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^1
HARDWARE REFERENCE MANUAL
^2
PMAC VME
^3
Programmable Multi-Axis Controller
^4
4Ax-602203-xHxx
^5 November 4, 2004November 1, 2005
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2003 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: [email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain static sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.
Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or conductive materials and/or environments that could cause harm to the controller by damaging components or causing electrical shorts. When our products are used in an industrial environment, install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials.
If Delta Tau Data Systems, Inc. products are directly exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.
EN Dispose in accordance with applicable regulations.
PMAC VME Hardware Reference Manual
Table of Contents
Table of Contents i
PMAC VME Hardware Reference Manual
ii Table of Contents
PMAC VME Hardware Reference Manual
Table of Contents iii
PMAC VME Hardware Reference Manual
PMAC VME E-POINT DESCRIPTIONS
PMAC VME Bottom Board
E Point and
Physical Layout
E0
Location
B5
Description
For future use.
Default
No jumper
E1 - E2: Machine Output Supply Voltage Configure
E Point and
Physical Layout
Location Description
CAUTION:
The jumper settings for both E1 and E2 must match the type of driver IC, or damage to the IC will result.
E1 A5
E2 A5
Default
Jump pin 1 to 2 to apply +V (+5V to 24V) to pin 11 of U33 (should be ULN2803A for sink output configuration) JOPTO
Machine outputs M01-M08.
Jump pin 2 to 3 to apply GND to pin 11 of
U33 (should be UDN2981A for source output configuration).
Jump pin 1 to 2 to apply GND to pin 10 of
U33 (should be ULN2803A for sink output configuration).
Jump pin 2 to 3 to apply +V (+5V to 24V) to pin 10 of U33 (should be UDN2981A for source output configuration).
1-2 Jumper installed
1-2 Jumper installed
PMAC VME E-Point Descriptions 1
PMAC VME Hardware Reference Manual
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 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
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
ON
ON
ON
OFF ON
OFF ON
OFF ON
ON
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
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
Location: B4 B4 B5 B5
Only E5 and E6 ON
Only E4 and E6 ON (option 5 only)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
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
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 you want to make your basic unit of time on PMAC 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 in kHz.
If E40-E43 are set up so that the card has a software address other than @0, the servo clock signal must be received over the serial port from card @0, so these jumpers have no effect.
All versions of the PMAC except Option 5 (30MHz), have a 19.6608MHz ("20MHz) clock crystal, even the
40 and 60 MHz CPU versions.
E7: Machine Input Source/Sink Control
E Point and
Physical Layout
E7
Location
A4
Description
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).
Default
1-2 Jumper installed
2 PMAC VME E-Point Descriptions
PMAC VME Hardware Reference Manual
E8: RS232 Converter Power Supply Control
E Point and
Physical Layout
E8
Location
A4
Description
Jump pin 1 to 2 to apply +5V to J4 pin 2 (JRS422); this can be used to power optional RS422 to RS232 converter module which requires +5V for operation.
Default
Jumper installed
E9 - E16: Serial Interface Handshake Control
E9 to E16 jumpers control whether the RS-422 serial port will be in DCE or DTE format. The default configuration permits straight-across connection to a PC DB-25 serial port.
E Point and
Physical Layout
E9 E10
Location
A3
Description Default
1-2 Jumper installed
E11 E12
E13 E14
E15 E16
A3
A4
A4
Jump, E9-1 to E9-2 to allow RD- to be input on J4-
3; jump E10-1 to E10-2 to allow SD- to be output on J4-5.
Jump E9-1 to E10-1 to allow RD- to be output on
J4-3; jump E9-2 to E10-2 to allow SD- to be input on J4-5.
Jump E11-1 to E11-2 to allow RD+ to be input on
J4-4; jump E12-1 to E12-2 to allow SD+ to be output on J4-6.
Jump E11-1 to E12-1 to allow RD+ to be output on
J4-4; jump E11-2 to E12-2 to allow SD+ to be input on J4-6.
D5 jump E13-1 to E13-2 to 1-2 allow CS+ to be input jumper on J4-7; jump E14-1 to installed E14-
2 to allow RS+ to be output on J4-9.
Jump E13-1 to E14-1 to allow CS+ to be output on
J4-7; jump E13-2 to E14-2 to allow RS+ to be input on J4-9.
D5 jump E15-1 to E15-2 to allow CS- to be input on J4-8.
Jump E16-1 to E16-2 to allow RS- to be output on
J4-10.
Jump E15-1 to E16-1 to allow CS- to be output on
J4-8; jump E15-2 to E16-2 to allow RS- to be input on J4-10.
1-2 Jumper installed
1-2 Jumper installed
1-2 Jumper installed
PMAC VME E-Point Descriptions 3
PMAC VME Hardware Reference Manual
E17A-E17D: Amplifier-Enable/Direction Polarity Control
E Point and
Physical Layout
E17A
Location Description Default
B2 Jump 1-2 for high TRUE AENA (1-4).
Remove jumper for low TRUE AENA (1-4).
No jumper installed
E17B C2 Jump 1-2 for high TRUE AENA (1-4).
Remove jumper for low TRUE AENA (1-4).
No jumper installed
E17C C2 Jump 1-2 for high TRUE AENA (1-4). No jumper installed
Remove jumper for low TRUE AENA (1-4).
E17D C2 Jump 1-2 for high TRUE AENA (1-4). No jumper installed
Remove jumper for low TRUE AENA (1-4).
Low-true enable is the fail-safe option because of the sinking (open-collector) ULN2803A output driver IC.
E22 - E23: Control Panel Handwheel Enable
E Point and
Physical Layout
E22
Location Description Default
C2 Jump pin 1 to 2 to obtain handwheel encoder signal from front panel at J2-16 for CHB2 (ENC2-B).
No jumper
E23 C2 Jump pin 1 to 2 to obtain handwheel encoder signal from front panel at J2-22 for CHA2 (ENC2-A).
No jumper
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.
E24 - E27: Encoder Single-Ended/Differential Control
E Point and
Physical Layout
E24
Location
D2
Description
E25 D2
ENC 4 through 1:
Jump pin 1 to 2 to tie complementary encoder inputs to 2.5V.
Jump pin 2 to 3 to tie complementary encoder inputs to 5V.
For no encoder connection: Jump pin 1 to 2.
E26 D2
Default
1-2 Jumper installed for E24 -
E27.
E24: ENC 4
E25: ENC 3
E26: ENC 2
E27: ENC 1
E27
For single-ended encoders: Jump pin 1 to 2.
For differential line-driver encoders: Do not care.
For complementary open-collector encoders: Jump pin 2 to 3.
D2
4 PMAC VME E-Point Descriptions
PMAC VME Hardware Reference Manual
E28: Warning Following Error/Watchdog Timer Signal Control
E Point and
Physical Layout
E28
Location
B3
Description Default
2-3 Jumper installed
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).
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 Default and
Physical Layout
E33 E32 E31 E30 E29
Location: All B4
ON
OFF
OFF
OFF
OFF
OFF OFF OFF OFF
ON OFF OFF OFF
OFF ON OFF OFF
OFF OFF ON OFF
OFF OFF OFF ON
19.6608 MHz
Master Clock
See Note 1
2.26 kHz
4.52 kHz
9.04 kHz
18.07 kHz
36.14 kHz
29.4912 MHz
Master Clock
See Note 2
3.39 kHz
6.78 kHz
13.55 kHz
27.10 kHz
54.21 kHz
1. True for standard 20 MHz PMAC and those with Options 4A, 5A, and 5B
2. True only for PMACs with Option 5
Note:
If jumper E98 has been changed to connect pins 2-3 (default is 1-2), the phase clock frequency is exactly 1/2 that shown in the above table.
Note:
If E40-E43 are set so that the card has a software address other than @0, the phase clock signal must be received over the serial port from card @0, so these jumpers have no effect.
E34 - E38: Encoder Sampling Clock Frequency Control
Jumpers E34 - E38 control the encoder sampling clock (SCLK) used by the gate array ICs. No more than
1 of these 5 jumpers may be on at a time.
Default and
Physical Layout
E34
ON
OFF
OFF
OFF
E35 E36 E37 E38
OFF OFF OFF OFF
ON OFF OFF OFF
OFF ON OFF OFF
OFF OFF ON OFF
SCLK Clock Frequency
19.6608 MHz
Master Clock
See Note 1
29.4912 Mhz
Master Clock
See Note 1
9.8304 MHz 14.7456 MHz
4.9152 MHz
2.4576 MHz
1.2288 MHz
7.3728 MHz
3.6864 MHz
1.8432 MHz
OFF OFF OFF OFF ON External clock 1 to 30 mhz maximum input on CHC4 & CHC4/
1. True for standard 20 MHz PMAC and those with Options 4A, 5A, and 5B
2. True only for PMACs with Option 5.
E34
E35
E36
E37
E38
Location: All B4
PMAC VME E-Point Descriptions 5
PMAC VME Hardware Reference Manual
E39: Reset-From-Bus Enable
E Point and
Physical Layout
E39
Location
B5
Description
Jump pin 1 to 2 to permit VME bus reset line to reset PMAC VME.
Remove jumper so that the VME bus reset line does not reset PMAC VME.
Default
1-2 jumper installed
E40 - E43: Software Address Control
Jumpers E40-E43 control the software address of the card, for serial addressing and for sharing the servo clock over the serial connector. Card @0 sends the clock and cards @1-@F receive the clock.
Card Address Control E-Points Default and
Physical Layout
Card Address
@0
@1
E40
E41
E42
E43
Location; All D3 E40 E41 E42 E43
ON
OFF
ON
ON
ON
ON
ON
ON
@0
ON
OFF
ON
OFF
ON
OFF
ON
OFF
OFF
OFF
ON
ON
ON OFF
ON OFF
OFF OFF
OFF OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON OFF
ON OFF
@2
@3
@4
@5
@6
@7
@8
@9
ON
OFF
ON
OFF
OFF
ON
ON
OFF
OFF
ON OFF OFF
@A
@B
@C
OFF
ON
ON OFF OFF
OFF OFF OFF
@D
@E
OFF OFF OFF OFF @F
The card must either be set up as @0, or receiving clock signals over the serial port from another card that is set up as @0, or the Watchdog timer will trip (red light ON) and the card will shut down.
6 PMAC VME E-Point Descriptions
PMAC VME Hardware Reference Manual
E44 - E47: Communications Control
Jumpers E44 - E47 control what baud rate to use for serial communications. Any character received over the bus causes PMAC to use the bus for its standard communications. The serial port is disabled if E44-
E47 are all on.
Baud Rate Control E-Points Baud Rate
E44
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
E45
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
E46
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
E47
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
Option 4A
300
400*
600
800*
1200
1600*
2400
3200*
4800
6400*
9600
12800*
19200
25600*
38400
Standard,
Option 5A
Option 5,
Option 5B
Disabled Disabled Disabled
600
800*
1200
1600*
2400
3200*
4800
6400*
9600
12800*
19200
25600*
38400
51200*
76800
These jumpers are used only to set the baud rate at power-on/reset.
* Non-standard baud rates
900
1200
1800
2400
3600
4800
7200
9600
14400
19200
28800
38400
57600
76800
115200
Default and
Physical Layout
E44
E45
E46
E47
Location: All D3 Picture is for a PMAC with a
Standard or Option 5A
CPU
Options 5, 5B
Std., Opt. 5A
Option 4A
E48: RAM Wait State Control (Standard CPU Section)
E48 controls the memory wait states only on PMACs with a standard CPU section using battery backup.
This CPU section is used on PMACs ordered with no CPU or memory options and Option 5 (not Opt 4A,
5A, or 5B).
E Point and
Physical Layout
E48
Location
C2
Description Default
Jump pin 1 to 2 for zero wait state operation; remove jumper for one wait state operation.
No jumper installed
(standard configuration)
Jumper installed (Option 5)
PMAC VME E-Point Descriptions 7
PMAC VME Hardware Reference Manual
E48: CPU Clock Frequency Control (Option CPU Section)
E48 controls the CPU clock frequency only on PMAC with an option CPU section using flash memory backup (no battery). This CPU section is used on PMACs ordered with Opt 4A, 5A, or 5B (not Option 5).
E Point and
Physical Layout
E48
Location Description Default
C2 Jump pins 1 and 2 to multiply crystal frequency by 3 inside CPU for 60 MHz operation.
Jumper installed
(Option 5, 5B)
Remove jumper to multiply crystal frequency by 2 inside CPU for 40 MHz operation.
Jumper not installed
(Standard, Option
4A, 5A)
It may be possible to operate a board with 40 MHz components (Option 5A) at 60 MHz under some conditions by changing the setting of jumper E48. However, this operates the components outside of their specified operating range, and proper execution of PMAC under these conditions is not guaranteed. PMAC software failure is possible, even probable, under these conditions, and this can lead to very dangerous machine failure. Operation in this mode is done completely at the user’s own risk; Delta Tau can accept no responsibility for the operation of PMAC or the machine under these conditions.
E49: Serial Communications Parity Control
E Point and
Physical Layout
E49
Location Description
D3 Jump pin 1 to 2 for NO serial parity.
Remove jumper for ODD serial parity.
E50: EAROM Save Enable/Disable
E Point and
Physical Layout
E50
Location Description
D3 Jump pin 1 to 2 to enable save to EAROM.
Remove jumper to disable save to EAROM.
E51: Normal/Re-Initializing Power-Up
E Point and
Physical Layout
E51
Location Description
D3 Jump pin 1 to 2 to re-initialize ON powerup/reset.
