Position Feedback Conversion section in the Setting up a Motor section for more details.

Reset Input

Input INIT/ (reset) affects the entire card. It has the same effect as cycling power or a host $$$ command.

It is hard-wired, so it retains its function even if I2 is set to 1.

Handwheel Inputs

The handwheel inputs HWCA and HWCB can be connected to the second encoder counter on PMAC with jumpers E22 and E23. If these jumpers are on, nothing else should be connected to the Encoder 2 inputs. The signal can be interpreted either as quadrature or as pulse (HWCA) and direction (HWCB), depending on the value of I905. I905 also controls the direction sense of this input. Make sure that the

Encoder 2 jumper E26 is set for single ended signals, connecting pins 1 and 2.

Optional Voltage to Frequency Converter

The WIPER analog input (0 to +10V on PMAC referenced to digital ground) provides an input to a voltage-to-frequency converter (V/F) with a gain of 25 kHz/Volt, providing a range of 0-250 kHz. The output of the V/F can be connected to the Encoder 4 counter using jumpers E72 and E73. If these jumpers are on, nothing else should be connected to the Encoder 4 inputs. Make sure that the Encoder 4 jumper E24 is set for single-ended signals, connecting pins 1 and 2. This feature requires the ordering of

Option 15.

Machine Connections 15

Turbo PMAC PCI Lite

Frequency Decode

When used in this fashion, Encoder 4 must be set up for pulse-and-direction decode by setting I915 to 0 or 4. Usually, a value of 4 is used because with CHB4 (direction) unconnected, a positive voltage causes the counter to count up. The encoder conversion table can then take the difference in the counter each servo cycle and scale it, providing a value proportional to frequency, and therefore to the input voltage.

Usually this is used for feedrate override (time base control), but the resulting value can be used for any purpose.

Power Supply

For the V/F converter to work, PMAC must have +/-12V supply referenced to digital ground. If PMAC is in a bus configuration, usually this comes through the bus connector from the bus power supply. In a standalone configuration, this supply must still be brought through the bus connector (or the supply terminal block), or it must be jumpered over from the analog side with E85, E87, and E88, defeating the optical isolation on the board.

Thumbwheel Multiplexer Port (JTHW Port)

The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW (J3) connector has eight input lines and eight output lines. The output lines can be used to multiplex large numbers of inputs and outputs on the port, and Delta Tau provides accessory boards and software structures (special M-variable definitions) to capitalize on this feature. Up to 32 of the multiplexed I/O boards may be daisy-chained on the port, in any combination.

The Acc-18 Thumbwheel Multiplexer board provides up to 16 BCD thumbwheel digits or 64 discrete

TTL inputs per board. The TWD and TWB forms of M-variables are used for this board.

The Acc-34x family Serial I/O Multiplexer boards provides 64 I/O point per board, optically isolated from PMAC. The TWS form of M-variables is used for these boards.

The Acc-8D Option 7 Resolver-to-Digital Converter board provides up to four resolver channels whose absolute positions can be read through the thumbwheel port. The TWR form of M-variables is used for this board.

The Acc-8D Option 9 Yaskawa

TM

Absolute Encoder Interface board can connect to up to four of these encoders. The absolute position is read serially through the multiplexer port on power up.

If none of these accessory boards is used, the inputs and outputs on this port may be used as discrete, nonmultiplexed I/O. They map into PMAC’s processor space at Y address $78801. The suggested Mvariable definitions for this use are M40 to M47 for the eight outputs, and M50 to M57 for the eight inputs. The Acc-27 Optically Isolated I/O board buffers the I/O in this non-multiplexed form with each point rated to 24V and 100 mA.

Optional Analog Inputs (JANA Port)

The JANA port is present only if Option 12 is ordered for the PMAC. Option 12 provides eight 12-bit analog inputs (ANAI00-ANAI07). Option 12A provides eight additional 12-bit analog inputs (ANA08-

ANAI15) for a total of 16 inputs. The analog inputs can be used as unipolar inputs in the 0V to +5V range, or bi-polar inputs in the -2.5V to +2.5V range.

The analog-to-digital converters on PMAC require +5V and -12V supplies. These supplies are not isolated from digital +5V circuitry on PMAC. If the PMAC is plugged into the PCI bus, these supplies are taken from the bus power supply. In a standalone application, these supplies must be brought in on terminal block TB1. The -12V and matching +12V supply voltages are available on the J30 connector to supply the analog circuitry providing the signals.

16 Machine Connections

Turbo PMAC PCI Lite

Only one pair of analog-to-digital converter registers is available to the PMAC processor at any given time. The data appears to the processor at address Y:$78808. The data from the selected analog input 0 to 7 (ANAI00-ANAI07) appears in the low 12 bits; the data from the selected analog input 8 to 15

(ANAI08-ANAI15) appears in the high 12 bits (this data is only present if Option 12A has been ordered).

The input is selected and the conversion is started by writing to this same word address Y:$78808. A value of 0 to 7 written into the low 12 bits selects the analog input channel of that number (ANAI00-

ANAI07) to be converted in unipolar mode (0V to +5V). A value of 0 to 7 written into the high 12 bits selects the analog input channel numbered eight greater (ANAI08-ANAI15) in unipolar mode. If the value written into either the low 12 bits or the high 12 bits is eight higher (8 to 15), the same input channel is selected, but the conversion is in bipolar mode (-2.5V to +2.5V).

Turbo PMAC variables I5060 to 5096 allow an automatic conversion of the analog inputs. Setting variables I5061 to I5076 to 8 the data can be read from registers Y:$3400 to Y:$341F. See the Turbo

PMAC Software Reference for further details on this.

Compare Equal Outputs Port (JEQU Port)

The compare-equals (EQU) outputs have a dedicated use of providing a signal edge when an encoder position reaches a pre-loaded value. This is useful for scanning and measurement applications.

Instructions for use of these outputs are covered in detail in the PMAC’s User Manual.

Outputs can be configured sinking or sourcing by replacing the chip U37 and configuring the jumpers

E101-102. The voltage levels can be individually configured by removing resistor packs RP43 or RP56 and connecting an external pull-up resistor in each output to the desired voltage level.

Serial Port (JRS422 Port)

For serial communications, use a serial cable to connect the PC’s COM port to the PMAC’s J4 serial port connector. Delta Tau provides the Acc-3D cable that connects the PMAC PCI to a DB-25 connector.

Standard DB-9-to-DB-25 or DB-25-to-DB-9 adapters may be needed for a particular setup. Jumper E110 selects between RS-232 or RS422 signals type for the J4 connector. If a cable needs to be made, use a flat cable prepared with flat-cable type connectors as indicated in the following diagram:

Machine Connections 17

DB-25

Female

1

Do not connect wire #26

IDC-26

1

Turbo PMAC PCI Lite

16

17

18

19

12

13

14

15

7

8

5

6

9

10

11

3

4

1

2

20

21

22

23

24

25

26

PMAC (IDC-26) PMAC (DB-25)

1

14

2 (TXD)

15

3 (RXD)

16

4 (RTS)

17

5 (CTS)

18

6 (DSR)

19

7 (Gnd)

20 (DTR)

8

21

9

22

10

23

11

24

12

25

13

No Connect

18 Machine Connections

Turbo PMAC PCI Lite

Machine Connections Example

Amplifier

±15 Volts Power Supply Motor

Load

Flags

Encoder

27

43

45

47

19

21

23

25

49

58

#1

Pin #

53

55

51

58

1

3

17

58

59

60

15

29

31

33

7

9

11

13

35

58

#3

Pin #

39

41

37

58

1

3

5

28

44

46

48

20

22

24

26

50

58

#2

Pin #

54

56

52

58

2

4

18

ACC-8D or ACC-8P

16

30

32

34

8

10

12

14

36

58

#4

Pin #

40

42

38

58

2

4

6

SYMBOL

-LIMn

HMFLn

+LIMn

AGND

+5V

GND

CHCn

CHCn/

CHBn

CHBn/

CHAn

CHAn/

DACn

DACn/

AENAn/DIRn

FAULTn

AGND

AGND

A+15V/OPT+V

A-15V

PMAC installed in a desktop PC

Acc-8D

Note: For this configuration, jumpers E85, E87, E89, E90 and E100 are left at the default settings.

