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HARDWARE REFERENCE MANUAL

 

 

 

 

 

 

 

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PMAC2-Lite 

 

 

 

 

 

 

 

 

 

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 Programmable Multi-Axis Controller 

 

 

 

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 4xx-602406-xHxx 

 

 

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 July 17, 2003 

 

 

 

 

Single Source Machine Control                                                                     

   

Power  //  Flexibility  //  Ease of Use 

21314 Lassen Street  Chatsworth, CA 91311  //  Tel. (818) 998-2095  Fax. (818) 998-7807  //  www.deltatau.com

 

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for PMAC2-Lite

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...r 4 4xx 602406 xHxx 5 July 17 2003 Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Artisan Techno...

Page 3: ...s 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...

Page 4: ...QU Port Configuration 7 E13 Encoder Sample Clock Direction Control 7 E14 Watchdog Disable Jumper 7 E17 E18 Serial Port Select 8 E20 Battery Backed RAM Enable 8 E111 114 Command Output Disable State 9...

Page 5: ...21 J7 JHW Handwheel Encoder Connector 21 J8 JEQU Position Compare Output Connector 22 J9 JMACH1 Servo Channel 1 2 Connector 23 J10 JMACH2 Servo Channel 3 4 Connector 27 TB1 2 4 Pin Terminal Block 30...

Page 6: ...232 serial interface ISA PC bus interface One 16 node MACRO interface IC Four channels axis interface circuitry each including Three output command signal sets configurable as either Two serial data s...

Page 7: ...tal The PMAC2 Lite has a clock crystal component Y1 of nominal frequency 19 6608MHz 20MHz The standard crystal s accuracy specification is 100 ppm Long term velocity accuracy is limited by the accurac...

Page 8: ...rface which formerly required the Option 9L piggyback board now is standard Jumpers E17 and E18 must be set properly to select between the RS 232 port and the RS 422 port Improved ADC Protection Circu...

Page 9: ...o use the RS 422 port on the J4A connector they must connect pins 2 and 3 Surface Mount DIP Switch Instead of a single 12 point DIP switch S1 there is an 8 point DIP switch S1A and a 4 point DIP switc...

Page 10: ...er is ON and the servo and phase clocks are not brought in on the J5 serial port the watchdog timer will trip immediately E2 CPU Frequency Select E Point Physical Layout Location Description Default E...

Page 11: ...ved for Future Use E7 E10 Host Interrupt Signal Select E Point Physical Layout Location Description Default E7 A9 Jump pin 1 to 2 to allow PMAC Interrupt to host PC on IRQ10 No jumper installed E8 A9...

Page 12: ...ection Control E Point Physical Layout Location Description Default E13 1 2 3 Remove jumper to output SCLK generated in servo ASIC on SCLK_12 and SCLK_34 or to control direction by software Jump pins...

Page 13: ...lect RS 422 serial handshake input from J5A Pins 1 2 jumpered E20 Battery Backed RAM Enable E Point Physical Layout Location Description Default E20 Jump pins 1 to 2 if Option 16 battery backed RAM is...

Page 14: ...ero command value when amplifier enable signal for Channel 2 is in disable state No jumper installed E113 Jump pin 1 to 2 for digital servo command output signals of Channel 3 to tri state when amplif...

Page 15: ...0 9 S1B 1 4096 1000h OFF x0 0 10 S1B 2 8192 2000h OFF x0 0 11 S1B 3 16384 4000h OFF x0 0 12 S1B 4 32768 8000h OFF x0 0 Total 528 210h To set the board to a different bus address specify that address...

Page 16: ...mmon COM2 300 31F 768 799 Prototype Card usually open 360 36F 864 879 PC Network 378 37F 888 895 Parallel Printer LPT1 380 38F 896 911 SDLC Communications 2 390 393 912 915 Cluster 3A0 3A9 928 937 SDL...

Page 17: ...PMAC2 Lite Hardware Reference Manual 12 Host PC AT I O Address Map Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 18: ...lta 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 JRS232 RS 232 Serial Com...