Remove jumper for NORMAL power-up/reset.
E52 - E53: DSP Interrupt Signal Select
E Point and
Physical Layout
E52
Location
B5
Description
E53 B5
Jump pin 1 to 2 to allow LIRQ0 to interrupt local DSP-CPU at IRQB.
Jump pin 1 to 2 to allow MI3 to interrupt local
DSP-CPU at IRQB.
Default
Jumper installed
Default
Jumper installed
Default
No jumper installed
Default
Jumper installed
No jumper installed
8 PMAC VME E-Point Descriptions
PMAC VME Hardware Reference Manual
E72 - E73: Panel Analog Time Base Signal Enable
E Point and
Physical Layout
E72
Location Description Default
E73
C3
C3
Jump pin 1 to 2 to allow V to F converter
FOUT derived from wiper input on J2 to connect to CHA4.
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
No jumper installed
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. Variable I915 should be set to 4 to create a positive voltage
(frequency) number in PMAC.
E74 - E75: Clock Output Control for External Interpolation
E Point and
Physical Layout
E74
Location Description Default
C3 Jump pin 1 to 2 to allow SCLK/ to output on
CHC4/.
No jumper installed
E75 C3 Jump pin 1 to 2 to allow SCLK to output on No jumper
CHC4. installed
SCLK out permits synchronous latching of analog encoder interpolators such as Acc-8D Opt 8.
E85, E87, E88: Host-Supplied Analog Power Source Enable
E Point and
Physical Layout
E85
Location
B2
Description
E87
E88
D1
A2
Jump pin 1 to pin 2 to allow A+14V to come from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)
Note that if E85 is changed, E88 and E87 must also be changed.
Also, see E90.
Jump pin 1 to pin 2 to allow analog GND to come from P1 (ties amplifier and PMAC VME
GND together. Defeats OPTO coupling.)
Note that if E87 is changed, E85 and E88 must also be changed.
Also, see E90.
Jump pin 1 to pin 2 to allow A-14V to come from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)
Note that if E88 is changed; E87 and E85 must also be changed.
Also, see E90.
Default
No jumper
No jumper
No jumper
PMAC VME E-Point Descriptions 9
PMAC VME Hardware Reference Manual
E89: Amplifier-Supplied Switch Pull-Up Enable
E Point and
Physical Layout
E89
Location
A2
Description
Jump pin 1 to 2 to supply flags from A+15V input (P2 pin C30). E90 must jump pins 1 to
2 to bring power to flags.
Jump pin 2 to 3 to supply flags from A+V input on option 1V (P2 pin C30). E90 must jump pins 1 to 2 to bring power to flags.
See also E85, E87, E88, E89 and PMAC VME power supply connection diagram.
E90: Host-Supplied Switch Pull-Up Enable
E Point and
Physical Layout
E90
Location
D1
Description
Jump pin 1 to 2 to allow A+15V/OPT+V on
P2 or P2A (JMACH) pin C30, (also see E89) to supply flags.
Jump pin 2 to 3 to allow +12V from VME bus connector to supply flags. Optical isolation is then lost.
See also E85, E87, E88, E89 and PMAC
VME power supply connection diagram.
E93 - E94: Compare-Equal Output Voltage Configure
E Point and
Physical Layout
E93
Location
A3
Description
E94
E95
B3
A3
Jump pin 1 to 2 to apply +V (+5V to +24V) to pin 11 of U28 (should be ULN2803A for sink output configuration).
Jump pin 2 to 3 to apply GND to pin 11 of
U28 (should be UDN2981A for source output configuration).
Also, see E2
Jump pin 1 to 2 to apply GND to pin 10 of
U28 (Should be ULN2803A for sink output configuration).
Jump pin 2 to 3 to apply +V (+5V to +24V) to pin 10 of U28 (Should be UDN2981A for source output configuration).
Also, see E1
Reserved for future use.
Default
1-2 Jumper installed
Default
1-2 Jumper installed
Default
1-2 Jumper installed
1-2 Jumper installed
No jumper
10 PMAC VME E-Point Descriptions
PMAC VME Hardware Reference Manual
E96 - E97: Analog Source Isolate from Option 1V
E Point and
Physical Layout
E96
Location Description
E97
A2
A2
Jump 1 to 2 to connect A+15V on main
PMAC VME board to A+15V on option 1V piggyback board.
Remove jumper to keep A+15V isolated between option 1V board and main board.
Jump 1 to 2 to connect A-15V on main
PMAC VME board to A-15V on option 1V piggyback board.
Remove jumper to keep A-15V isolated between option 1V board and main board.
E98: DAC/ADC Clock Frequency Control
E Point and
Physical Layout
E98
Location
B4
Description
Jump 1-2 to provide a 2.45 MHz (3.67 MHz for Option 5) DCLK signal to DACs and
ADCs.
Jump 2-3 to provide a 1.22 MHz (1.83 MHz for Option 5) DCLK signal to DACs and
ADCs. Important for high accuracy A/D conversion on Acc-28.
Note: This also divides the phase and servo clock frequencies in half.
See E29-E33, E3-E6, I10
E99: Analog Source Isolate from Option 1V
E Point and
Physical Layout
E99
Location
A2
Description
Jump 1 to 2 to connect AGND on main
PMAC VME board to AGND on option 1V piggyback board.
Remove jumper to keep AGND isolated between option 1V board and main board.
Default
No jumper installed
No jumper installed
Default
1-2 Jumper installed
Default
No jumper installed
PMAC VME E-Point Descriptions 11
PMAC VME Hardware Reference Manual
PMAC VME Option 1A Jumpers
E17E - E17H: Amplifier Enable Polarity Control
E Point and
Physical Layout
E17E
Location Description Default
B1 Jump 1-2 for high TRUE AENA (5-8).
Remove jumper for low TRUE AENA (5-8).
No jumper installed
E17F C1 Jump 1-2 for high TRUE AENA (5-8). No jumper installed
Remove jumper for low TRUE AENA (5-8).
E17G C1 Jump 1-2 for high TRUE AENA (5-8).
Remove jumper for low TRUE AENA (5-8).
No jumper installed
E17H C1 Jump 1-2 for high TRUE AENA (5-8). No jumper installed
Remove jumper for low TRUE AENA (5-8).
Low-true enable is the fail-safe option because of the sinking (open-collector) ULN2803A output driver IC.
E18 - E21: Encoder Single-Ended/Differential Control
E Point and
Physical Layout
E18
Location
D2
Description
E19 D2
ENC 5 through 8:
Jump pin 1 to 2 to tie complementary encoder inputs to 2.5V.
Jump pin 2 to 3 to tie complementary encoder inputs to 5V.
For no encoder connection: Jump pin 1 to 2.
E20 D2
Default
1-2 Jumper installed for
E18 - E21.
E18: ENC 5
E19: ENC 6
E20: ENC 7
E21: ENC 8
E21
For single-ended encoders: Jump pin 1 to 2.
For differential line-driver encoders: Do not care.
For complementary open-collector encoders:
Jump pin 2 to 3.
D2
12 PMAC VME E-Point Descriptions
PMAC VME Hardware Reference Manual
E185, E187, E188: Host-Supplied Analog Power Source Enable
E Point and
Physical Layout
E185
Location
B2
Description Default
No jumper installed
E187
E188
A1
A2
Jump pin 1 to pin 2 to allow A+14V to come from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)
Note that if E185 is changed, E188 and E187 must also be changed.
Also see E190.
Jump pin 1 to pin 2 to allow analog GND to come from P1 (ties amplifier and PMAC
VME GND together. Defeats OPTO coupling.)
Note that if E187 is changed, E185 and E188 must also be changed.
Also, see E190.
Jump pin 1 to pin 2 to allow A-14V to come from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)
Note that if E188 is changed; E187 and E185 must also be changed.
Also, see E190.
No jumper
No jumper
E189: Amplifier-Supplied Switch Pull-Up Enable
E Point and
Physical Layout
E189
Location
A2
Description
Jump pin 1 to 2 to allow A+15V/+V on P2A
(JMACH2) pin 59, to tie to A+15V on P2
(JMACH1) pin C30.
This jumper must be installed to allow A+15V to power the OPTO switch sensor inputs
(including limits) from the same OPTO-power supply that powers the amplifier output stage.
Also, see E190
E190: Host-Supplied Switch Pull-Up Enable
E Point and
Physical
Layout
E190
Location
D1
Description
Jump pin 1 to 2 to allow A+15V/OPT+V on
P2A (JMACH2) pin C30, (also see E189) to power OPTO switch sensor inputs (including limits).
Jump pin 2 to 3 to allow +12V from VME bus connector to power OPTO switch sensor inputs
(including limits). Optical isolation is then lost.
See also E185, E187, E188, and figure on
PMAC OPTO isolation
Default
1-2 Jumper installed
Default
1-2 Jumper installed
PMAC VME E-Point Descriptions 13
PMAC VME Hardware Reference Manual
E196, E197, E199: Analog Source Isolate from Main Board
E Point and
Physical Layout
E196
Location
A2
Description
E197
E199
A2
A2
Jump 1 to 2 to connect A+15V on option 1V piggyback board to main PMAC VME board.
Remove jumper to keep A+15V isolated between main board and option 1V board.
Jump 1 to 2 to connect A-15V on option 1V piggyback board to main PMAC VME board.
Remove jumper to keep A-15V isolated between main board and option 1V board.
Jump 1 to 2 to connect AGND on option 1V piggyback board to main PMAC VME board.
Remove jumper to keep AGND isolated between main board and option 1V board.
Default
No jumper installed
No jumper installed
No jumper installed
14 PMAC VME E-Point Descriptions
PMAC VME Hardware Reference Manual
PMAC VME CPU BOARDS
Current PMAC1 VME cards use the Flex CPU. For information regarding the Flex CPU, refer to the
Flex CPU User manual.
For convenience, two other versions of the CPU have been included in this manual.
Legacy PMAC Universal CPU (602705-10x)
The following jumper descriptions are for the PMAC CPU, part number 602705-107.
E1: Watchdog Disable Jumper
E Point and
Physical Layout
E1
Location Description
Jump pin 1 to 2 to disable watchdog timer (for test purposes only).
Remove jumper to enable Watchdog timer.
E2-E3: Expansion Port Configure
E Point and
Physical Layout
E2
Location
No longer used
Default
No jumper
Description
No Jumper
E3 No longer used No Jumper
E4: Power-Up/Reset Load Source
E Point and
Physical Layout
Location Description
E4
Jump pin 1 to 2 to reload firmware through serial or bus port. Must also install E51 jumper on baseboard.
Remove jumper for normal operation.
E8: Expansion Port Configure
E Point and
Physical Layout
E8
Location Description
Jump pin 1 to 2 for using the Acc-24P2 expansion board.
Remove jumper for normal operation.
Default
No jumper
Default
No jumper
PMAC VME CPU Boards 15
PMAC VME Hardware Reference Manual
Legacy PMAC VME Standard CPU Board (602398, 602271)
This table shows the jumper settings for the standard PMAC CPU boards with batteries. These boards are used when the PMAC is ordered without any memory or CPU options, or with Option 5 (not 4A, 5A, or 5B).
Description Default E Point and
Physical Layout
E1 No jumper installed
E2
E3
Jump pin 1 to 2 to disable watchdog timer (for test purposes only).
Remove jumper to enable watchdog timer.
Note: On old CPU boards with white CPU IC, E1 function is opposite.
Jump pin 1 to 2 to boot from host port.
Remove jumper to boot from IC.
Jump pin 1 to 2 to use BAT1 battery (shorts BAT2 positive terminal to GND).
Jump pin 2 to 3 to use BAT2 battery (shorts BAT1 positive terminal to GND).
Remove jumper to use both batteries.
No jumper installed
2-3 jumper installed (20
MHz)
No jumper installed (30
MHz).
Legacy PMAC VME Option CPU Board
This table shows the jumper setting for the option PMAC CPU boards with flash memory backup (no battery). These boards are used only when the PMAC is ordered with Option 4A,
5A, or 5B (not standard or Option 5).
E Point and
Physical Layout
E1
Description Default
Jump pin 1 to 2 to disable watchdog timer (for test purposes only).
Remove jumper to enable watchdog timer.
Remove jumper for use on first generation PMAC.
No jumper installed
E2 No jumper installed *
Jump pin 1 to 2 for use on second generation PMAC
(PMAC2).
Remove jumper for use on first generation PMAC. E3 No jumper installed *
Jump pin 1 to 2 for use on second generation PMAC
(PMAC2).
* Pins for jumpers E2 and E3 may not be installed on Option CPU boards for 1st generation PMACs.
16 PMAC VME CPU Boards
PMAC VME Hardware Reference Manual
PMAC VME MATING CONNECTORS
This section lists several options for each connector. Choose an appropriate one for the application. (See attached PMAC mating connector sketch for typical connection.)
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 60-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
J7 (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
J8 (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
P1 (JVME)/Standard VME Connector
1.
96 pin VME connector AMLAN P/N C96F3LA+B+C
P2 (JMACH1)/1st Machine Connector
96 pin VME connector. AMLAN P/N C96F3LA+B+C
PMAC VME Mating Connectors 17
PMAC VME Hardware Reference Manual
Note:
Normally, P2 and P2A are used with Acc-8P or Acc-8D with Option V which provides complete terminal strip fan-out of all connections.
Axis-Expansion Piggyback Board Connectors
P2A (JMACH2)/2nd Machine Connector
1.