Machine Connections 19

Turbo PMAC PCI Lite

SOFTWARE SETUP

Communications

Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32bits Windows

®

based computers. With Pewin 32 Pro, a Turbo PMAC PCI Lite board plugged in a PCI bus slot will be recognized by the operating system when the computer is boot up. 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 resources page of the device manager.

Turbo PMAC I-Variables

Turbo PMAC has a large set of Initialization parameters (I-variables) that determine the personality of the card for a specific application. Many of these are used to configure a motor properly. Once set up, these variables may be stored in non-volatile flash memory (using the SAVE command) so the card is always configured properly (PMAC loads the flash I-variable values into RAM on power-up).

The easiest way to program, setup and troubleshoot Turbo PMAC is by using the PMAC Executive

Program Pewin 32 Pro and its related add-on packages Turbo Setup and PMAC Plot. These software packages are available from Delta Tau, ordered through the appropriate software accessory.

The programming features and configuration variables for the Turbo PMAC are fully described in the Turbo PMAC User and Software manuals.

Operational Frequency and Baud Rate Setup

Variable I52 determines the actual operating frequency of the Turbo CPU. The operational frequency is set to 10MHz * (I52 + 1). I52 should be set to 7 to operate an Option 5Cx board at its maximum rated frequency of 80 MHz; it should be set to 9 to operate an Option 5Dx board at its maximum rated frequency of 100 MHz; it should be set to 15 to operate an Option 5Ex board at is maximum rated frequency of 160 MHz.

I52 is used only at power-up/reset. To change the operational frequency, set a new value of I52, issue a

SAVE command to store this value in non-volatile flash memory, then issue a $$$ command to reset the controller. I54 controls the baud rate for communications on the main serial port. Turbo PMAC uses I54 only at power-up/reset to set up the frequency of the clocking circuit for the serial port. To change the baud rate, it is necessary to change the value of I54, store this value to non-volatile flash memory with the

SAVE command, and reset the card. At this time, Turbo PMAC will establish the new baud rate.

The possible settings of I54 and the baud rates they define are:

I54

4

5

6

7

0

1

2

3

Baud Rate

600

900

1200

1800

2400

3600

4800

7200

I54

12

13

14

15

8

9

10

11

Baud Rate

9600

14,400

19,200

28,800

38,400

57,600

76,800

115,200

20 Software Setup

Turbo PMAC PCI Lite

If the host computer baud rate does not match the Turbo PMAC’s baud rate, either the Turbo PMAC’s baud rate must be changed through the bus communications port, or the Turbo PMAC must be reinitialized by resetting or powering up with the E51 jumper ON. This forces the Turbo PMAC to the default baud rate of 38,400.

Note:

To use the baud rate of 115,200, the CPU must be operating at an exact multiple of

30MHz (i.e., 30, 60, 90, 120, or 150MHz).

Software Setup 21

HARDWARE REFERENCE SUMMARY

Board Dimensions (Part Number 603657-100)

Turbo PMAC PCI Lite

22 Hardware Reference Summary

Turbo PMAC PCI Lite

Board Layout (Part Number 603657-100)

1

2

3

4

5

6

7

8

9

A8

A8

A8

A8

A8

C6

A8

A8

A8

B5

B5

B5

B5

A8

A8

A8

B5

A8

A7

B4

B4

B4

B4

A9

A9

C5

C5

B6

B5

C5

C5

C5

A2

B2

A8

A8

A7

A7

A6

A2

Location

A6

A6

A6

A8

A8

E28

E29

E30

E31

E32

E33

E34

E34A

E35

E36

E37

E38

E40

E41

E42

E43

E44

E17C

E17D

E18

E19

E20

E21

E22

E23

E45

E46

E47

E48

E49

E50

E51

Feature

E0

E1

E2

E3

E4

E5

E6

E7

E10A

E10B

E10C

E17A

E17B

B6

A3

A2

C1

A4

B6

A7

A7

B6

B5

A7

A5

A9

C1

A4

A4

A5

C5

A2

B5

B5

A4

A3

A7

A7

A5

A8

C6

B9

A3

A4

A1

A9

A9

B9

B5

B7

B6

B6

A9

Location

B7

B7

B7

B7

B7

E109

E110

E111

E119

E122

D15

D20

D20A

D21

D21A

F1

J1

J2

J3

J4

J5

J6

E87

E88

E89

E90

E98

E100

E101

E102

J8

J9

J17

J30

J31

JS1

TB1

E62

E63

E65

E72

E73

E74

E75

E85

Feature

E55

E57

E58

E59

E61

A

Hardware Reference Summary

B C

23

Board Dimensions (Part Number 603657-105)

Turbo PMAC PCI Lite

24 Hardware Reference Summary

Turbo PMAC PCI Lite

Board Layout (Part Number 603657-105)

E45

E46

E47

E48

E49

E50

E36

E37

E38

E40

E41

E42

E43

E44

E29

E30

E31

E32

E33

E34

E34A

E35

E17D

E18

E19

E20

E21

E22

E23

E28

Feature Location Feature Location

E0 A5 E51 C5

E1

E2

A5

A5

E55

E57

B6

B6

E3

E4

E5

E6

A8

A8

A8

A7

E58

E59

E61

E62

B6

B6

B6

B7

E7

E10

E10A

E10B

E10C

E17A

E17B

E17C

A6

B1

B2

B2

B2

A8

A8

A8

E63

E65

E72

E73

E74

E75

E85

E87

B7

B7

A9

B9

B9

B9

A5

A5

A8

B4

B4

B4

B4

A9

A9

B7

A8

A8

A8

A8

A8

A8

A8

A8

E88

E89

E90

E98

E100

E101

E102

E109

E110

E111

E119

E122

D15

D20

D20A

D21

A7

A7

B1

B7

A3

A2

C1

A2

A2

B5

B5

A7

A3

A4

A4

B6

C5

C5

C5

C5

C5

C5

A8

A8

A8

B5

B5

B5

B5

C5

D21A

F1

J1

J2

J3

J4

J5

J6

J8

J9

J20

J29

TB1

B9

A3

C3

C5

C6

C1

A4

A4

B7

B6

A7

A5

A9

Hardware Reference Summary 25

Turbo PMAC PCI Lite

Connectors and Indicators

J1 – Display Port (JDISP Port)

The JDISP connector allows connection of the Acc-12 or Acc-12A liquid crystal displays, or of the Acc-

12C vacuum fluorescent display. Both text and variable values may be shown on these displays by using the DISPLAY command, executing in either motion or PLC programs.

J2 – Control-Panel Port (JPAN Port)

The JPAN connector is a 26-pin connector with dedicated control inputs, dedicated indicator outputs, a quadrature encoder input, and an analog input (requires PMAC Option 15). The control inputs are low true with internal pull-up resistors. They have predefined functions unless the control-panel-disable Ivariable (I2) has been set to 1. If this is the case, they may be used as general-purpose inputs by assigning

M-variable to their corresponding memory-map locations (bits of Y address $78800).