96 pin VME connector. AMLAN P/N C96F3LA+B+C
Note:
Normally, P2 and P2A are used with Acc-8P or 8D with Option V which provides complete terminal strip fan-out of all connections.
J1 (JS2)/A-D Inputs 5-8 (J9 on Option 3 Front Panel)
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
CPU Board Connectors
J2 (JEXP)/Expansion (J10 on Option 3 Front Panel)
1.
Two 50-pin female flat cable connector Delta Tau P/N 014-R00F50-0K0 T&B Ansley P/N 609-5041
2.
171-50 T&B Ansley standard flat cable stranded 50-wire
3.
Phoenix varioface module type FLKM 50 (male pins) P/N 22 81 08 9 used for daisy chaining Acc-14
I/0, -23 A and D connectors -24 expansion
J4 (JDPRAM)/Dual-Ported RAM
1.
Two 10 pin female flat cable connector Delta Tau P/N 014-ROOF10-0K0 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
18 PMAC VME Mating Connectors
PMAC VME Hardware Reference Manual
PMAC VME CONNECTOR PINOUTS
J1 JDISP (14-Pin Connector)
Front View
Pin # Symbol Function Description Notes
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
+5V Power
PMAC Common
Read Strobe
Contrast Adjust Vee
Display Enable
Read or Write
Display DATA1
Display DATA0
Power supply out
TTL signal out
0 TO +5 VDC *
High is enable
TTL signal out
9
10
11
12
DB3
DB2
DB5
DB4
Output
Output
Output
Output
Display DATA3
Display DATA2
Display DATA5
Display DATA4
13
14
DB7
DB6
Output
Output
Display DATA7
Display DATA6
The JDISP connector is used to drive the 2-line x 24-character (Acc-12), 2 x 40 (Acc-12A) LCD, or the 2 x 40 vacuum fluorescent (Acc-12C) display unit. The DISPLAY command may be used to send messages and values to the display.
* Note: Controlled by potentiometer R2.
See Also:
Program Commands: DISPLAY
Accessories; AccACC -12, 12A, 12C, AccACC -16D
Memory Map: Y:$0780 - $07D1
PMAC VME Connector Pinouts 19
PMAC VME Hardware Reference Manual
J2 JPAN (26-Pin Connector)
Front View
Pin # Symbol Function Description Notes
5
6
7
8
1
2
3
4
+5V
GND
FPD0/
JOG-/
FPD1/
JOG+/
PREJ/
STRT/
Output
Common
Input
Input
Input
Input
Input
Input
+5V Power
PMAC Common
Motor/C.S. Select Bit 0
Jog In - DIR.
Motor/C.S. Select Bit 1
Jog In + DIR.
Return to Pre-Jog Position
Start Program Run
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
9
10
11
12
STEP/
STOP/
HOME/
HOLD/
Input
Input
Input
Input
Step Through Program
Stop Program Run
Home Search Command
Hold Motion
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
13
14
15
16
FPD2/
FPD3/
INIT/
HWCA
Input
Input
Input
Input
Motor/C.S. Select Bit 2
Motor/C.S. Select Bit 3
Reset PMAC
Handwheel Enc. A Channel
Low is True
Low is True
Low is Reset, Equiv to $$$
5V TTL SQ. pulse must use E23
(CHA2)
Low lights LED
Low lights LED
17
18
19
20
IPLD/
BRLD/
ERLD/
WIPER
F1LD/
F2LD/
+5V
GND
Output
Output
Output
Input
Output
Output
Output
Common
In Position Ind. (C.S.)
Buffer Request Ind.
Fatal Follow Err (C.S.)
Feed Pot Wiper
Warn Follow Err (C.S.)
Watchdog Timer
+5V Power
PMAC Common
Low lights LED
0 to +10V input must use E72,
E73 (CHA4)
21
22
23
24
25
26
(SPARE)
HWCB
N.C.
Input Handwheel Enc. B Channel 5V TTL SQ. pulse must use E22
(CHB2)
Low lights LED
Low lights LED
For remote travel
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:$FFC0
Suggested M-variables M20 - M32
20 PMAC VME Connector Pinouts
PMAC VME Hardware Reference Manual
J3 JTHW Connector (26-Pin Connector)
Pin # Symbol Function Description
Front View
Notes
13
14
15
16
9
10
11
12
5
6
7
8
1
2
3
4
GND
GND
DAT0
SEL0
DAT1
SEL1
DAT2
SEL2
DAT3
SEL3
DAT4
SEL4
DAT5
SEL5
DAT6
SEL6
Common
Common
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
PMAC Common
PMAC Common
Data-0 Input
Select-0 Output
Data-1 Input
Select-1 Input
Data-2 Input
Select-2 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 input from thumbwheel switches
Scanner output for reading TW switches
Data input from thumbwheel switches
Scanner output for reading TW switches
Data input from thumbwheel switches
Scanner output for reading TW switches
Data input from thumbwheel switches
Scanner output for reading TW switches
Data input from thumbwheel switches
Scanner output for reading TW switches
Data input from thumbwheel switches
Scanner output for reading TW switches
Data input from thumbwheel switches
Scanner output for reading TW switches
21
22
23
24
17
18
19
20
DAT7
SEL7
N.C.
GND
BRLD/
GND
IPLD/
GND
Input
Output
N.C.
Common
Output
Common
Output
Common
Data-7 Input
Select-7 Output
No Connection
PMAC Common
Buffer Request
PMAC Common
In Position
PMAC Common
Data input from thumbwheel switches
Scanner output for reading TW switches
Low is "Buffer Request
Low is In Position
25
26
+5V
INIT/
Output
Input
+5VDC Supply
PMAC Reset
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:$FFC1
Suggested M-variables M40 - M58
M-variable formats TWB, TWD, TWR, TWS
Acc-8D Opt 7, Acc-8D Opt 9, Acc-18, Acc-34x, NC Control Panel
PMAC VME Connector Pinouts 21
PMAC VME Hardware Reference Manual
J4 JRS422 (26-Pin Connector)
Pin #
1
Symbol
CHASSI
Function
Common
Description
PMAC Common
Front View
Notes
Deactivated by E8 2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
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
Output
Input
Input
Output
Output
Input
Input
Output
Output
Bidirectional
Input
Common
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Common
Output
+5VDC Supply
Receive Data
Receive Data
Send Data
Send Data
Clear to Send
Clear to Send
Request to Send
Request to Send
Data Terminal Ready
PMAC Reset
PMAC Common
Data Set Ready
Special DATA
Special Data
Special CTRL.
Special CTRL.
Special Clock
Special Clock
Servo Clock
Servo Clock
Phase Clock
Phase Clock
PMAC Common
+5VDC Supply
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
Low is Reset
Tied to DSR
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
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.
* 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 phasing 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
22 PMAC VME Connector Pinouts
PMAC VME Hardware Reference Manual
J5 JOPT (34-Pin Connector)
Pin # Symbol
1 MI8
10
11
12
13
14
15
16
17
6
7
8
9
2
3
4
5
GND
MI3
GND
MI2
GND
MI1
GND
MO8
GND
MI7
GND
MI6
GND
MI5
GND
MI4
Function
Input
Common
Input
Common
Input
Common
Input
Common
Input
Common
Input
Common
Input
Common
Input
Common
Output
Description
Machine Input 8
PMAC Common
Machine Input 7
PMAC Common
Machine Input 6
PMAC Common
Machine Input 5
PMAC Common
Machine Input 4
PMAC Common
Machine Input 3
PMAC Common
Machine Input 2
PMAC Common
Machine Input 1
PMAC Common
Machine Output 8
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
If sinking output, low is true. If source output, high is true.
18
19
20
21
22
23
24
25
GND
MO7
GND
MO6
GND
MO5
GND
MO4
Common
Output
Common
Output
Common
Output
Common
Output
PMAC Common
Machine Output 7
PMAC Common
Machine Output 6
PMAC Common
Machine Output 5
PMAC Common
Machine Output 4
" "
" "
" "
" "
26
27
28
29
30
31
32
33
GND
MO3
GND
MO2
GND
MO1
GND
+V
Common
Output
Common
Output
Common
Output
Common
Input/Output
PMAC Common
Machine Output 3
PMAC Common
Machine Output 2
PMAC Common
Machine Output 1
PMAC Common
+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 (U11 to UDN2981) and jumper (E1 & E2) change. E7 controls whether the inputs are pulled up or down internally.
PMAC VME Connector Pinouts 23
PMAC VME Hardware Reference Manual
J6 JXI0 (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 expansion board
Interrupt from expansion board
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 which are used with PMAC.
J7 JEQU (10-Pin Connector)
Pin #
1
Symbol
EQU1
Function
Output
Description
Enc. 1 Compare-Equ
Front View
Notes
Low is true
2
3
4
5
6
EQU2
EQU3
EQU4
EQU5
EQU6
Output
Output
Output
Output
Output
Enc. 2 Compare-Equ
Enc. 3 Compare-Equ
Enc. 4 Compare-Equ
Enc. 5 Compare-Equ
Enc. 6 Compare-Equ
Low is true
Low is true
Low is true
Low is true
Low is true
7
8
9
EQU7
EQU8
+V
Output
Output
Supply
Enc. 7 Compare-Equ
Enc. 8 Compare-Equ
Positive Supply
Low is true
Low is true
+5V to +24V
10 GND Common Digital Ground
This connector provides the positive compare outputs for the eight encoder channels. Refer to jumpers E93 and
E94 for proper configuration of this Output (for sourcing or sinking type outputs).
J8 JS1 (16-Pin Header)
Pin # Symbol
1 DCLK
6
7
8
9
2
3
4
5
BDATA1
ASEL0/
ASEL1/
CNVRT01
ADCIN1
OUT1/
OUT2/
OUT3/
10
11
12
13
OUT4/
HF41
HF42
HF43
14
15
HF44
+5V
16 GND
Miscellaneous I/O
Function
Output
Output
Output
Output
Output
Input
Output
Output
Output
Output
Input
Input
Input
Input
Output
Common
Description
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
Amp Enable/Dir
Amp Enable/Dir
Amp Fault
Amp Fault
Amp Fault
Amp Fault
+5V Supply
PMAC Common
Front View
Notes
DAC and ADC Clock for Chan 1, 2, 3, 4
DAC data for Chan 1, 2, 3, 4
Select for Chan 1, 2, 3, 4
Select for Chan 1, 2, 3, 4
ADC convert sig chan 1, 2, 3, 4
ADC data for Chan 1, 2, 3, 4
Amp Enable/Dir. for Chan 1
Amp Enable/Dir. for Chan 2
Amp Enable/Dir. for Chan 3
Amp Enable/Dir. for Chan 4
Amp fault input for Chan 1
Amp fault input for Chan 2
Amp fault input for Chan 3
Amp fault input for Chan 4
Power supply out
24 PMAC VME Connector Pinouts
PMAC VME Hardware Reference Manual
P1 JVME (96-Pin Header)
Pin # Row A Signal Mnemonic
01 D00
14
15
16
17
10
11
12
13
06
07
08
09
02
03
04
05
22
23
24
25
26
18
19
20
21
D01
D02
D03
D04
D05
D06
D07
GND
SYSCLK
GND
DS1/
DS0/
WRITE/
GND
DTACK/
GND
AS/
GND
IACK/
IACKIN/
IACKOUT/
AM4
A07
A06
A05
Front View
Row B Signal Mnemonic
BBSY/
BCLR/
ACFAIL/
B0IN/
BG0OUT/
BG1IN/
BG1OUT/
BG2IN/
BG2OUT/
BG3IN/
BG3OUT/
BR0/
BR1/
BR2/
BR3/
AM0
AM1
AM2
AM3
GND
SERCLK
SERDAT/
GND
IRQ7/
IRQ6/
IRQ5/
Row A Signal Mnemonic
D08
D09
D10
D11
D12
D13
D14
D15
GND
SYSFAIL/
BERR/
SYSRESET/
LWORD/
AM5
A23
A22
A21
A20
A19
A18
A17
A16
A15
A14
A13
A12
27
28
29
30
A04
A03
A02
A01
IRQ4/
IRQ3/
IRQ2/
IRQ1/
A11
A10
A09
A08
31
32
-12V
+5V
+5V STDBY
+5V
+12V
+5V
This is the standard VME connector. It is sufficient for 16-bit or 24-bit addressing, and for 8-bit or 16-bit data.
For 32-bit addressing the B-row of P2 must be used as well. PMAC does not support 32-bit data transfers over the bus, even with the B-row of P2.
If P1 is connected to the VME backplane, PMAC is connected to the +5V supply and GND automatically. In this case, no other +5V supply should be connected.
If desired, the +12V and -12V power supplies of the VME bus could be used to provide power to the Optoisolated outputs of PMAC VME using jumpers E85, E87, and E88, with the resultant loss of optical isolation between the PMAC VME and the Amplifier/Power section.
PMAC VME Connector Pinouts 25
P2 JMACH1 (96-Pin Header)
Symbol
+5V
GND
CHC4
CHC4/
CHB4
CHB4/
CHA4
CHA4/
CHC2
CHC2/
CHB2
CHB2/
CHA2
CHA2/
DAC4
DAC4/
AENA4/DIR4
FAULT4
+LIM4
-LIM4
HMFL4
DAC2
DAC2/
AENA2/DIR2
FAULT2
+LIM2
-LIM2
HMFL2
AGND
A-15V
GND
+5V
+5V
GND
CHC3
CHC3/
CHB3
CHB3/
CHA3
CHA3/
CHC1
CHC1/
Pin #
A01
A26
A27
A28
A29
A30
A31
A32
C01
A18
A19
A20
A21
A22
A23
A24
A25
C02
C03
C04
C05
C06
C07
C08
C09
C10
A10
A11
A12
A13
A14
A15
A16
A17
A02
A03
A04
A05
A06
A07
A08
A09
Description
+5V Power
Digital Common
Encoder C CH. Pos.