J3 – Thumbwheel Multiplexer Port (JTHW Port)

The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW connector has eight input lines and eight output lines. The output lines can be used to multiplex large numbers of inputs and outputs on the port, and Delta Tau provides accessory boards and software structures (special M-variable definitions) to capitalize on this feature. Up to 32 of the multiplexed I/O boards may be daisy-chained on the port, in any combination.

J4 – Main Serial Port (JRS232/422 Port)

For serial communications, use a serial cable to connect the PC’s COM port to the PMAC’s serial port connector. Delta Tau provides the Acc-3D cable for this purpose, which connects PMAC to a DB-25 connector. Standard DB-9-to-DB-25 or DB-25-to-DB-9 adapters may be needed for a particular setup.

J5 – General-Purpose Digital Inputs and Outputs (JOPTO Port)

PMAC’s JOPTO connector provides eight general-purpose digital inputs and eight general-purpose digital outputs. Each input and each output has its own corresponding ground pin in the opposite row.

The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Delta Tau’s Acc-21F is a six-foot cable for this purpose.

J6 – Auxiliary I/O Port (JXIO Port)

This port is only used when connecting to optional PMAC accessory boards.

J8 – Machine Connectors (JMACH1 Port)

The primary machine interface connector is JMACH1, labeled J8 on the PMAC. It contains the pins for four channels of machine I/O: analog outputs, incremental encoder inputs, and associated input and output flags, plus power-supply connections.

J9 – Compare Equal Outputs Port (JEQU Port)

The compare-equals (EQU) outputs have a dedicated use of providing a signal edge when an encoder position reaches a pre-loaded value. This is very useful for scanning and measurement applications.

Instructions for use of these outputs are covered in detail in the PMAC’s User Manual.

J17 – Auxiliary Serial Port (JRS232 Port)

This connector allows the Turbo PMAC to communicate through its optional auxiliary RS-232 serial port.

J30 – Optional Analog to Digital Inputs (JANA Port)

This optional port is used to bring in the analog signals for the optional on-board analog to digital converter set. This feature provides up to 16 analog inputs in the range of 0 to 5V unipolar or ±2.5V bipolar.

J31 – Optional Universal Serial Bus Port (JUSB Port)

26 Hardware Reference Summary

Turbo PMAC PCI Lite

This optional port allows communicating with PMAC through a standard USB connection.

J32 – Expansion Port (JEXP Port)

This port is used to connect to PMAC accessory board that require data and address bus access.

JS1 – External A/D Port (JS1 Port)

This port is only used when connecting to Acc-28A/B analog-to-digital converter boards.

TB1 – Power Supply Terminal Block (JPWR Connector)

This terminal block may be used as an alternative power supply connector if PMAC is not installed in a

PCI-bus.

LED Indicators

D20 and D20A: When these green LEDs are lit, they indicate that power is applied to the +5V input.

D21 and D21A: When these red LEDs are lit, they indicate that the watchdog timer has tripped and shut down the PMAC.

D15: The PMAC has an interlock circuit that drops out the ±15V supplies to the analog outputs through a fail-safe relay if any supply on PMAC is lost. In this case, the green LED D15 will be off.

Fuse

The 5V output through the J5 JOPTO connector is protected by F1, which is a two-Amp fuse of the following type:

Manufacturer: LittleFuse

Part Number: 021-273002-004

Hardware Reference Summary 27

E-POINT JUMPER DESCRIPTIONS

E0: Reserved for Future Use

E Point and

Physical Layout

E0

Location Description

A6 For future use.

Turbo PMAC PCI Lite

Default

No jumper

E1 - E2: Machine Output Supply Voltage Configure

E Point and

Physical Layout

E1

E2

Location

A6

A6

Description

Jump pin 1 to 2 to apply +V (+5V to 24V) to pin

10 of U13 (should be ULN2803A for sink output configuration) JOPTO Machine outputs M01-

M08.

Jump pin 2 to 3 to apply GND to pin 10 of U13

(should be UDN2981A for source output configuration).

Caution:

The jumper setting must match the type of driver

IC, or damage to the IC will result.

Jump pin 1 to 2 to apply GND to pin 10 of U13

(should be ULN2803A for sink output configuration).

Jump pin 2 to 3 to apply +V (+5V to 24V) to pin

10 of U13 (should be UDN2981A for source output configuration).

Caution:

The jumper setting must match the type of driver

IC, or damage to the IC will result.

Default

1-2 Jumper installed

1-2 Jumper installed

28 E-Point Jumper Descriptions

Turbo PMAC PCI Lite

E3 - E6: Servo Clock Frequency Control

The servo clock (which determines how often the servo loop is closed) is derived from the phase clock (see

E98, E29 - E33) through a divide-by-N counter. Jumpers E3 through E6 control this dividing function.

E3 E4 E5 E6 Servo Clock = Phase Clock

Divided by N

Default and Physical Layout

E3 E4 E5 E6

LOCATION A8 A8 A7 A7

ON

OFF

ON ON ON

ON ON ON

ON OFF ON ON

OFF OFF ON ON

ON

OFF

OFF ON ON

ON OFF ON

ON OFF OFF ON

OFF OFF OFF ON

ON

OFF

ON ON OFF

ON ON OFF

ON OFF ON OFF

OFF OFF ON OFF

ON

OFF

ON OFF OFF

ON OFF OFF

ON OFF OFF OFF

OFF OFF OFF OFF

N = divided by 1

N = divided by 2

N = divided by 3

N = divided by 4

N = divided by 5

N = divided by 6

N = divided by 7

N = divided by 8

N = divided by 9

N = divided by 10

N = divided by 11

N = divided by 12

N = divided by 13

N = divided by 14

N = divided by 15

N = divided by 16

Only E5 and E6 ON

Note:

The setting of I-variable I10 should be adjusted to match the servo interrupt cycle time set by E98, E3 – E6, E29 – E33, and the crystal clock frequency. I10 holds the length of a servo interrupt cycle, scaled so that 8,388,608 equals one millisecond. Since I10 has a maximum value of 8,388,607, the servo interrupt cycle time should always be less than a millisecond (unless the basic unit of time on PMAC is something other than a millisecond). To have a servo sample time greater than one millisecond, the sampling may be slowed in software with variable Ix60.

Frequency can be checked on J4 pins 21 and 22. It can also be checked from software by typing RX:0 in the PMAC terminal at 10-second intervals and dividing the difference of successive responses by 10000.

The resulting number is the approximate Servo Clock frequency kHz.

Note:

If E40 – E43 are not all ON, the phase clock is received from an external source through the J4 serial-port connector, and the settings of E3 – E6 are not relevant.

E-Point Jumper Descriptions 29

Turbo PMAC PCI Lite

E7: Machine Input Source/Sink Control

E Point and

Physical Layout

E7

Location Description

A6 Jump pin 1 to 2 to apply +5V to input reference resistor sip pack. This will bias MI1 to MI8 inputs to

+5V for OFF state. Input must then be grounded for

ON state.

Jump pin 2 to 3 to apply GND to input reference resistor sip pack. This will bias MI1 to MI8 inputs to

GND for OFF state. Input must then be pulled up for

ON state (+5V to +24V).

E10A, B, C: Flash Memory Bank Select

E Point and

Physical Layout

E10A

Location

A2

Default

1-2 Jumper installed

Description

Remove all three jumpers to select flash memory bank with factory-installed firmware.

Use another configuration to select one of the seven other flash memory banks

Default

No jumpers installed

E10C

E17A-D: Amplifier Enable/Direction Polarity Control

E Point and

Physical Layout

E17A

Location

A8

Description

Jump 1-2 for high-true AENA1.