Encoder C CH. Neg.
Encoder B CH. Pos.
Encoder B CH. Neg.
Encoder A CH. Pos.
Encoder A CH. Neg.
Encoder C CH. Pos.
Encoder C CH. Neg.
Encoder B CH. Pos.
Encoder B CH. Neg.
Encoder A CH. Pos.
Encoder A CH. Neg.
Analog Out Pos. 4
Analog Out Neg. 4
Amp-Ena/Dir 4
Amp-Fault 4
Neg. End Limit 4
Pos. End Limit 4
HOME-FLAG 4
Analog Out Pos. 2
Analog Out Neg. 2
Amp-Ena/Dir 2
Amp-Fault 2
Neg. End Limit 2
Pos. End Limit 2
Home Flag 2
Analog Common
Analog -15V Supply
Digital Common
+5V Power
+5V Power
Digital Common
Encoder C Ch. Pos.
Encoder C Ch. Neg.
Encoder B Ch. Pos.
Encoder B Ch. Neg.
Encoder A Ch. Pos.
Encoder A Ch. Neg.
Encoder C Ch. Pos.
Encoder C Ch. Neg.
Function
Output
Input
Input
Input
Input
Output
Output
Output
Input
Input
Input
Input
Common
Input
Common
Output
Output
Common
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output
Output
Output
Common
Input
Input
Input
Input
Input
Input
Input
Input
PMAC VME Hardware Reference Manual
Front View
Notes
1
1
1
8, 9
8, 9
10
7
8, 9
8, 9
10
4
4, 5
6
7
2
2,3
2
2, 3
2
2, 3
2
2, 3
2, 3
2
2, 3
2
2, 3
4
4, 5
6
2
2,3
2
2, 3
2
2, 3
2
26 PMAC VME Connector Pinouts
PMAC VME Hardware Reference Manual
P2 JMACH1 (96-Pin
Header) Continued
Front View
Pin #
C11
Symbol
CHB1
Function
Input
Description
Encoder B Ch. Pos.
Notes
2
C12
C13
C14
C15
C16
C17
C18
C19
CHB1/
CHA1
CHA1/
DAC3
DAC3/
AENA3/DIR3
FAULT3
+LIM3
Input
Input
Input
Output
Output
Output
Input
Input
Encoder B Ch. Neg.
Encoder A Ch. Pos.
Encoder A Ch. Neg.
Analog out Pos. 3
Analog out Neg. 3
Amp-Ena/Dir. 3
Amp-Fault 3
Neg. End Limit 3
2, 3
2
2, 3
4
4, 5
6
7
8, 9
C20
C21
C22
C23
C24
C25
C26
C27
-LIM3
HMFL3
DAC1
DAC1/
AENA1/DIR1
FAULT1
+LIM1
-LIM1
Input
Input
Output
Output
Output
Input
Input
Input
Pos. End Limit 3
Home-Flag 3
Analog out Pos. 1
Analog out Neg. 1
Amp-Ena/Dir. 1
Amp-Fault 1
Neg. End Limit 1
Pos. End Limit 1
8, 9
10
4
4, 5
6
7
8, 9
8, 9
C28
C29
HMFL1
FEFCO/
Input
Output
Home-Flag 1
FE/Watchdog Output
10
C30
C31
C32
A+15V
GND
+5V
Input
Common
Output
Analog +15V Supply
Digital Common
+5V Power 1
The P2 connector is used to connect the 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 your 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.
PMAC VME Connector Pinouts 27
PMAC VME Hardware Reference Manual
Pin #
A09
A10
A11
A12
A13
A14
A15
A16
A01
A02
A03
A04
A05
A06
A07
A08
A17
A18
A19
A20
A21
A22
A23
A24
A25
J1 JS2 (16-Pin Header on Option 1A)
(Labeled J9 of OPT-3 front panel)
Pin # Symbol
1 DCLK
6
7
8
9
2
3
4
5
BDATA2
ASEL2/
ASEL3/
CNVRT23
ADCIN2
OUT5/
OUT6/
OUT7/
10
11
12
13
OUT8/
HF45
HF46
HF47
14
15
16 GND
Miscellaneous I/O.
HF48
+5V
Function
Output
Output
Output
Output
Output
Input
Output
Output
Output
Output
Input
Input
Input
Input
Output
Common
Description
D to A, A to D Clock
D to A Data
Chan. Select Bit 2
Chan. Select Bit 3
A to D Convert
A to D Data
Amp. Enable/Dir
Amp. Enable/Dir
Amp. Enable/Dir
Amp. Enable/Dir
Amp. Fault
Amp. Fault
Amp. Fault
Amp. Fault
+5V Supply
PMAC Common
P2A JMACH2 (96-Pin
Header on Option 1A)
Symbol
+5V
GND
CHC8
CHC8/
CHB8
CHB8/
CHA8
CHA8/
CHC6
CHC6/
CHB6
CHB6/
CHA6
CHA6/
DAC8
DAC8/
AENA8/DIR8
FAULT8
+LIM8
-LIM8
HMFL8
DAC6
DAC6/
AENA6/DIR6
FAULT6
Function
Output
Common
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output
Output
Output
Input
Input
Input
Input
Output
Output
Output
Input
Description
+5V Power
PMAC Common
Encoder C Chan. Pos.
Encoder C Chan. Neg.
Encoder B Chan. Pos.
Encoder B Chan. Neg.
Encoder A Chan. Pos.
Encoder A Chan. Neg.
Encoder C Chan. Pos.
Encoder C Chan. Neg.
Encoder B Chan. Pos.
Encoder B Chan. Neg.
Encoder A Chan. Pos.
Encoder A Chan. Neg.
Analog Out Pos. 8
Analog Out Neg. 8
Amp-Ena/Dir. 8
Amp-Fault 8
Neg. End Limit 8
Pos. End limit 8
Home-Flag 8
Analog Out Pos. 6
Analog Out Neg. 6
Amp-Ena/Dir. 6
Amp-Fault 6
Front View
Notes
DAC and ADC Clock for Chan. 5, 6, 7, 8
DAC Data for Chan. 5, 6, 7, 8
Select for Chan. 5, 6, 7, 8
Select for Chan. 5, 6, 7, 8
ADC Convert Sig. Chan. 5, 6, 7, 8
ADC data for Chan. 5, 6, 7, 8
Amp/Enable/Dir for Chan. 5
Amp/Enable/Dir for Chan. 5
Amp/Enable/Dir for Chan. 5
Amp/Enable/Dir for Chan. 5
Amp fault input for Chan. 5
Amp fault input for Chan. 6
Amp fault input for Chan. 7
Amp fault input for Chan. 8
Power supply out
Front View
Notes
2
2, 3
2
2, 3
2
2, 3
4
4, 5
1
2
2,3
2
2, 3
2
2, 3
6
7
8, 9
8, 9
10
4
4, 5
6
7
28 PMAC VME Connector Pinouts
PMAC VME Hardware Reference Manual
P2A JMACH2 (96-Pin Header on Option 1A) Continued
A26
A27
A28
A29
A30
A31
A32
+LIM6
-LIM6
HMFL6
AGND
A-15V
GND
+5V
Input
Input
Input
Common
Input
Common
Output
P2A JMACH2 (96-Pin Header on Option 1A)
Neg. End Limit 6
Pos. End Limit 6
Home-Flag 6
Analog Common
Analog -15V Supply
Digital Common
+5V Power
Pin #
C01
C02
C03
Symbol
+5V
GND
CHC7
C25
C26
C27
C28
C29
C30
C31
C32
C04
C05
C06
C07
C08
C09
C10
C11
C12
C13
CHC7/
CHB7
CHB7/
CHA7
CHA7/
CHC5
CHC5/
CHB5
CHB5/
CHA5
C14
C15
C16
CHA5/
DAC7
DAC7/
C17 AENA7/DIR7
C18 FAULT7
C19
C20
C21
+LIM7
-LIM7
HMFL7
C22
C23
DAC5
DAC5/
C24 AENA5/DIR5
FAULT5
+LIM5
-LIM5
HMFL5
ORST/
A+15V
GND
+5V
Function Description
Output +5V Power
Common Digital Common
Input Encoder C Channel Positive
Input
Output
Output
Output
Input
Input
Input
Input
Output
Output
Output
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Encoder C Channel Negative
Encoder B Channel Positive
Encoder B Channel Negative
Encoder A Channel Positive
Encoder Channel Negative
Encoder C Channel Positive
Encoder C Channel Negative
Encoder B Channel Positive
Encoder B Channel Negative
Encoder A Channel Positive
Encoder A Channel Negative
Analog Out Positive 7
Analog Out Negative 7
Amp-Ena/Dir. 7
Amp-Fault 7
Neg. End Limit 7
Pos. End Limit 7
Home-Flag 7
Analog Out Positive 5
Analog Out Negative 5
Amp-Ena/Dir. 5
Input
Input
Input
Amp-Fault 5
Neg. End Limit 5
Pos. End Limit 5
Input
Output
Home-Flag 5
Reset Output
Input Analog +15V Supply
Common Digital Common
Output +5V Power
Front View
Front View
1
8, 9
8, 9
10
Notes
1
2
2, 3
4
4, 5
6
7
8, 9
8, 9
10
4
4, 5
6
2,3
2
2, 3
2
2, 3
2
2, 3
2
2, 3
2
7
8, 9
8, 9
10
1
PMAC VME Connector Pinouts 29
PMAC VME Hardware Reference Manual
P2A JMACH2 (96-Pin
Header on Option 1A)
Front View
The P2A 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 your 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.
30 PMAC VME Connector Pinouts
PMAC VME Hardware Reference Manual
PMAC BASIC SPECIFICATIONS
Physical Specifications
Size
Weight
Temperature
33.5cm x 9.9cm x 3.8cm (13.2" x 3.9" x 1.4") PMAC PC
33.5cm x 12.0cm x 1.3cm (13.2" x 4.7" x 0.5") PMAC Lite
23.4cm x 16.0cm x 3.8cm (9.2" x 6.3" x 1.4") PMAC VME
15.6cm x 11.4cm x 3.2/4.8cm (6.1" x 4.4" x 1.2/1.8") PMAC STD
0.5-0.7 kg (1.1-1.5 lb)
Operating: 0oC to 60oC (32oF to 140oF)
Storage: -12oC to 82oC (10oF to 180oF)
10% to 95%, non-condensing Humidity
Electrical Specifications
Power
Battery
1.5A @ +5V (+/-5%) (7.5W)
0.3A @ +12 to +15V (4.5W)
0.25A @ -12 to -15V (3.8W)
(Eight-channel configuration, with a typical load of encoders)
Not applicable to PMACs with Options 4A, 5A, or 5B
3.6V Lithium Cell, 1000 mAh, Can Stack Or 3.0V Lithium Cell, 1200 mAh, 2/3Asize, no tabs (old style)
Expected battery life: 10 years (standard), 9 months (Opt 5)
Recommended replacement: 24 months (standard), 3-6 months (Opt 5)
Memory Specifications
ROM
Flash
RAM
EAROM
(Standard, Option 5 only)
128 KBytes EPROM firmware for master control program
(Option 4A, 5A, 5B only):
512 KBytes segmented flash memory for both firmware and user program/parameter storage.
384 KBytes Static (128K 24-bit words) for active memory;
Battery-backed (standard, Option 5)
Savable to flash memory (Option 4A, 5A, 5B)
One wait state (standard); zero wait states (Option 4A, 5, 5A, 5B)
User program storage: 42K 48-bit words = 252KBytes;
('X1000 Y1000' is 2 words)
2KBytes EEPROM non-volatile memory for setup parameter storage (used only with battery-backed RAM boards; not used even if present on flash-memory boards)
CPU Specifications
Type
Clock Speed
Architecture
Motorola DSP56002 (Option 4A, 5A, 5B)
Motorola DSP56001
19.6608 MHz ("20 MHz": Standard, Option 4A)
39.3216 MHz ("40 MHz": Option 5A)
58.9824 MHz ("60 MHz": Option 5B)
Harvard Architecture
Dual (X and Y) internal 24-bit data buses
Single external 24-bit data bus
Separate 24-bit internal program bus
56-bit data accumulator
PMAC Basic Specifications 31
PMAC VME Hardware Reference Manual
Performance Specifications
Servo Cycle Time
Velocity Accuracy
Long-term
Short-term
Position Range
Minimum of 55 microseconds per axis controlled (110 usec for two axes; 440 usec for eight axes) for 20 MHz CPU; proportionally less with faster CPUs.
Actual time can be set with hardware jumpers.
Servo Algorithm
Standard
Optional (OPT 6)
PID with velocity and acceleration feedforward plus 2nd-order notch filter; all gains with 24-bit resolution. Auto-tunable through PMAC Executive program. Capability to accept custom servo algorithms written in DSP56000 assembly language.
Advanced 7th-order pole-placement algorithm; 35 terms Auto-tunable through Servo
Evaluation Package software for IBM-PC and compatibles.
Phasing Update Time Minimum of 27 microseconds (1 axis); Minimum of 110 microseconds (8 axes) for
20 MHz CPU; proportionally less with faster CPUs.
Actual time can be set with hardware jumpers.