Remove jumper for low-true AENA1.

Default

No jumper installed

E17B A8 Jump 1-2 for high-true AENA2.

Remove jumper for low-true AENA2.

No jumper installed

E17C A8 Jump 1-2 for high-true AENA3.

Remove jumper for low-true AENA3.

No jumper installed

E17D A7 Jump 1-2 for high-true AENA4.

Remove jumper for low-true AENA4.

No jumper installed

Note: Low-true enable is the fail-safe option because of the sinking (open-collector) ULN2803A output driver IC.

30 E-Point Jumper Descriptions

Turbo PMAC PCI Lite

E18 – E20: Power-Up/Reset Load Source

E Point and

Physical Layout

E18

Location

B4

Description

To read flash IC on power-up/reset, remove jumper

E18. Jump E19. Jump E20.

Other combinations are for factory use only. The board will not operate in any other configuration.

Default

No E18 jumper installed;

Jump E19 and E20

E20

E21: Power-Up/Reset Load Source

E Point and

Physical Layout

E21

Location

B4

Description

Jump pin 1 to 2 to reload firmware through serial or bus port.

Remove jumper for normal operation.

E22 - E23: Control Panel Handwheel Enable

E Point and

Physical Layout

E22

Location

A9

Description

Jump pin 1 to 2 to obtain handwheel encoder signal from front panel at J2-16 for CHB2 (ENC2-B).

Default

No jumper

Default

No jumper

E23 A9 Jump pin 1 to 2 to obtain handwheel encoder signal from front panel at J2-22 for CHA2 (ENC2-A).

No jumper

Note: With these jumpers ON, no encoder should be wired into ENC2 on JMACH1. Jumper E26 must connect pins

1-2, because these are single-ended inputs. This function is unrelated to the encoder brought in through Acc-39 on

J2.

E28: Following Error/Watchdog Timer Signal Control

E Point and

Physical Layout

E28

Location

C6

Description

Jump pin 1 to 2 to allow warning following error

(Ix12) for the selected coordinate system to control

FEFCO/ on J8-57.

Jump pin 2 to 3 to cause Watchdog timer output to control FEFCO/.

Low true output in either case.

Default

2-3 Jumper installed

E-Point Jumper Descriptions 31

Turbo PMAC PCI Lite

E29 - E33: Phase Clock Frequency Control

Jumpers E29 through E33 control the speed of the phase clock, and, indirectly, the servo clock, which is divided down from the phase clock (see E3 - E6). No more than one of these five jumpers may be on at a time.

E29 E30 E31 E32 E33

Phase Clock Frequency

E98 Connects

Pins 1 and 2

E98 Connects

Pins 2 and 3

Default and

Physical

Layout

Location

ON OFF OFF OFF OFF 2.26 kHz 1.13 kHz A8

E29

OFF ON OFF OFF OFF 4.52 kHz 2.26 kHz A8

E30

OFF OFF ON OFF OFF 9.04 kHz 4.52 kHz A8

E31

OFF OFF OFF ON OFF 18.07 kHz 9.04 kHz A8

E32

OFF OFF OFF OFF ON 36.14 kHz 18.07 kHz A8

E33

Note: If E40-E43 are not all ON, the phase clock is received from an external source through the J4 serial-port connector, and the settings of E29 – E33 are not relevant.

E34A - E38: Encoder Sampling Clock Frequency Control

Jumpers E34A - E38 control the encoder-sampling clock (SCLK) used by the gate array ICs. No more than one of these six jumpers may be on at a time.

E34A E34 E35 E36 E37 E38

SCLK Clock Frequency Default and Physical Layout

E34A E34 E35 E36 E37 E38

ON OFF OFF OFF OFF OFF

OFF ON OFF OFF OFF OFF

OFF OFF ON OFF OFF OFF

OFF OFF OFF ON OFF OFF

19.6608 MHz

9.8304 MHz

4.9152 MHz

2.4576 MHz

OFF OFF OFF OFF ON OFF 1.2288 MHz

OFF OFF OFF OFF OFF ON External clock 1 to 30 MHz maximum input on CHC4 and CHC4/

E40-E43: Phase Servo Clock Direction Control

A8 A8 A8 A8 A8 A8

E34 ON

E Point and

Physical Layout

E40 – E43

Location

B5

Description

Jump pins 1 to 2 on all four E points for card to generate its own Phase and Servo clocks and output them on RS422 connector.

Remove jumper from any E point for card to receive external Phase and Servo clock signals on

RS422 connector.

Default

All jumpers

32 E-Point Jumper Descriptions

Turbo PMAC PCI Lite

E44-E50: Reserved for Future Use

E Point and

Physical Layout

E44 E45, etc.

Location

C5

Description

Reserved for future use

Default

No jumper

E51: Normal/Re-Initializing Power-Up

E Point and

Physical Layout

E51

Location

B6

Description Default

Jump pin 1 to 2 to re-initialize ON power-up/reset.

Remove jumper for normal power-up/reset.

No jumper installed

E55 - E65: Host Interrupt Signal Select

E Point and

Physical Layout

E55

Location

B7

Description

Jump pin 1 to 2 to allow EQU4 to interrupt host-

PC at PMAC interrupt level IR7.

E57 B7 Jump pin 1 to 2 to allow EQU3 to interrupt host-

PC at PMAC interrupt level IR7.

E58 B7 Jump pin 1 to 2 to allow MI2 to interrupt host-PC at PMAC interrupt level IR6.

E59 B7

Default

No jumper installed

No jumper installed

No jumper installed

Jump pin 1 to 2 to allow Axis Expansion INT-0 to interrupt host-PC at PMAC interrupt level IR6.

No jumper installed

E61 B7 Jump pin 1 to 2 to allow EQU2 to interrupt host-

PC at PMAC interrupt level IR6.

No jumper installed

E62 B7 Jump pin 1 to 2 to allow MI1 to interrupt host-PC at PMAC interrupt level IR5.

No jumper installed

E63 B6 Jump pin 1 to 2 to allow Axis Expansion INT-1 to interrupt host-PC at PMAC interrupt level IR5.

No jumper installed

E65 B6 Jump pin 1 to 2 to allow EQU1 to interrupt host-

PC at PMAC interrupt level IR5.

No jumper installed

E-Point Jumper Descriptions 33

Turbo PMAC PCI Lite

E72 - E73: Panel Analog Time Base Signal Enable

E Point and

Physical Layout

E72

Location

A9

Description

Jump pin 1 to 2 to allow V to F converter FOUT derived from wiper input on J2 to connect to

CHA4.

Default

No jumper installed

E73 A9 Jump pin 1 to 2 to allow V to F converter FOUT/ derived from wiper input on J2 to connect to

CHA4/.

No jumper installed

Note: With these jumpers ON, no encoder should be wired into ENC4 on JMACH1. E27 must connect pins 1 to

2 because these are single-ended inputs. To create a positive voltage (frequency) number in PMAC, set variable

I915 to 4.

E74 - E75: Clock Output Control for External Interpolation

E Point and

Physical Layout

E74

Location

A9

Description

Jump pin 1 to 2 to allow SCLK/ to output on

CHC4/.

Default

No jumper installed

E75 B9 Jump pin 1 to 2 to allow SCLK to output on

CHC4.

No jumper installed

Note: SCLK out permits synchronous latching of analog encoder interpolators such as Acc-8D Option 8.

E85: Host-Supplied Analog Power Source Enable

E Point and

Physical Layout

Location Description

E85 B5 Jump pin 1 to pin 2 to allow A+14V to come from

PC bus (ties amplifier and PMAC power supply together. Defeats OPTO coupling.).