Phasing Algorithm Suitable for permanent magnet brushless motors, AC induction motors, switched reluctance servo motors, micro-stepped stepping motors.
2, 3, or 4-phase motors, Y-wound, delta-wound, or electrically independent phases.
Capability to accept custom phase algorithms written in DSP56000 assembly language.
Block Execution Rate Up to 200 to 800 blocks (moves) per second (dependent on number of axes, servo cycle time, CPU speed, and program complexity) for 20 MHz CPU; proportionally greater with faster CPUs. Higher rates possible with careful optimization.
Velocity Range
Commanded Velocity 0, +/-0.0001 to 256M (268,435,456) counts/second
Measured Velocity Dependent on type of feedback used.
Quadrature Feedback:
0 to 19,660, 800-encoder counts/second (edge rate) (slight hardware modification required on PMAC PC to exceed 9,830,400 encoder counts/second).
0 to 30,000,000 encoder counts per second with externally provided encoder sample clock.
Parallel Feedback:
For N-bit feedback word, 2^(N-1)-1 counts/servo cycle
0.005% absolute accuracy with standard crystal; 0.001% absolute accuracy with optional crystal (OPT 8)
System-dependent; typically 0.2% to 1.0%
Position Accuracy
+/-128 trillion counts maximum (no sub-count interpolation, minimum position scale factor)
+/-32 billion counts typical (sub-count interpolation, default position scale factor)
+/- 1 count; Sub-count interpolation possible with automatic 1/T decoding of incremental encoder signal, or with parallel input lines from A/D converter processing analog signal from which quadrature is derived.
+/- 1 count at any speed Position Capture
Accuracy
Position Compare
Accuracy
Synchronization
(Signal output on reaching preset position)
+/- 1 count at any speed
Up to 1000 Hz repetition rate
Axes in the same coordinate system on one PMAC are perfectly synchronized (to the servo cycle); Axes in different coordinate systems on one PMAC can be synchronized to within +/-2 msec; Coordinate systems on separate PMACs sharing same SYNC signal can be synchronized to +/-1 servo cycle.
32 PMAC Basic Specifications
PMAC VME Hardware Reference Manual
I/O Specifications
Position Feedback (JMACH1, JMACH2) (Also Acc-24 JMACH3, JMACH4)
Quadrature Encoders 4 (standard) to 16 (depending on options) digital quadrature incremental encoders.
5V TTL or CMOS levels; single-ended or differential.
Sockets provided for termination resistor packs.
Absolute Encoders
Resolvers
Analog Outputs
On-Board Analog
Input
Input rate: DC to 19.66 MHz (count rate).
X1, X2, X4 decoding, or pulse and direction.
Digital delay filter for removing noise spikes.
3rd channel input available for position capture.
Unused counters available as timers.
(Thru Accessory-14D I/O Expansion card) (Or other binary parallel-word position data source)
Up to 12 absolute parallel encoders of 24 bits or less or up to six absolute parallel encoders of over 24 bits (limit of 6 AccACC -14D cards of 48 bits each); straight binary; 5V, single-ended.
(Thru Accessory-8D, Option 7 Resolver-to-Digital Converter card, two or four resolvers per accessory card).
12-bit resolution; absolute position data read on power-up or reset; thereafter, simulated quadrature signal is read through incremental encoder input.
(JMACH1, JMACH2) (Also AccACC -24 JMACH3, JMACH4) four (standard) to 16 (depending on options) outputs of +/-10V; 16-bit resolution (300 uV/bit), optically isolated; Standard use is for servo output; one per axis if PMAC is not commutating axis; two per axis if PMAC is commutating axis; uncommitted analog outputs may be used for other purposes.
(JPAN - requires Option 15)
1 input, 0 to +10V, converted to frequency at 25 kHz/V
(On PMAC Lite +/-10V, converted to sign and frequency)
Can be jumpered to Encoder 4 counter; time-base conversion of counter yields 24-bit register value proportional to voltage. Effective A/D resolution of 10 bits.
Accessory Analog Inputs
(Thru Accessory 28
Analog-to-Digital
4 to 16 (depending on number) inputs of +/-10V; 16-bit resolution; single-ended or differential inputs.
Conversion time less than 50 usec, all inputs.
Converter Board)
(Thru Accessory 36
Analog-to-Digital
Converter Board)
8 or 16 inputs of 0 to 10V or +/-5V 12-bit resolution per board; single-ended or differential inputs. Effective conversion time 1 phasing cycle per channel.
Dedicated Axis
Digital Inputs
(JMACH1, JMACH2) (Also AccACC -24 JMACH3, JMACH4)
Four dedicated digital inputs accompanying each quadrature encoder; optically isolated from PMAC digital circuits; operate from +15V voltage source.
Inputs for each encoder are: +LIMIT, -LIMIT, HOME, FAULT.
Uncommitted sets of inputs may be used as general-purpose optically isolated digital inputs.
(JMACH1], JMACH2) (Also AccACC -24 JMACH3, JMACH4) Dedicated Axis
Digital Outputs
Amplifier Enable
Position Compare
One dedicated digital output accompanying each quadrature encoder; optically isolated from PMAC digital circuits, operates from +15V voltage source. Serves as amplifier-enable signal or direction bit; polarity is can be set by hardware jumper
(E17).
Uncommitted lines may be used as general-purpose optically isolated digital outputs.
One dedicated digital output accompanying each quadrature encoder; serves as position compare output providing pulse exactly when preset count value is reached.
Uncommitted compare outputs may be used as general-purpose outputs by using polarity control.
PMAC Basic Specifications 33
PMAC VME Hardware Reference Manual
General-Purpose
Digital Inputs
General-Purpose
Digital Outputs
Serial
Communications
Bus (Parallel)
Communications
Dual-Ported RAM
Control-Panel
Dedicated Inputs
Thumbwheel
Multiplexer I/O
(JOPTO)
Eight general-purpose digital inputs; 0-24V levels;
Hardware jumper sets as normally high or normally low;
Connector configured for easy hook-up to OPTO-22.
Rated to 100 mA.
(JOPTO)
Eight general-purpose digital outputs; +5V to +24V high level (if greater than +5V, work from external voltage)
Sinking (standard) or sourcing (no-cost option) configurations possible; rated to 100 mA; Connector configured for easy hook-up to OPTO-22.
RS-232 serial data port (PMAC Lite or STD)
Single-ended +/-6-10V levels
RS-422 serial data port (PMAC PC, VME, STD, or Lite with Opt-9L);
Differential 0-5V TTL levels.
PMAC receivers accept standard RS-232 signals.
PMAC transmitters send signals recognizable by most RS-232 receivers. (Acc-26 available for optically isolated conversion between RS-422 and RS-232 levels.)
Configurable for 300 to 76,800 baud
Eight bits, one start bit, one stop bit, no parity.
Uses RD+, RD- (RXD/), SD+, SD- (TXD/), CS+, CS-, (CTS), RS+, RS- (RTS), and
GND lines. Shorts DSR to DTR.
Up to 16 cards may be daisy-chained on a single communications line with software addressing.
Bus communications (8-bit wide data); type of bus determined by version of card.
For PMAC PC, Lite, or STD, on-board Programmable Interrupt
Controller permits interrupting of host on excess following error, in-position, buffer request, character request, position-compare-equals, or programmatically.
For PMAC VME, 16 8-bit mailbox registers for bi-directional transmission of commands and data.
A16, A24, and A32 addressing modes possible.
D08 data transmission used.
(Option 2 Required) 8K x 16 bits of dual-ported RAM for PMAC PC, Lite, or VME
Usable for binary data transmission in either direction
(JPAN)
9 dedicated manual control functions on low-true 0-5V TTL inputs: RUN, STEP,
ABORT, HOLD, HOME, JOG+, JOG-, PREJOG, RESET; intended for momentary toggle switches.
4 motor-/coordinate-system-select lines (BCD coded; low-true TTL) that set what the above inputs affect.
1 0-10V analog input for feedrate override control (requires Option 15).
1 2-channel handwheel encoder input (TTL levels).
Discrete inputs may be used as general-purpose inputs with I2=1 or with select lines at 0.
Discrete outputs may be used as general-purpose outputs with select lines at 0.
(JTHW)
Eight TTL input lines; eight TTL output lines; Automatic firmware support for multiplexed I/O accessories:
AccACC -8D Opt 7 R/D converters (absolute serial data)
AccACC -8D Opt 9 Yaskawa encoder interface (absolute serial)
AccACC -18 Thumbwheel Board
AccACC -34 Family of I/O Boards
Up to 16 of these boards may be multiplexed on the port. Port may also be used as non-multiplexed general-purpose I/O.
34 PMAC Basic Specifications
PMAC VME Hardware Reference Manual
Display Outputs Connector to standard 2x24 or 2x40 character alpha-numeric liquid-crystal or vacuum fluorescent display.
Expansion Digital I/O JEXP connector provides access to up to six Accessory 14 I/O Expansion cards with
48 bits each of digital I/O, configurable to inputs or outputs by byte, configurable to high-voltage level by 24-bit word; sinking or sourcing available with +5 to +24V high levels, totem-pole +5V outputs available.
Software Specifications
Constants
Variables
Operators
Comparators
Functions
Motion Program
Language
PLC Program
Language
Specifiable in hexadecimal (with $ prefix) or decimal (without prefix); range depends on use, but can be up to full range of 48-bit floating-point range (36-bit mantissa, 12bit exponent).
1024 I-Variables of pre-defined meaning for initialization and setup (gains, limits, modes, etc.).
1024 P-Variables: general-purpose user variables; 48-bit floating-point (36-bit mantissa, 12-bit exponent) format, global meaning.
1024 Q-Variables: general-purpose user variables; 48-bit floating-point (36-bit mantissa, 12-bit exponent) format, local to a coordinate system.
1024 M-Variables: pointers to locations in PMAC’s memory and I/O space; userdefined address, offset, bit-width, decode. 1-48 bit, fixed and floating point.
For compiled PLC programs only: 1024 L-Variables pointers to locations in PMAC's memory and I/O space, 1-24 bit integer values only.
For use in user programs:
+ (add), - (subtract), * (multiply), / (divide),
% (modulo), & (bit-by-bit AND), | (bit-by-bit OR),
^ (bit-by-bit XOR).
For use in conditional statements in programs:
= (equal to), != (not equal to), > (greater than), !> (not greater than), < (less than), !<
(not less than), ~ (approximately equal to), !~ (not approximately equal to).
For use in user programs:
SIN, COS, TAN, ASIN, ACOS, ATAN, ATAN2, LN, EXP, ABS, SQRT, INT
Custom language; incorporates features of BASIC-type high-level languages
(computation, IF, WHILE, GOTO, GOSUB, CALL) and machine tool languages
(RS-274 G-Codes). User-definable G-, M-, T-, and D-codes. 256 separate motion programs may be stored at once.
Custom language for constantly re-circulating background program; much like
BASIC-type high-level languages. 32 separate interpreted PLC programs and 32 separate compiled PLC programs may be stored at once.
PMAC Basic Specifications 35
Options
Option 0
Option 1
Option 2
Option 3
Option 4A
Option 5A
Option 5B
Option 5C
Option 6
Option 7
Option 8
Option 9L
Option 10
Option 14
Option 15
PMAC VME Hardware Reference Manual
For PMAC VME only, reduces cost for standalone applications by removing the special interface chip used to communicate with the VMEbus.
Additional four channels each of: quadrature encoders, analog (DAC) outputs, analog inputs (serial digital data from Acc-23 or Acc-28) for eight channels each on a
PMAC. On PMAC VME or PMAC STD, this option is a piggyback board. On
PMAC PC, this option is extra ICs on the baseboard. This option is not available for
PMAC Lite.
8Kx16 Dual-ported RAM: for high-speed repetitious communication of data. On
PMAC VME, this option is extra ICs on the baseboard. On PMAC PC and Lite, this option is a separate half-size board. This option is not available for PMAC STD.
For PMAC VME, enhanced front plate that provides more connectors for auxiliary
I/O on the front plate.
Optional CPU section with 20 MHz CPU, 128K x 24 bit zero-wait-state Static RAM,
4 Mbit flash ROM for firmware and user program storage (no battery), on-board buffers for expansion port. Provides approximately 25% computational speed increase over base version.
Standard on all PMAC Packs purchased after July 1, 1995.
Optional CPU section with 40 MHz CPU, 128K x 24 bit zero-wait-state Static RAM,
4 Mbit flash ROM for firmware and user program storage (no battery), on-board buffers for expansion port. Provides approximately 125% computational speed increase over base version.
Optional CPU section with 60 MHz CPU, 128K x 24 bit zero-wait-state Static RAM,
4 Mbit flash ROM for firmware and user program storage (no battery), on-board buffers for expansion port. Provides approximately 250% computational speed increase over base version.
Optional CPU section with 80 MHz CPU, 128K x 24 bit zero-wait-state Static RAM,
4 Mbit flash ROM for firmware and user program storage (no battery), on-board buffers for expansion port. Provides approximately 375% computational speed increase over base version.
Extended (Pole-Placement) Servo Algorithm: Firmware option for servo filter more sophisticated than standard PID; to be used with difficult-to-control systems
(resonances, backlash, friction, disturbances, changing dynamics). Requires one-time purchase of Acc-25A or Acc-25B.
Mounting plate for PMAC PC (Opt-7) or PMAC VME (Opt-7V) to provide support in standalone applications.
Super-high accuracy clock crystal (<10 ppm) for long-term velocity accuracy.
Available for all CPU Options (standard, 4A, 5A, 5B, and 5C) with Opt-8A.
RS-422 serial interface for PMAC Lite. Replaces standard RS-232 interface.
PROM Version Specification: Permits customer to specify version of firmware to be installed onboard. If this option is not selected, newest firmware version is installed.
Replacement of flag input opto-isolators with socketed shunts. This permits parallel sub-count interpolation from Acc-8D Option 8 or equivalent, or 5V-level flag inputs from Opto-22 or equivalent modules.
Voltage to frequency converter chip for Wiper analog input on JPAN connector.
36 PMAC Basic Specifications
PMAC VME Hardware Reference Manual
Accessories
Accessory 1: +5V Power Supplies and Batteries
These power supplies are needed only for stand-alone applications of the PMAC, when the cards are not getting their +5V supply from the bus. The version of this accessory is selected by capacity:
AccACC -1: for one PMAC (3.0A rating).
AccACC -1A: for two or three PMACs (6.0A rating).
AccACC -1B: for four or five PMACs (9.0A rating).
AccACC -1C: for six, seven, or eight PMACs (12.0A rating).
AccACC -1L: is a replacement battery for the RAM on older PMAC PC or PMAC VME CPU boards.
It is a 3V lithium battery, 1200 mAh, 2/3A-size, no tabs.
AccACC -1LS: is a replacement battery for the RAM on PMAC STD, PMAC Lite and newer PMAC
PC and PMAC VME boards. It is a 3.6V lithium battery, 1000 mAh, 1.15" diameter can.
AccACC -1SA: 5V-switching power supply for one PMAC (1.2A rating). Gives better transient suppression.
Accessory 2: +/-15V Power Supplies
These power supplies provide +/- 15V to the analog output stage of PMAC, which is optically isolated from the digital 5V circuitry. This accessory has the following versions:
AccACC -2: +/-15V only for one PMAC (1.5A rating at each level).
AccACC -2A: +/-15V, +5V for one PMAC (16W rating).
AccACC -2B: +/-15V, +5V for two PMACs (40W rating).
AccACC -2SA: 12V-switching power supply for one PMAC (1.2A rating). Gives better transient suppression.
Accessory 3: Serial Communications Cable
This is a three-meter (ten-foot) 26-strand flat cable with a DB-25 connector on one end (for connection to the host computer) and an IDC 26-pin connector on the other end (for connection to PMAC’s serial port).
It is not to be purchased if AccACC -26 serial-communications-converter card is purchased. Multi-drop versions of the cable are available for daisy-chained PMAC systems:
AccACC -3D: Single-drop 3-meter DB-25 to IDC-26 flat cable (PC/VME).
AccACC -3E: One additional PMAC drop on AccACC -3D.
AccACC -3L: Single-drop 3-meter DB-9 to IDC-10 flat cable (Lite).
AccACC -3S: Single-drop 3-meter DB-25 to SIP-5 cable (STD).
Accessory 4: Additional Instruction Manual
This accessory provides an additional instruction manual for the PMAC. Normally, one manual is provided with every four PMACs or fraction thereof shipped together.
A CCcc -4: PMAC Family User Manual and Software Reference Manual
A CCcc -4P: PMAC PC Hardware Reference Manual
AccACC -4S1: PMAC STD Hardware Reference Manual
AccACC -4V: PMAC VME Hardware Reference Manual
AccACC -4L: PMAC Lite Hardware Reference Manual
AccACC -4AG: GE Fanuc 90/70 PLC Interface Manual
Accessory 6: Handwheel Encoder
This is a Hewlett-Packard HEDS-7501 rotary pulse generator or handwheel encoder with 256 lines per revolution. A six-foot flat cable is provided with the encoder. PMAC AccACC -8D has matching sockets for this cable.
PMAC Basic Specifications 37
PMAC VME Hardware Reference Manual
Accessory 8: Terminal Block
The A CCcc -8 family of terminal blocks provides an easy means of connecting the lines from the control system to PMAC’s machine connector. One Acc-8 provides all the pinouts from a single JMACH connector on PMAC. The screw-down terminal points on the board give a quick yet reliable connection.
AccACC -8P: 60-point terminal block. No connectors for option boards.
OPT-P: 60-pin connector and cable to PMAC PC, STD, and Lite.
OPT-V: 96-pin connector and cable to PMAC VME. (Note: a longer cable may be specified. Not to exceed three feet.)
AccACC -8D:
OPT-P:
60-point terminal block with connectors for option boards.
60-pin connector and cable to PMAC PC, STD, and Lite.
OPT-V: 96-pin connector and cable to PMAC VME. (Note: a longer cable may be specified. Not to exceed three feet.)
OPT-1:
OPT-2:
Provides a third phase of output for two PMAC-commutated motors. Normally this function is provided in the amplifier, but if the amplifier is expecting commands for all three phases, this option generates a third phase as the negative sum of the two phases provided by PMAC. This option is located on the main AccACC -8D board.
Provides four voltage-to-frequency (V/F) converters for commanding stepper motor driver systems. These convert PMAC’s analog output for each channel to a pulse output.
The pulse output can be jumpered back to PMAC’s encoder input for the motor if the system is to be run open loop; or an actual encoder can be used for true closed-loop servo. The maximum frequency is selectable from 10 kHz (2A) to 2MHz (2F). This option is on a small, separate board and comes with 5 40-cm (16") cables to Acc-8D, one
16-pin and four 10-pin. Must be ordered as one of the following (2A - 2F) depending on the frequency requirements.
OPT-4:
OPT-2A:
OPT-2B:
OPT-2C:
OPT-2D:
V-to-F converters (4); 10 kHz max.
V-to-F converters (4); 50 kHz max.
V-to-F converters (4); 100 kHz max.
V-to-F converters (4); 500 kHz max.
OPT-2E:
OPT-2F:
V-to-F converters (4); 1 MHz max.
V-to-F converters (4); 2 MHz max.
OPT-2G: DIN rail mount for OPT-2.
Family of four low-power current-loop (transconductance) amplifier circuits for driving hydraulic valves or very small DC motors. This option is a small, separate board with a built-in heat sink and fan. A voltage mode provides a proportional voltage output. This option must be ordered as either 4 or 4A. Comes with 1 40-cm (16") cable to Acc-8D.
OPT-5:
OPT-6:
OPT-A:
OPT-7:
OPT-4:
OPT-4A:
OPT-4B:
Quad hydraulic valve driver; 20W/channel, 30V max, 1.0A cont, 2.0A peak.
Quad motor driver; 150W/channel, 48V max, 3.0A cont, 5.0A peak.
DIN rail mount for OPT-4 and 4A.
Provides a DIN rail mount for the Acc-8D board.
Provides optically isolated connection for four incremental encoders (three channels each) on a separate board. Comes with 4 40-cm (16") cables to Acc-8D.
DIN rail mount for OPT-6.
Provides two channels of 12-bit fixed resolution resolver-to-digital conversion on a separate board. Two additional channels can be added to this board with sub-option A.
Comes with two 10-pin 40-cm (16") cables to Acc-8D and one 26-pin 1 meter (3') cable to PMAC.
OPT A:
OPT-B:
Provides two additional channels of resolver-to-digital conversion on the same board as OPT-7. Comes with two 10-pin 40-cm (16") cables to Acc-8D.
In rail mount for OPT-7.
38 PMAC Basic Specifications
PMAC VME Hardware Reference Manual
OPT-8:
OPT-A:
OPT-9:
OPT-B:
The analog encoder interpolator board provides 128 or 256 pulses per cycle of an analog encoder. Each Option 8 allows connection of one analog encoder to PMAC and requires two encoder channels on the PMAC. Up to eight Option 8s can be connected to one 16channel PMAC (PMAC with Option 1 and Acc-24 with Option 1). Comes with three 10pin 40-cm (16") cables, two to Acc-8D and one to PMAC’s JxIO connector.
DIN rail mount for OPT-8
Provides connection for four Sigma series type S and W Yaskawa absolute encoders.
Comes with four 10-pin 40-cm (16") cables to Acc-8D and one 26-pin 60-cm (24") cable to PMAC’s multiplexer port.
DIN rail mount for OPT-9.
Accessory 9: IBM PC Software
The software for the IBM-PC and compatibles includes development tools used in setting up the PMAC controller and developing a host computer interface for a PMAC application. Acc-9 is a once-percustomer purchase. OEMs wishing to re-sell the program to their customers must purchase one copy for each customer. Such OEMs should contact the factory for volume purchase agreements.
AccAcc -9C: COMLIB (COMmunications LIBrary) written in C provides a set of basic (low level) communications drivers callable from DOS or Windows
based programs. This software is recommended for any user who intends on developing MMI (Man Machine
Interface) for PMAC. Comes on one 3.5" diskette and is purchased as a Site License.
OPT-1: Executable code upgrade and Site License.
AccACC -9L: LIPS (Library Interface for PMAC Systems) Provides a set of high level communication functions (functions such as Set Up Master Slave and Why Is My Motor Not Moving) callable from DOS or Windows
(DLL) based programs. This software requires Acc-
9C. Comes on one 3.5" diskette and is purchased as a Site License.
OPT-1: Executable code upgrade and Site License.
The PMAC Executive Program for the IBM PC and compatibles is a DOS/Windows
based host computer program for the PMAC controller that is intended as a development tool in starting a PMAC application. It provides a terminal emulator, PMAC program editor with disk file functions, and special screens for viewing PMAC variables, status, and tuning. The program was written in the "C" programming language. The program is not copy-protected and comes on a 3.5" diskette.
AccACC -9DA: PMAC Executive PC Program for DOS on 3.5" diskette
OPT-1: PMAC Executive Program upgrade, site license
AccACC -9W: PMAC Executive PC Program for Windows
on 3.5" diskette
OPT-1: Executable code upgrade, site license
AccAcc -9P: PCOMM (PMAC COMmunications) written in C/C++ provides a set of basic (low level) communications drivers linkable from DOS or Windows
(DLL) based programs. This software is recommended for any user who intends on developing custom MMI (Man
Machine Interface) for PMAC. Comes on one 3.5" diskette and is purchased as a Site
OPT-1:
License.
Executable code upgrade, site license
AccACC -9DG: PLC Program for GE Fanuc 90/70 interface to PMAC VME.
Accessory 12: Liquid Crystal/Vacuum Fluorescent Display
Acc-12 provides display capability for the PMAC independent of the host interface. It connects to the J1
(JDISP) connector on PMAC. The user can program (through the DISPLAY command) what is needed to show on the display. The vacuum fluorescent (VF) display is larger and brighter than the liquid crystal
(LCD) display.
AccACC -12: 2x24 character alphanumeric LCD display.
PMAC Basic Specifications 39
PMAC VME Hardware Reference Manual
AccACC -12A: 2x40 character alphanumeric LCD display.
AccACC -12C: 2x40 character alphanumeric VF display.
AccACC -12C1: AccACC -12C with filter, bezel, standoffs, and screws. Includes differential line receivers that are latched and buffered. AccACC -12D compatible.
AccACC -12CA: 180 cm (6') 14-pin cable and mounting PCB for separately purchased display.
AccACC -12D: Long distance display signal driver module (to 180 m (600') for AccACC -12F). Includes
180 cm (6') 14-pin cable to PMAC. Requires AccACC -12E with Option 1.
OPT-1: DIN rail mount for AccACC -12D.
AccACC -12E: Adapter and power driver for AccACC -12F (large vacuum fluorescent displays).
Includes 180 cm (6') 14-pin cable to PMAC.
OPT-1:
OPT-2:
DB-25 connector (no cable) to
DIN rail mount for
AccACC -12F: Display purchased separately.
AccACC
AccACC
-12E.
-12D. No cable to PMAC.
OPT-1:
OPT-2:
OPT-3:
40x2 5mm high characters with two 180 cm (6') 14-pin cables to
AccACC -12E, bezel, no filter (P/N IEE S03601-51-096).
20x4 11mm high characters with two 180 cm (6') 14-pin cables to
AccACC -12E, bezel, no filter (P/N IEE S03601-24-080).
IEE large screen display.
Accessory-14: I/O Expansion Board
PMAC’s Acc-14D/V provides expanded and flexible digital I/O capabilities for the controller (Acc-14D is the PC bus form; Acc-14V is the VME bus form; there is no STD bus form). It may be configured for a wide variety of different uses by selecting different voltage levels, sinking/sourcing, and latched/nonlatched I/O to serve many diverse applications. It is commonly used for discrete I/O and for parallel feedback (absolute encoders, laser interferometers, and resolvers). In order to provide this flexibility, the customer must take care in ordering a configuration.
AccACC -14D: 48 digital I/O points, PC bus compatible, requires an Option 1-4.
AccACC -14V: 48 digital I/O points, VME bus compatible, requires an Option 1-4.
OPT-1: 24 inputs and 24 outputs, TTL levels (0 - 5V), low true.
OPT-2:
OPT-3:
OPT-4:
OPT-6:
OPT-7:
24 inputs and 24 outputs, 0 - 24V, low true.
48 inputs, TTL levels (0 - 5V), latching for parallel binary feedback.
Custom configuration to be specified by the user. Fill out specification sheet.
Dual parallel to quadrature converter. Required if PMAC is to commutate a motor using a parallel feedback device.
20cm (8") 50-Pin 3-drop connector cable. For use with Acc-14D/V when PMAC Option
2, Acc-24P, or Acc-36P is also used.