Note: If E85 is changed, E88 and E87 must also be changed. See E90.

Default

No jumper

34 E-Point Jumper Descriptions

Turbo PMAC PCI Lite

E87 - E88: Host-Supplied Analog Power Source Enable

E Point and

Physical Layout

Location Description

E87 C5 Jump pin 1 to pin 2 to allow AGND to come from

PC bus (ties amplifier and PMAC GND together.

Defeats OPTO coupling.).

Note: that if E87 is changed, E85 and E88 must also be changed. Also see E90.

E88 A2 Jump pin 1 to pin 2 to allow A-14V to come from

PC bus (ties amplifier and PMAC power supply together. Defeats OPTO coupling.).

Note: If E88 is changed, E87 and E85 must also be changed. See E90.

E89: Amplifier-Supplied Switch Pull-Up Enable

E Point and

Physical Layout

E89

Location Description

B5 Jump pin 1 to 2 to use A+15V on J8 (JMACH1) pin 59 as supply for input flags.

Remove jumper to use A+15V/OPT+V from J9 pin 9 as supply for input flags.

Note: This jumper setting is relevant only if E90 connects pin 1 to 2.

E90: Host-Supplied Switch Pull-Up Enable

E Point and

Physical Layout

E90

Location Description

B5 Jump pin 1 to 2 to use A+15V from J8 pin 59 as supply for input flags (E89 ON) {flags should be tied to AGND} or A+15V/OPT+V from J8 pin 11 as supply for input flags (E89 OFF) {flags should be tied to separate 0V reference}.

Jump pin 2 to 3 to use +12V from PC bus connector P1-pin B09 as supply for input flags

{flags should be tied to GND}.

See also E85, E87, E88 and PMAC Opto-isolation diagram.

Default

No jumper

No jumper

Default

Jumper installed

Default

1-2 Jumper installed

E-Point Jumper Descriptions 35

Turbo PMAC PCI Lite

E98: DAC/ADC Clock Frequency Control

E Point and

Physical Layout

E98

Location Description Default

A4 Jump pin 1 to 2 to provide a 2.45 MHz DCLK signal to DACs and ADCs.

Jump pin 2 to 3 to provide a 1.22 MHz DCLK signal to DACs and ADCs. Important for high accuracy A/D conversion on Acc-28.

1-2 Jumper installed

Note: This also divides the phase and servo clock frequencies in half. See E29-E33, E3-E6, I10

E100: Output Flag Supply Select

E Point and

Physical Layout

E100

Location Description Default

A3 Jump pin 1 to 2 to apply analog supply voltage

A+15V to U37 flag output driver IC.

Jump pin 2 to 3 to apply flag supply voltage

OPT+V to U37 flag output driver IC.

1-2 Jumper installed

E101 - E102: Motors 1-4 Amplifier Enable Output Configure

E Point and

Physical Layout

E101

Location

A7

Default

1-2 Jumper installed

E102 A7

Description

Jump pin 1 to 2 to apply A+15V/A+V (as set by

E100) to pin 10 of U37 AENAn & EQUn driver

IC (should be ULN2803A for sink output configuration).

Jump pin 2 to 3 to apply GND to pin 10 of U37

(should be UDN2981A for source output configuration).

Caution:

The jumper setting must match the type of driver

IC, or damage to the IC will result.

Jump pin 1 to 2 to apply GND to pin 10 of U37

AENAn & EQUn (should be ULN2803A for sink output configuration).

Jump pin 2 to 3 to apply A+15V/A+V (as set by

E100) to pin 10 of U37 (should be UDN2981A for source output configuration).

Caution:

The jumper setting must match the type of driver

IC, or damage to the IC will result.

1-2 Jumper installed

36 E-Point Jumper Descriptions

Turbo PMAC PCI Lite

E109: Reserved for Future Use

E Point and

Physical Layout

E109

Location

B6

Description Default

For future use. No jumper

E110: Serial Port Configure

E Point and

Physical Layout

E110

Location

A7

Description

Jump pin 1 to 2 for use of the J4 connector as RS-

232. Jump pin 2 to 3 for use of the J4 connector as

RS-422.

Default

1-2 Jumper installed

E111: Clock Lines Output Enable

E Point and

Physical Layout

E111

Location Description

A7 Jump pin 1 to 2 to enable the Phase, Servo and Init lines on the J4 connector. Jump pin 2 to 3 to disable the Phase, Servo and Init lines on the J4 connector. E111 on positions 1 to 2 is necessary for daisy-chained PMACs sharing the clock lines for synchronization.

E119: Watchdog Disable Jumper

E Point and

Physical Layout

E119

Location Description

B6 Jump pin 1 to 2 to disable Watchdog timer (for test purposes only).

Remove jumper to enable Watchdog timer.

E122: XIN Feature Selection

E Point and

Physical Layout

E122

Location

B6

Description

Jump 1-2 to bring the PowerGood signal into register XIN7 at Y:$070801 bit 7.

Default

1-2 Jumper installed

Default

No jumper

Default

1-2 Jumper installed

E-Point Jumper Descriptions 37

Turbo PMAC PCI Lite

MATING CONNECTORS

This section lists several options for each connector. Choose an appropriate one for your application.

Base Board Connectors

J1 (JDISP)/Display

1. Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 – T&B Ansley P/N 609-1441

2. 171-14 T&B Ansley standard flat cable stranded 14-wire

3. Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1

J2 (JPAN)/Control Panel

1. Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 – T&B Ansley P/N 609-2641

2. 171.26.T&B Ansley standard flat cable stranded 26-wire

3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0

J3 (JTHW)/Multiplexer Port

1. Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 – T&B Ansley P/N 609-2641

2. 171-26 T&B Ansley standard flat cable stranded 26-wire

3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0

J4 (JRS422)/RS232 OR 422/Serial Communications

1. Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 – T&B Ansley P/N 609-2641

2. 171-26 T&B Ansley standard flat cable stranded 26-wire

3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0

J5 (JOPT)/OPTO I/O

1. Two 34-pin female flat cable connector Delta Tau P/N 014-R00F34-0k0 – T&B Ansley P/N 609-3441

2. 171-34 T&B Ansley standard flat cable stranded 34-wire

3. Phoenix varioface module type FLKM 34 (male pins) P/N 22 81 06 3

J6 (JXIO)/Expansion Board

1. Two 10-pin female flat cable connector Delta Tau P/N 014-R00F10-0K0 – T&B Ansley P/N 609-1041

2. 171-10 T&B Ansley standard flat cable stranded 10-wire

3. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8

J8 (JMACH1)/1st Machine Connector

1. Two 60-pin female flat cable connector Delta Tau P/N 014-R00F60-0K0 – T&B Ansley P/N 609-

6041 available as ACC 8P or 8D

2. 171-60 T&B Ansley standard flat cable stranded 60-wire

3. Phoenix varioface module type FLKM 60 (male pins) P/N 22 81 09 2

Note:

Normally, J8 is used with accessory 8P or 8D with Option P, which provides complete terminal strip fan-out of all connections.