Purchasing the Proper Acc-14D/V Configuration
AccACC -14D/V’s 48 bits of I/O are grouped into two ports (A and B), each with its own connector (J7 and J15, respectively). Each port has a single high supply voltage and a single strobe source (or lack of one). Each port contains three bytes: Port A has bytes 1, 2, and 3; Port B has bytes 4, 5, and 6 . The. The
I/O can be specified by port (standard) or by byte (custom), as explained below.
Standard Configurations: Three standard configurations of the Acc-14D/V can be ordered. These are specified as Options 1 to 3:
Option 1:
Port A is low-true TTL inputs (24)
Port B is low-true TTL outputs (24) (Typically this option is for use with OPTO-22.)
Option 2:
Port A is low-true 24V 100mA inputs (24)
Port B is low-true 24V 100mA outputs (24) (Typically this option is for driving I/O directly.)
40 PMAC Basic Specifications
PMAC VME Hardware Reference Manual
Option 3:
Port A is high-true latched TTL inputs (24)
Port B is high-true latched TTL inputs (24) (Typically this option is for parallel feedback.)
Option 4 - Custom Configurations: If one of the above configurations is not suitable, a customized configuration is possible under Option 4.
In selecting Option 4, each byte should be specified as to input option or output option. These options are detailed as follows (the IC used for each option is provided for reference):
Input Options:
I1: 14-25V inverting unlatched inputs (ULN2802A) (external voltage source required)
I2: 6-15V inverting unlatched inputs (ULN2804A) (external voltage source required)
I3: 5V non-inverting unlatched inputs (74AC573)
I4: 5V inverting unlatched inputs (74AC563) (for input from OPTO-22)
I5: 5V non-inverting edge-triggered inputs (74AC574) (for absolute encoders)
Output Options:
O1: 5-24V inverting open-collector (sinking) outputs (ULN2803A) (external source may be required)
O2: 5-24V non-inverting sourcing outputs (UDN2981A) (external source may be required)
O3: 5V non-inverting sinking/sourcing outputs (74AC573)
O4: 5V inverting sinking/sourcing outputs (74AC563) (for output to OPTO-22)
For example, to use Port A for an absolute encoder input and Port B for 16 bits of OPTO-22 output and 8 bits of OPTO-22 input, specify:
Acc-14D with Option 4: Bytes 1:I5, 2:I5, 3:I5, 4:O4, 5:O4, 6:I4.
Of course, it is possible to set up incompatible configurations; for example, I1 and O3 could not work on the same port together because of voltage differences.
A configuration sheet is available and should be completed by the customer when ordering a custom configuration, in order to create a permanent configuration record as well as to avoid misunderstandings.
Accessory 16D: Control Panel And & Display Box
The AccACC -16D control panel provides all the means for using PMAC’s dedicated hardware control inputs and display outputs. It has nine toggle switches for the hardware functions, a 10-way rotary switch for motor-/coordinate-system-select (1 to 8, all, and none), a handwheel encoder, an analog potentiometer, a frequency generator, a 2x40 character alphanumeric LCD display, and five status LEDs. Comes with two 180 cm (6') cables, one 26-pin and one 16-pin.
Accessory 17: PMACAD Cad Conversion Software
This accessory is a program for IBM PC and compatible computers that converts a CAD file to the
PMAC motion language. No PMAC need be attached for this conversion program to run.
The Acc-17 is a once-per-customer purchase. OEMs wishing to re-sell the program to their customers must purchase one copy for each customer. Such OEMs should contact the factory for volume purchase agreements.
Accessory-17DA:
PMACAD Conversion Program on 3.5" diskette.
Accessory 18: Thumbwheel Multiplexer Board
This accessory is a printed circuit board that provides the needed circuitry for PMAC to interface to 16 thumbwheel switches or similar inputs. Up to 32 thumbwheel multiplexer boards can be daisy-chained together to permit the reading of up to 512 thumbwheel digits or other TTL level inputs (256 bytes).
Thumbwheels may be mounted directly on the board, or can be remotely connected to it. Alternatively,
8-position dip switches may be mounted on the board for input.
PMAC Basic Specifications 41
PMAC VME Hardware Reference Manual
Acc-18: Thumbwheel Multiplexer Board (bare). Comes with 1 180 cm (6') 26-pin cable.
OPT-1: Expansion Connector (for daisy-chain to next Acc-18).
OPT-2: One 8-Position DIP Switch (eight max; in place of two thumbwheel digits).
OPT-4: One decimal thumbwheel digit (16 max; specify location).
OPT-5: External Power Connector.
OPT-6: Molex connectors w/ mates (16 max; for remote digit).
An Acc-18 configuration sheet is available and can be used to define the required options and the number and location of all the thumbwheel digits.
Accessory 20: Hand-Held Terminal
This accessory provides a TM200G-001 hand-held or panel-mountable (~5" x 8" x 3/4") terminal for simple operational communications needs. The terminal communicates with the serial port on the
PMAC. It provides a numeric keypad with 6 special programmable function keys; also an alphanumeric
2 x 24 LCD display. Comes with a 24" 26-pin cable.
Accessory 21: I/O Simulators and Cables
Acc-21 is a family of I/O simulators and cables for connection to the J5 (JOPT) connector on PMAC.
Many users will purchase OPTO-22 boards and connect it to PMAC with an Acc-21 cable from Delta Tau.
Acc-21F: 180 cm (6') 50-pin card edge to 34-pin IDC header cable, for connecting PMAC JOPTO connector to PB8/16/24 or equivalent boards.
Acc-21FH: 180 cm (6') 50-pin IDC header to 34-pin IDC header cable, for connecting PMAC
JOPTO connector to PB8/16/24H or equivalent boards.
Acc-21G: 180 cm (6') 50-pin card edge to 50-pin IDC header cable, for connecting Acc-14D/V and
Acc-34B to PB8/16/24 or equivalent boards.
Acc-21GH: 180 cm (6') 50-pin IDC header to 50-pin IDC header cable, for connecting Acc-14D/V and Acc-34B to PB8/16/24H or equivalent boards.
Acc-21S: I/O simulator for PMAC JOPT port with eight switch inputs and eight LED outputs.
Comes with 1m (40") 34-pin cable.
Accessory 22: Extended Warranty
This accessory extends the warranty past the one year standard factory warranty, for a total of two years from the date of purchase.
Accessory 24: Axis Expansion Board
The Acc-24 Axis Expansion board (Acc-24P is for the PMAC PC; Acc-24V is for the PMAC VME; there is no Acc-24 for the PMAC STD) provides four or eight additional channels each of quadrature encoders, analog outputs, and data lines from analog inputs (for a total of 12 or 16 each for the PMAC). This accessory is for those systems that require more than the eight channels of each that can be provided on the baseboard. This would include systems with more than four PMAC-commutated motors, or with more than eight quadrature encoders and handwheels. The board fits in the next open bus slot, and communicates to PMAC via a provided 50-pin flat cable.
Acc-24P:
Acc-24V:
OPT-1:
OPT-2:
Four-Channel Expansion Board for the PC bus. Comes with two 8 cm (3") cables, one
50-pin and one 10-pin.
Four-Channel Expansion Board for the VME bus. Comes with two 8 cm (3") cables, one
50-pin and one 10-pin.
Additional four channels on the board (eight total).
20 cm (8") 50-pin 3-drop connector cable. When Acc-24 is used with PMAC OPT-2,
Acc-14D/V, or Acc-36P.
42 PMAC Basic Specifications
PMAC VME Hardware Reference Manual
Accessory 25: Extended Servo Algorithm Tuning Software
PMAC’s Acc-25 is software for the IBM PC to be used with PMAC OPT-6, the Extended Servo
Algorithm. This software allows the user to setup and tune a PMAC that has the Extended Servo
Algorithm. Comes on one 3.5" diskette and is purchased as a Site License.
OPT-1: Executable code upgrade and site license
Accessory 26A: Serial Communications Converter
PMAC’s Acc-26A is a small circuit board that converts the RS-232 serial communications of the host computer to the RS-422 serial communications format that PMAC uses. This conversion is performed through an optically isolated link, enhancing the noise immunity of the communications and separating the GND of PMAC from that of the host. A cable is provided for easy connection to PMAC. Standard serial connectors, DB-9 or DB-25, can be used to connect the Acc-26 to the host computer.
Most host computers with RS-232 can do reasonable communications directly with PMAC’s RS-422 port, straight over the Acc-3D cable. PMAC’s receivers take RS-232 signals robustly; most host RS-232 receivers take RS-422 signals, but with limited noise margin. Some cannot accept RS-422 at all. Acc-26 is for those users who cannot communicate without it, or for those who want to increase their noise margins. Anyone using the PMAC serial port in an actual industrial environment should either use an
RS-422 port in their host computer, or use a level converter such as the Acc-26.
OPT-1:
OPT-2:
OPT-3:
Host RS-232 to PMAC RS422. For PMAC PC, VME, STD, and Lite with Option 9.
IDC 26-pin 60 cm (24") serial cable provided for PMAC PC, VME, and Lite. No cable provided for PMAC STD.
Host RS-232 to PMAC RS232. For PMAC STD and Lite. IDC 10-pin 60 cm (24") serial cable provided for PMAC Lite. No cable provided for PMAC STD.
Host RS-232 to PMAC RS422. For PMAC VME to GE 90/70. User specifies 10 or 15pin 60 cm (24") serial cable provided.
Accessory 27: Optically Isolated I/O Board
PMAC’s AccACC -27 is a small circuit board that provides eight optically isolated inputs and eight optically isolated outputs. The I/O is rated to 24V and 100 mA. The board is designed for easy connection through a provided flat cable to PMAC's JTHW port (J3). This I/O is intended for generalpurpose programmatic use on PMAC. When AccACC -27 is used, no other JTHW port accessories may be used ( AccACC -8D Opt 7, AccACC -8D Opt 9, AccACC -18, AccACC -34).
OPT-2A:
OPT-2B:
DB-25 input connection
18-pin input terminal block (default)
Accessory 28: A/D Conversion Board
PMAC’s AccACC -28 Analog-to-Digital Conversion board has four channels of high-speed (60 usec), high-resolution analog input in the +/-10V range. It is a small, DIN-rail-mountable board that connects to
PMAC with a provided flat cable. These inputs can be used for servo position feedback, as from an
LVDT or potentiometer, or for general-purpose use (e.g., to monitor process variables such as pressure or tension, to allow analog speed control, or to monitor motor currents). The analog inputs are optically isolated from the PMAC’s digital circuits.
For each AccACC -28 in the system, there must be one DSP-GATE IC on PMAC or its AccACC -24 to process the converted digital signal from the A/D.
OPT-2A:
OPT-2B:
DB-15 input connection
12-pin input terminal block (default)
PMAC Basic Specifications 43
PMAC VME Hardware Reference Manual
Accessory 29: Magnetostrictive Linear Displacement Transducer Interface
Board
This accessory is a 1/2-size IBM-PC board and is designed to handle four, or optionally eight, channels of magnetostrictive linear displacement transducers (MLDTs) for PMAC. These transducers operate on a principle that measures the time between an excitation pulse applied to the transducer and the reception of an echo generated by a magnet's position along the transducer’s length. Generally, these transducers are environmentally tolerant and are used in rugged applications such as hydraulic controls.
AccACC -29: 4-channel MLDT interface board
OPT-1: Additional four channels (eight total)
Accessory 31: PMAC Demonstration Box Unit
Acc-31 is used for the purpose of demonstration of PMAC’s numerous motion control features. This accessory is a very useful tool for PMAC-based program development and verifications by OEMs.
Internally the unit consists of a +15V and +5V DC power supply, four or eight DC motors with HP 500line encoders, four or eight motor amplifiers, an optional PMAC board, and the necessary wiring to external connectors. It also includes a control front panel and switches in the form of PMAC’s Acc-16D to allow for input and output display independent of a host computer. In addition, an optional configuration using the demo unit with the VME-based GE-Fanuc 90/70 PLC system is available.
AccACC -31A: 4-axis demo unit (PMAC must be ordered separately).
OPT-3: PMAC Lite/PC (purchased separately) mounted internally.
AccACC -31L: 4-axis demo unit/carrying case lease. 2-week minimum, customer pays shipping both directions. Full lease-to-own credit on continuous rental period.
Accessory 32: PMAC Software Upgrade/Update Kit
At Delta Tau, we are continuously upgrading PMAC’s software for motion control. Software and documentation updates are readily available to the customer through Acc-32. Acc-32 consists of updates for an EPROM (PMAC firmware), User Manual, and AccACC -9D PC Executive Program Diskette (if it was previously purchased). Delta Tau will supply AccACC -32 to the customer up to two times free of charge for a period of six months from the date of purchase. If a customer has multiple PMAC cards,
Acc-32 Option 1 provides extra PMAC EPROMs at a greatly reduced cost.
AccACC -32: Upgrade Kit: EPROM, User Manual, Executive Diskette
OPT-1: Additional EPROM
Accessory 33: PMAC NC Software Library
This accessory is Windows
based software written for the IBM-PC and compatible computers. The software is used with a PMAC and a PC to give a high quality open-architecture machine tool controller.
Source code is available to allow the user to customize these modules as needed.
AccACC -33: PMAC NC software for IBM PC; Window based; Executable code per machine
OPT-1 Executable code upgrade per machine
AccACC -33L: PMAC NC software for IBM PC; Windows based; linkable DLL libraries; Site License.
OPT-1 Library upgrade and Site License
AccACC -33S: PMAC NC software for IBM PC; Windows based; source code in C; Site License.
OPT-1 Source code upgrade and Site License
Accessory 34: Multiplexed I/O Expansion Board
This accessory provides 64 points of discrete, optically isolated digital I/O connected to PMAC through the JTHW multiplexer port. Up to 32 of these accessories can be daisy-chained on a single port, for a total of 2048 I/O points. There are three versions of this accessory: the AccACC -34, the AccACC -34A, and the AccACC -34B.
44 PMAC Basic Specifications
PMAC VME Hardware Reference Manual
AccACC -34: Optically isolated I/O board, 64-bits total, definable as inputs or outputs in blocks of 32 by software command. All I/O is sinking only, 5V to 24V, 400 mA. Provided with 24"
OPT-1: long, 26-pin cable (for 20MHz PMAC only).
DIN Rail mount
AccACC -34A: Optically isolated I/O board, 64-bits total, sourcing or sinking inputs and outputs rated to
100 mA per point, 15V to 24V. The points can be selected for input or output by software command, sourcing or sinking, in groups of eight by hardware configuration
OPT-1:
OPT-2:
(when ordering). The default configuration for Acc-34A is 32 inputs and 32 outputs, all sourcing. Comes with 1 60-cm (24") cable to PMAC.
Custom configuration, sinking/sourcing in/out (Contact factory for form)
DIN Rail mount
OPT-3: All sinking configuration, 32 in, 32 out
AccACC -34B: Optically isolated I/O board, 64-bits total, designed for easy connection to Opto-22 and
OPT-1: compatible boards (e.g. Opto-22 Models G4PB24 and G4PB16H) via standard 50-pin flat cables (see Acc-21 cables). Both the inputs and the outputs are TTL compatible negative logic (low true) types.
DIN Rail mount
Accessory 35: Multiplexer Port Line Driver and Receiver
PMAC’s
AAccCC -35A and AccACC -35B are two complementary printed circuit boards. These boards are designed to provide differential signal transmission capability between PMAC and most of its accessories that communicate via its JTHW connector. Currently, this accessory pair enables the following PMAC accessories to communicate with PMAC via long distance cables:
AccACC -8D Opt 7 (Resolver-to-Digital converter board)
AccACC -8D Opt 9 (Yaskawa Encoder interface board)
AccACC -18 (the Thumbwheel Multiplexer Board)
AccACC -34 (the Opto 64 Bit input/output Board)
AccACC -34A (the Opto 32-Bit Input/32-Bit Output board)
AccACC -35A is the local JTHW buffer board. This board should be attached to PMAC’s JTHW connector via the supplied 26-pin flat cable. Acc-35B is the remote JTHW buffer board. One AccACC -
35B is required per each cluster of the remotely positioned I/O accessory boards. Note that the recommended cable length for the direct connection of PMAC to any of the above accessories is less than
3 meters (10 feet). However by buffering the signals through the AccACC -35 pair, and by using twisted pair wires with proper shielding, cable lengths in excess on 100 meters may be used.
AccACC -35A: Thumbwheel port differential line driver w/1, 26-pin, 24" cable (Requires OPT 1 or 2)
AccACC -35B: Thumbwheel port buffer differential line receiver with 1, 26-pin, 24" cable (Requires
OPT-1:
OPT-2:
Option 1 or 2)
DB37 connector for communication between the local and the remote buffers
38-pin Phoenix terminal block connector for communication between the local and the remote buffers (this is the default option)
OPT-3: A 6 ft daisy-chain JTHW cable with four headers. This provides for the connection of up to four I/O accessory boards to a single Acc-35.
Accessory 36: Analog to Digital Converter Board
PMAC’s Acc-36 is an analog data acquisition board capable of converting up to 16 analog input signals.
The Analog-to-Digital Converter (ADC) units used in Acc-36 are the MAX180 monolithic devices manufactured by Maxim Integrated Products. These devices have 12-bit resolution with +/- 1/2 LSB linearity specification.
PMAC Basic Specifications 45
PMAC VME Hardware Reference Manual
The AccACC -36P’s design features make it an ideal analog data acquisition board for monitoring and collection of signals from a variety of sensors and transducers. Up to twent four (24)24 AccACC -36P
’ s may be connected to PMAC providing up to 384 possible analog input channels.
This accessory’s intended use differs from that of the PMAC's other ADC board (
AccACC -28A).
AccACC -28A has been designed for use in converting signals from analog transducers via the PMAC's
DSPGATE gate array IC (see the PMAC User Manual and the Acc-28A Manual). As a result, one
PMAC Gate Array IC is required for each Acc-28A. In contrast, Acc-36P does not have this requirement and up to 24 Acc-36Ps may be connected to PMAC providing up to 384 possible analog input channels.
AccACC -36P: 16-Channel, 12-bit A/D converter board, mountable in PC bus
AccACC -36V: 16-Channel, 12-bit A/D converter board, mountable in VME bus
OPT-2: 20-cm (8") 50-pin 3-connector cable when Acc-36P is used with PMAC OPT-2, Acc-14D, or Acc-24P
Accessory 39: Handwheel Encoder Converter Board
PMAC’s AccACC -39 is a small printed circuit board designed for the purpose of interfacing the PMAC controller with a handwheel or a slow time base encoder. Acc-39 provides a cost effective solution for
PMAC applications in which the four or the eight standard high speed encoder decode circuits on the
PMAC’s DSPGATES are used already and yet there is an additional need for just one handwheel encoder input. This accessory accepts one pair of A QUAD B encoder signals. Both single-ended (A and B), differential line driver encoder inputs (A, A/ and B, B/), and complementary open collector encoder signals can be accepted. The maximum rate is approximately 31 A/B square waves per servo cycle. With
PMAC’s default servo frequency of 2.26 kHz this translates to a maximum encoder line rate of 62.5 kHz.
The x4 circuitry provides a maximum of 250,000 counts per second at this servo frequency.
AccACC -39 interfaces to PMAC through PMAC’s front panel port (JPAN) via the supplied 26-pin flat cable. When this accessory is installed then the normal PMAC panel functions cannot be used at the same time (I2 should be set to 1 or 3).
AccACC -39: Handwheel encoder converter board, w/60-cm (24") cable to JPAN
OPT-1: Rail mount
Accessory 40: On-Site Field Service and Training
AccACC -40: On-site field service/training; 2-day (16 hr) minimum, plus lodging, travel cost and time
Accessory 41: Servo Training Systems
AccACC -41A: Servo training system, torsional bar/diskette mechanism, PMAC not included
AccACC -41B: Servo training system mass/spring/damper mechanism, PMAC not included
Future Accessories
PMAC is constantly being upgraded with new capabilities, options, and accessories. Contact the factory for the latest update.
46 PMAC Basic Specifications
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Table of contents
- 7 PMAC VME E-POINT DESCRIPTIONS
- 7 PMAC VME Bottom Board
- 7 E1 - E2: Machine Output Supply Voltage Configure
- 8 E3 - E6: Servo Clock Frequency Control
- 8 E7: Machine Input Source/Sink Control
- 9 E8: RS232 Converter Power Supply Control
- 9 E9 - E16: Serial Interface Handshake Control
- 10 E17A-E17D: Amplifier-Enable/Direction Polarity Control
- 10 E22 - E23: Control Panel Handwheel Enable
- 10 E24 - E27: Encoder Single-Ended/Differential Control
- 11 E28: Warning Following Error/Watchdog Timer Signal Control
- 11 E29 - E33: Phase Clock Frequency Control
- 11 E34 - E38: Encoder Sampling Clock Frequency Control
- 12 E39: Reset-From-Bus Enable
- 12 E40 - E43: Software Address Control
- 13 E44 - E47: Communications Control
- 13 E48: RAM Wait State Control (Standard CPU Section)
- 14 E48: CPU Clock Frequency Control (Option CPU Section)
- 14 E49: Serial Communications Parity Control
- 14 E50: EAROM Save Enable/Disable
- 14 E51: Normal/Re-Initializing Power-Up
- 14 E52 - E53: DSP Interrupt Signal Select
- 15 E72 - E73: Panel Analog Time Base Signal Enable
- 15 E74 - E75: Clock Output Control for External Interpolation
- 15 E85, E87, E88: Host-Supplied Analog Power Source Enable
- 16 E89: Amplifier-Supplied Switch Pull-Up Enable
- 16 E90: Host-Supplied Switch Pull-Up Enable
- 16 E93 - E94: Compare-Equal Output Voltage Configure
- 17 E96 - E97: Analog Source Isolate from Option 1V
- 17 E98: DAC/ADC Clock Frequency Control
- 17 E99: Analog Source Isolate from Option 1V
- 18 PMAC VME Option 1A Jumpers
- 18 E17E - E17H: Amplifier Enable Polarity Control
- 18 E18 - E21: Encoder Single-Ended/Differential Control
- 19 E185, E187, E188: Host-Supplied Analog Power Source Enable
- 19 E189: Amplifier-Supplied Switch Pull-Up Enable
- 19 E190: Host-Supplied Switch Pull-Up Enable
- 20 E196, E197, E199: Analog Source Isolate from Main Board
- 21 PMAC VME CPU BOARDS
- 21 Legacy PMAC Universal CPU (602705-10x)
- 21 E1: Watchdog Disable Jumper
- 21 E2-E3: Expansion Port Configure
- 21 E4: Power-Up/Reset Load Source
- 21 E8: Expansion Port Configure
- 22 Legacy PMAC VME Standard CPU Board (602398, 602271)
- 22 Legacy PMAC VME Option CPU Board
- 23 PMAC VME MATING CONNECTORS
- 23 Base Board Connectors
- 23 J1 (JDISP)/Display
- 23 J2 (JPAN)/Control Panel
- 23 J3 (JTHW)/Multiplexer Port
- 23 J4 (JRS422)/RS232 or 422/Serial Communications
- 23 J5 (JOPT)/OPTO I/O
- 23 J6 (JXIO)/Expansion Board
- 23 J7 (JEQU)/Position Compare
- 23 J8 (JS1)/A-D Inputs
- 23 P1 (JVME)/Standard VME Connector
- 23 P2 (JMACH1)/1st Machine Connector
- 24 Axis-Expansion Piggyback Board Connectors
- 24 P2A (JMACH2)/2nd Machine Connector
- 24 J1 (JS2)/A-D Inputs 5-8 (J9 on Option 3 Front Panel)
- 24 CPU Board Connectors
- 24 J2 (JEXP)/Expansion (J10 on Option 3 Front Panel)
- 24 J4 (JDPRAM)/Dual-Ported RAM
- 25 PMAC VME CONNECTOR PINOUTS
- 25 J1 JDISP (14-Pin Connector)
- 26 J2 JPAN (26-Pin Connector)
- 27 J3 JTHW Connector (26-Pin Connector)
- 28 J4 JRS422 (26-Pin Connector)
- 29 J5 JOPT (34-Pin Connector)
- 30 J6 JXI0 (10-Pin Connector)
- 30 J7 JEQU (10-Pin Connector)
- 30 J8 JS1 (16-Pin Header)
- 31 P1 JVME (96-Pin Header)
- 32 P2 JMACH1 (96-Pin Header)
- 33 P2 JMACH1 (96-Pin Header) Continued
- 34 J1 JS2 (16-Pin Header on Option 1A)
- 34 P2A JMACH2 (96-Pin Header on Option 1A)
- 35 P2A JMACH2 (96-Pin Header on Option 1A) Continued
- 35 P2A JMACH2 (96-Pin Header on Option 1A)
- 37 PMAC BASIC SPECIFICATIONS
- 37 Physical Specifications
- 37 Electrical Specifications
- 37 Memory Specifications
- 37 CPU Specifications
- 38 Performance Specifications
- 39 I/O Specifications
- 41 Software Specifications
- 42 Options
- 43 Accessories
- 43 Accessory 1: +5V Power Supplies and Batteries
- 43 Accessory 2: +/-15V Power Supplies
- 43 Accessory 3: Serial Communications Cable
- 43 Accessory 4: Additional Instruction Manual
- 43 Accessory 6: Handwheel Encoder
- 44 Accessory 8: Terminal Block
- 45 Accessory 9: IBM PC Software
- 45 Accessory 12: Liquid Crystal/Vacuum Fluorescent Display
- 46 Accessory-14: I/O Expansion Board
- 47 Accessory 16D: Control Panel And Display Box
- 47 Accessory 17: PMACAD Cad Conversion Software
- 47 Accessory-17DA
- 47 Accessory 18: Thumbwheel Multiplexer Board
- 48 Accessory 20: Hand-Held Terminal
- 48 Accessory 21: I/O Simulators and Cables
- 48 Accessory 22: Extended Warranty
- 48 Accessory 24: Axis Expansion Board
- 49 Accessory 25: Extended Servo Algorithm Tuning Software
- 49 Accessory 26A: Serial Communications Converter
- 49 Accessory 27: Optically Isolated I/O Board
- 49 Accessory 28: A/D Conversion Board
- 50 Accessory 29: Magnetostrictive Linear Displacement Transducer Interface Board
- 50 Accessory 31: PMAC Demonstration Box Unit
- 50 Accessory 32: PMAC Software Upgrade/Update Kit
- 50 Accessory 33: PMAC NC Software Library
- 50 Accessory 34: Multiplexed I/O Expansion Board
- 51 Accessory 35: Multiplexer Port Line Driver and Receiver
- 51 Accessory 36: Analog to Digital Converter Board
- 52 Accessory 39: Handwheel Encoder Converter Board
- 52 Accessory 40: On-Site Field Service and Training
- 52 Accessory 41: Servo Training Systems
- 52 Future Accessories