JS1/A-D Inputs 1-4

1. Two 16-pin female flat cable connector Delta Tau P/N 014-R00F16-0K0 – T&B Ansley P/N 609-1641

2. 171-16 T&B Ansley standard flat cable stranded 16-wire

3. PHOENIX varioface module type FLKM 16 (male pins) P/N 22 81 03 4

38 Mating Connectors

Turbo PMAC PCI Lite

JEQU/Position Compare

1. Two 10-pin female flat cable connector Delta Tau P/N 014-R00F10-0K0 – T&B Ansley P/N 609-1041

2. 171-10 T&B Ansley standard flat cable stranded 10-wire

3. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8

JANA/Analog Inputs Option

1. Two 20-pin female flat cable connector Delta Tau P/N 014-R00F20-0K0 – T&B Ansley P/N 609-2041

2. 171-20 T&B Ansley standard flat cable stranded 20-wire

3. Phoenix varioface modules type FLKM20 (male pins)

Mating Connectors 39

Turbo PMAC PCI Lite

CONNECTOR PINOUTS

J1: Display Port Connector

J1 JDISP (14-Pin Connector)

Front View

Pin # Symbol Function

5

6

7

8

1

2

3

4

Vdd

Vss

Rs

Vee

E

R/W

DB1

DB0

Output

Common

Output

Output

Output

Output

Output

Output

9

10

11

12

DB3

DB2

DB5

DB4

Output

Output

Output

Output

13

14

DB7

DB6

Output

Output

*Controlled by potentiometer R1.

Description

+5V power

PMAC common

Read strobe

Contrast adjust Vee

Display enable

Read or write

Display Data1

Display Data0

Display Data3

Display Data2

Display Data5

Display Data4

Display Data7

Display Data6

Notes

Power supply out

TTL signal out

0 to +5 VDC *

High is enable

TTL signal out

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.

See Also:

Program Commands: DISPLAY

Accessories; Acc-12, 12A, 12C, Acc-16D

J2: Control Panel Port Connector

J2 JPAN (26-Pin Connector)

Pin # Symbol

12

13

14

15

8

9

10

11

1

2

3

4

5

6

7

+5V

GND

FPD0/

JOG-/

FPD1/

JOG+/

PREJ/

STRT/

STEP/

STOP/

HOME/

HOLD/

FPD2/

FPD3/

INIT/

Function Description

Output +5v power

Common PMAC common

Input Motor/C.S. select bit 0

Input

Input

Input

Input

Jog in - dir.

Motor/ C.S. select bit 1

Jog in + dir.

Ret. to prejog position

Input

Input

Input

Input

Input

Input

Input

Input

Start program run

Step through program

Stop program run

Home search command

Hold motion

Motor/ C.S. select bit 2

Motor/ C.S. select bit 3

Reset PMAC

Front View

Notes

For remote panel

Low is true

Low is Jog -

Low is true

Low is Jog +

Low is Return, equiv to J= CMD

Low is Start, equiv to R CMD

Low is Step, equiv to S or Q

Low is Stop, equiv to A

Low is Go home, equiv to HM

Low is Hold, equiv to H

Low is true

Low is true

Low is Reset, equiv to $$$

40 Connector Pinouts

Turbo PMAC PCI Lite

Pin #

9

10

11

12

13

14

15

16

5

6

7

8

1

2

3

4

17

18

19

20

21

22

J2 JPAN (26-Pin Connector) Continued

Front View

Pin # Symbol Function Description Notes

16

17

18

19

20

21

22

23

24

HWCA

IPLD/

BRLD/

ERLD/

WIPER

(SPARE)

HWCB

F1LD/

F2LD/

Input

Output

Output

Output

Input

N.c.

Input

Output

Output

Handwheel enc. A channel 5v TTL sq. pulse, must use E23 (CHA2)

In position ind. (C.S.) Low lights LED

Buffer request ind.

Fatal follow err (C.S.)

Feed pot wiper

Low lights LED

Low lights LED

0 to +10v input, must use E72, E73

(CHA4)

Warn follow err (C.S.)

Watchdog timer

Handwheel enc. B channel 5v TTL sq. pulse, must use E22 (CHB2)

Low lights LED

Low lights LED

25

26

+5V

GND

Output

Common

+5v power

PMAC common

For remote panel

The JPAN connector can be used to connect the Accessory 16 (Control Panel), or customer-provided I/O, to the

PMAC, providing manual control of PMAC functions via simple toggle switches. If the automatic control panel input functions are disabled (I2=1), the inputs become general-purpose TTL inputs, and the coordinate system

(C.S.) specific outputs pertain to the host-addressed coordinate system.

See Also:

Control panel inputs, Accessories: Acc-16, Acc-39

I-variables: I2, Ix06. I/O and Memory Map Y:$78800. Suggested M-variables M20 - M32

J3: Multiplexer Port Connector

J3 JTHW (26-Pin Connector)

Symbol

GND

GND

DAT0

SEL0

DAT1

SEL1

DAT2

SEL2

DAT3

SEL3

DAT4

SEL4

DAT5

SEL5

DAT6

SEL6

DAT7

SEL7

N.C.

GND

BRLD/

GND

Function Description

Common PMAC common

Common PMAC common

Input

Output

Data-0 input

Select-0 output

Input

Output

Input

Output

Data-1 input

Select-1 output

Data-2 input

Select-2 output

Input

Output

Input

Output

Input

Output

Input

Output

Input

Output

N.C.

Common

Output

Data-3 input

Select-3 output

Data-4 input

Select-4 output

Data-5 input

Select-5 output

Data-6 input

Select-6 output

Data-7 input

Select-7 output

No connection

PMAC common

Buffer request

Common PMAC common

Front View

Notes

Data input from multiplexed accessory

Multiplexer select output

Data input from multiplexed accessory

Multiplexer select output

Data input from multiplexed accessory

Multiplexer select output

Data input from multiplexed accessory

Multiplexer select output

Data input from multiplexed accessory

Multiplexer select output

Data input from multiplexed accessory

Multiplexer select output

Data input from multiplexed accessory

Multiplexer select output

Data input from multiplexed accessory

Multiplexer select output

Low is Buffer Request

Connector Pinouts 41

Turbo PMAC PCI Lite

Pin #

9

10

11

12

13

14

15

16

5

6

7

8

1

2

3

4

17

18

19

20

21

22

23

24

25

26

J3 JTHW (26-Pin Connector) Continued

Front View

Pin # Symbol Function Description Notes

23

24

25

26

IPLD/

GND

+5V

INIT/

Output

Common

Output

Input

In position

PMAC common

+5Vdc supply

PMAC reset

Low is In Position

Power supply out

Low is Reset

The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels. While these I/O can be used in un-multiplexed form for 16 discrete I/O points, most users will utilize PMAC software and accessories to use this port in multiplexed form to greatly multiply the number of I/O that can be accessed on this port. In multiplexed form, some of the SELn outputs are used to select which of the multiplexed I/O are to be accessed.

See also:

I/O and Memory Map Y:$78801

Suggested M-variables M40 - M58

M-variable formats TWB, TWD, TWR, TWS

Acc-8D Option 7, Acc-8D Option 9, Acc-18, Acc-34x, NC Control Panel

J4: Serial Port Connector

J4 JRS422 (26-Pin Connector)

Symbol

CHASSI

S+5V

RD-

RD+

SD-

SD+

CS+

CS-

RS+

RS-

DTR

INIT/

GND

DSR

SDIO-

SDIO+

SCIO-

SCIO+

SCK-

SCK+

SERVO-

SERVO+

PHASE-

PHASE+

GND

+5V

Function Description

Common PMAC common

Output +5Vdc supply

Input

Input

Receive data

Receive data

Output

Output

Input

Input

Send data

Send data

Clear to send

Clear to send

Output

Output

Bidirect

Input

Common

Bidirect

Bidirect

Bidirect

Req. to send

Req. to send

Data term read

PMAC reset

PMAC common

Data set ready

Special data

Special data

Bidirect

Bidirect

Bidirect

Bidirect

Bidirect

Bidirect

Bidirect

Bidirect

Special ctrl.

Special ctrl.

Special clock

Special clock

Servo clock

Servo clock

Phase clock

Phase clock

Common PMAC common

Output +5Vdc supply

Front View

Notes

Deactivated by E8

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

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

Diff. I/O low true ***

Diff. I/O high true ***

Diff. I/O low true ***

Diff. I/O high true ***

Power supply out

42 Connector Pinouts

Turbo PMAC PCI Lite

J4 JRS422 (26-Pin Connector) Continued

Front View

The JRS422 connector provides the PMAC with the ability to communicate both in RS422 and RS232. In addition, this connector is used to daisy chain interconnect multiple PMACs for synchronized operation.

Jumper E110 selects between RS-232 or RS-422 signal types.

Jumper E111 enables or disables the use of the Phase, Servo and Init lines

* Note: Required for communications to an RS-422 host port

** Note: Required for communications to an RS-422 or RS-232 host port

*** Note: Output on card @0; input on other cards. These pins are for synchronizing multiple PMACs together by sharing their Phase and Servo clocks. The PMAC designated as card 0 (@0) by its jumpers E40-E43, outputs its clock signals. Other PMACs designated as cards 1-15 (@1-@F) by their jumpers E40-E43, take these signals as inputs. If synchronization is desired, these lines should be connected even if serial communications is not used.

See Also:

Serial Communications

Synchronizing PMAC to other PMACs

J5: I/O Port Connector

J5 JOPT (34-Pin Connector)

Pin # Symbol

17

18

19

20

21

22

23

24

25

26

27

9

10

11

12

13

14

15

16

5

6

7

8

1

2

3

4

MO8

GND

MO7

GND

MO6

GND

MO5

GND

MO4

GND

MO3

MI4

GND

MI3

GND

MI2

GND

MI1

GND

MI8

GND

MI7

GND

MI6

GND

MI5

GND

Function Description

Input

Common

Machine input 8

PMAC common

Input Machine input 7

Common PMAC common

Input

Common

Input

Common

Machine input 6

PMAC common

Machine input 5

PMAC common

Input

Common

Input

Common

Input

Common

Input

Common

Machine input 4

PMAC common

Machine input 3

PMAC common

Machine input 2

PMAC common

Machine input 1

PMAC common

Output

Common

Machine output 8

PMAC common

Output Machine output 7

Common PMAC common

Output

Common

Output

Common

Machine output 6

PMAC common

Machine output 5

PMAC common

Output

Common

Output

Machine output 4

PMAC common

Machine output 3

Front View

Notes

Low is true

Low is true

Low is true

Low is true

Low is true

Low is true

Low is true

Low is true

Low-true (Sinking); High-true (Sourcing)

Low-true (Sinking); High-true (Sourcing)

Low-true (Sinking); High-true (Sourcing)

Low-true (Sinking); High-true (Sourcing)

Low-true (Sinking); High-true (Sourcing)

Low-true (Sinking); High-true (Sourcing)

Connector Pinouts 43

Turbo PMAC PCI Lite

J5 JOPT (34-Pin Connector) Continued

Front View

Pin # Symbol

28 GND

Function Description

Common PMAC common

Notes

29

30

31

32

MO2

GND

MO1

GND

Output

Common

Output

Common

Machine output 2

PMAC common

Machine output 1

PMAC common

Low-true (Sinking); High-true (Sourcing)

Low-true (Sinking); High-true (Sourcing)

33 +V Input/

Output

+V power I/O +V = +5V to +24V

+5V out from PMAC, +5 to +24V in from external source, diode isolation from PMAC

34 GND Common PMAC common

This connector provides means for eight general purpose inputs and eight general purpose outputs. Inputs and outputs may be configured to accept or provide either +5V or +24V signals. Outputs can be made sourcing with an

IC (U13 to UDN2981) and jumper (E1 & E2) change. E7 controls whether the inputs are pulled up or down internally. Outputs are rated at 100mA per channel.

J6: Auxiliary I/O Port Connector

J6 JXIO (10-Pin Connector)

Front View

Pin # Symbol Function Description Notes

5

6

7

8

1

2

3

4

CHA1

CHB1

CHC1

CHA3

CHB3

CHC3

E63

E59

INPUT

INPUT

INPUT

INPUT

INPUT

INPUT

INPUT

INPUT

Enc. A Ch. Pos.

Enc. B Ch. Pos.

Enc. C Ch. Pos.

Enc. A Ch. Pos.

Enc. B Ch. Pos.

Enc. C Ch. Pos.

Interrupt IR4

Interrupt IR5

Axis #1 for resolver

Axis #1 for resolver

Axis #1 for resolver

Axis #3 for resolver

Axis #3 for resolver

Axis #3 for resolver

Interrupt from exp BRD

Interrupt from exp BRD

9

10

SCLK

DCLK

OUTPUT

OUTPUT

Encoder CLOCK

D to A, A to D clock

Encoder sample rate

DAC and ADC clock for all channels

This connector is used for miscellaneous I/O functions related to expansion cards that are used with PMAC.

44 Connector Pinouts

Turbo PMAC PCI Lite

J8: Machine Port 1 Connector

Pin # Symbol

25

26

27

28

29

30

31

32

17

18

19

20

21

22

23

24

13

14

15

16

9

10

11

12

5

6

7

8

1

2

3

4

33 AENA3/DIR3

34 AENA4/DIR4

35

36

FAULT3

FAULT4

37

38

39

40

41

+LIM3

+LIM4

-LIM3

-LIM4

HMFL3

+5V

+5V

GND

GND

CHC3

CHC4

CHC3/

CHC4/

CHB3

CHB4

CHB3/

CHB4/

CHA3

CHA4

CHA3/

CHA4/

CHC1

CHC2

CHC1/

CHC2/

CHB1

CHB2

CHB1/

CHB2/

CHA1

CHA2

CHA1/

CHA2/

DAC3

DAC4

DAC3/

DAC4/

J8 JMACH1

(60-Pin Header)

Function Description

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Output

Output

Output

Output

Output

Output

Common

Common

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Output

Output

Input

Input

Input

Input

Input

Input

Input

+5V power

+5V power

Digital common

Digital common

Encoder C channel positive

Encoder C channel positive

Encoder C channel negative

Encoder C channel negative

Encoder B channel positive

Encoder B channel positive

Encoder B channel negative

Encoder B channel negative

Encoder A channel positive

Encoder A channel positive

Encoder A channel negative

Encoder A channel negative

Encoder C channel positive

Encoder C channel positive

Encoder C channel negative

Encoder C channel negative

Encoder B channel positive

Encoder B channel positive

Encoder B channel negative

Encoder B channel negative

Encoder A channel positive

Encoder A channel positive

Encoder A channel negative

Encoder A channel negative

Analog out positive. 3

Analog out positive. 4

Analog out negative. 3

Analog out negative. 4

AMP-ENA/DIR. 3

AMP-ENA/DIR. 4

AMP-Fault 3

AMP- Fault 4

Negative end limit 3

Negative end limit 4

Positive end limit 3

Pos end limit 4

Home-flag 3

Front View

Notes

2

2

2,3

2,3

4

4

4,5

4,5

2

2

2,3

2,3

2

2

2,3

2,3

For encoders, 1

For encoders, 1

2

2

2,3

2,3

2

2

2,3

2,3

2

2

2,3

2,3

8,9

8,9

8,9

8,9

10

6

6

7

7

Connector Pinouts 45

Turbo PMAC PCI Lite

J8: Machine Port 1 Connector (Continued)

J8 JMACH1

(60-Pin Header)

Front View

Pin # Symbol Function Description Notes

50

51

52

53

54

55

56

57

42

43

44

45

HMFL4

DAC1

DAC2

DAC1/

46

47

DAC2/

AENA1/DIR1

48 AENA2/DIR2

49 FAULT1

FAULT2

+LIM1

+LIM2

-LIM1

-LIM2

HMFL1

HMFL2

FEFCO/

Input

Output

Output

Output

Output

Output

Output

Input

Input

Input

Input

Input

Input

Input

Input

Output

Home-flag 4

Analog out positive 1

Analog out positive 2

Analog out negative 1

Analog out negative 2

Amp-Ena/dir. 1

Amp-Ena/dir. 2

Amp-fault 1

Amp-fault 2

Negative end limit 1

Negative end limit 2

Positive end limit 1

Positive end limit 2

Home-flag 1

Home-flag 2

FE/watchdog out

10

4

4

4,5

4,5

6

6

7

7

8,9

8,9

8,9

8,9

10

10

Indicator/Driver

58 AGND

59 A+15V/OPT+V

Input

Input

Analog common

Analog +15v supply

60 A-15V Input Analog -15v supply

The J8 connector is used to connect PMAC to the first four channels (Channels 1, 2, 3, and 4) of servo amps, flags, and encoders.

Note 1: In standalone applications, these lines can be used as +5V power supply inputs to power PMAC's digital circuitry. However, if a terminal block is available on a version of PMAC, it is preferable to bring the +5V power in through the terminal block.

Note 2: Referenced to digital common (GND). Maximum of + 12V permitted between this signal and its complement.

Note 3: Leave this input floating if not used (i.e. digital single-ended encoders). In this case, jumper (E18 - 21, E24

- 27) for channel should hold input at 2.5V.

Note 4: + 10V, 10mA max, referenced to analog common (AGND).

Note 5: Leave floating if not used. Do not tie to AGND. In this case AGND is the return line.

Note 6: Functional polarity controlled by jumper(s) E17. Choice between AENA and DIR use controlled by Ix02 and Ix25.

Note 7: Functional polarity controlled by variable Ix25. Must be conducting to 0V (usually AGND) to produce a '0' in PMAC software. Automatic fault function can be disabled with Ix25.

Note 8: Pins marked -LIMn should be connected to switches at the positive end of travel. Pins marked +LIMn should be connected to switches at the negative end of travel.

Note 9: Must be conducting to 0V (usually AGND) for PMAC to consider itself not into this limit. Automatic limit function can be disabled with Ix25.

Note 10: Functional polarity for homing or other trigger use of HMFLn controlled by Encoder/Flag Variable 2

(I902, I907, etc.) HMFLn selected for trigger by Encoder/Flag Variable 3 (I903, I908, etc.). Must be conducting to

0V (usually AGND) to produce a '0' in PMAC software.

46 Connector Pinouts

Turbo PMAC PCI Lite

J9 (JEQU): Position-Compare Connector

J9 JEQU (10-Pin Connector)

Front View

Pin # Symbol Function Description Notes

5

6

7

8

1

2

3

4

EQU1/

EQU2/

EQU3/

EQU4/

EQU5/

EQU6/

EQU7/

EQU8/

Output

Output

Output

Output

Output

Output

Output

Output

Encoder 1 comp-EQ

Encoder 2 comp- EQ

Encoder 3 comp- EQ

Encoder 4 comp- EQ

Amp enable 1

Amp enable 2

Amp enable 3

Amp enable 4

Low is true

Low is true

Low is true

Low is true

Low is true

Low is true

Low is true

Low is true

9

10

A+V

AGND

Supply

Common

Positive supply

Analog ground

+5v to +24v

This connector provides the position-compare outputs and the amplifier enable outputs for the four servo interface channels. The board is shipped by default with a ULN2803A or equivalent open-collector driver IC on U37. It may be replaced with UDN2891A or equivalent open-emitter driver (E101-E102 must be changed!), or a 74ACT563 or equivalent 5V CMOS driver.

J30 (JANA) Analog Input Port Connector (Optional)

Pin #

13

14

15

16

9

10

11

12

17

18

19

20

5

6

7

8

1

2

3

4

Symbol

ANAI00

ANAI01

ANAI02

ANAI03

ANAI04

ANAI05

ANAI06

ANAI07

ANAI08

ANAI09

ANAI10

ANAI11

ANAI12

ANAI13

ANAI14

ANAI15

GND

+12V

GND

-12V

Function Description

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Input

Common

Output

Common

Output

Notes

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

Analog input 14

Analog input 15

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

1

0-5v or +/-2.5v range

1

0-5v or +/-2.5v range

1

0-5v or +/-2.5v range

1

0-5v or +/-2.5v range

1

0-5v or +/-2.5v range

1

0-5v or +/-2.5v range

1

0-5v or +/-2.5v range

1

PMAC common Not isolated from digital

Positive supply voltage To power ext. circuitry

PMAC common Not isolated from digital

Negative supply voltage To power ext circuitry

1

The JANA connector provides the inputs for the eight or 16 optional analog inputs on the PMAC2.

Only present if Option-12A ordered.

Connector Pinouts 47

Turbo PMAC PCI Lite

J31 (JUSB) Universal Serial Bus Port (Optional)

JS1 (16-Pin Header)

Pin #

1

2

3

4

5

6

Symbol

VCC

D-

D+

GND

Shell

Shell

JS1: A/D Port 1 Connector

Function

N.C.

DATA-

DATA+

GND

Shield

Shield

Pin # Symbol Function Description

5

6

7

8

1

2

3

4

DCLK

BDATA1

ASEL0/

ASEL1/

CNVRT01

ADCIN1

OUT1/

OUT2/

Output

Output

Output

Output

Output

Input

Output

Output

D to A, A to D clock

D to A data

Channel select bit 0

Channel select bit 1

A to D convert

A to D data

Amp Enable/Dir

Amp Enable/Dir

9

10

11

12

OUT3/

OUT4/

HF41

HF42

Output

Output

Input

Input

Amp Enable/Dir

Amp Enable/Dir

Amp Fault

Amp Fault

13

14

15

16

HF43

HF44

+5V

GND

Input

Input

Output

Common

Amp Fault

Amp Fault

+5V supply

PMAC common

Acc-28A/B connection; digital amplifier connection.

TB1 (JPWR)

Front View

Notes

DAC and ADC clock for channel 1, 2, 3, 4

DAC data for Channel 1, 2, 3, 4

Select for Channel 1, 2, 3, 4

Select for Channel 1, 2, 3, 4

ADC convert sig. Channel 1, 2, 3, 4

ADC data for Channel 1, 2, 3, 4

Amp enable/dir. for Channel 1

Amp enable/dir. for Channel 2

Amp enable/dir. for Channel 3

Amp enable/dir. for Channel 4

Amp fault input for Channel 1

Amp fault input for Channel 2

Amp fault input for Channel 3

Amp fault input for Channel 4

Power supply out

Pin # Symbol

1 GND

Function Description

Common Digital ground

Notes

Top View

2

3

+5V

+12V

Input

Input

+5V supply

+12V to +15V supply

Refer to digital ground

Refer to digital ground

4 -12V Input -12V to –15V supply Refer to digital ground

This terminal block may be used as an alternative power supply connector if PMAC is not installed in a PCI-bus.

The +5V powers the digital electronics. The +12V and -12V (if jumpers E85, E87, and E88 are installed), power the analog output stage (this defeats the optical isolation on PMAC).

To keep the optical isolation between the digital and analog circuits on PMAC, provide analog power (+/-12V to +/-

15V and AGND) through the JMACH connector, instead of the bus connector or this terminal block.

48 Connector Pinouts

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