Page 19: ...Machine Port 1 1 Two 100 pin high density box header with center key 0 050 pitch AMP P N 1 04068 7 Delta Tau P N 014 00010 FPB 2 High density flat cable stranded 100 wire J10 JMACH2 Machine Port 2 1...

Page 20: ...put Analog Input 8 0 5V or 2 5V range 10 ANAI09 Input Analog Input 9 0 5V or 2 5V range 11 ANAI10 Input Analog Input 10 0 5V or 2 5V range 12 ANAI11 Input Analog Input 11 0 5V or 2 5V range 13 ANAI12...

Page 21: ...ut Select 4 output Address data output for MUX port accessories 13 DAT5 Input Data 5 input Data input from MUX port accessories 14 SEL5 Output Select 5 output Address data output for MUX port accessor...

Page 22: ...Software direction control 19 I O18 In Out Digital I O 18 Software direction control 20 I O19 In Out Digital I O 19 Software direction control 21 I O20 In Out Digital I O 20 Software direction contro...

Page 23: ...17 GND Common Reference voltage 18 GND Common Reference voltage 19 DIN7 Input Ring in bit 7 Macro ring receive 20 DIN6 Input Ring in bit 6 Macro ring receive 21 DIN5 Input Ring in bit 5 Macro ring rec...

Page 24: ...PMAC ready bit 7 DSR Bidirectional Data set ready Tied to DTR 8 SERVO Output Servo clock 9 GND Common PMAC common 10 5V Output 5Vdc supply Power supply output The JRS232 connector provides the PMAC2 P...

Page 25: ...al data Diff I O high true 17 SCIO Bidirectional Special control Diff I O low true 18 SCIO Bidirectional Special control Diff I O high true 19 SCK Bidirectional Special clock Diff I O low true 20 SCK...

Page 26: ...es 1 GND Common Reference voltage 2 5V Output Supply voltage To power external circuitry 3 HWA1 Input HW positive A channel Also pulse input 4 HWA1 Input HW negative A channel Also pulse input 5 HWB1...

Page 27: ...A3 Output Amp Enable 3 Low is true 8 AENA4 Output Amp Enable 4 Low is true 9 V Supply Positive supply 5V to 24V 10 GND Common Digital ground This connector provides the position compare outputs and th...

Page 28: ...flag 17 MLIM1 Input Negative overtravel limit Hardware capture flag 18 HOME1 Input Home switch input Hardware capture flag 19 ACCFLT1 Input Accessory fault flag For loss of ACC supply voltage 20 WD0 O...

Page 29: ...e 49 5V Output Input 5V power For external circuit or from external supply 50 5V Output Input 5V power For external circuit or from external supply 51 5V Output Input 5V power For external circuit or...

Page 30: ...4 FAULT2 Input Amplifier fault Programmable polarity 85 PWMATOP2 DAC_CLK2 Output Phase A top Cmd or DAC clock Programmable function control 86 PWMATOP2 DAC_CLK2 Output Phase A top Cmd or DAC clock Pro...

Page 31: ...5V Output Input 5V power For external circuit or from external supply The JMACH1 connector provides the interface pins for channels 1 and 2 Usually it is connected to a breakout board such as one of t...

Page 32: ...Positive overtravel limit Hardware capture flag 17 MLIM3 Input Negative overtravel limit Hardware capture flag 18 HOME3 Input Home switch input Hardware capture flag 19 ACCFLT3 Input Accessory fault...

Page 33: ...n Programmable function control 45 PWMCBOT3 PULSE3 Output Phase C bottom Cmd or PFM pulse Programmable function control 46 PWMCBOT3 PULSE3 Output Phase C bottom Cmd or PFM pulse Programmable function...

Page 34: ...sequence 77 ADC_DAA4 Input Channel A ADC serial data MSB first 78 ADC_DAA4 Input Channel A ADC serial data MSB first 79 ADC_DAB4 Input Channel B ADC serial data MSB first 80 ADC_DAB4 Input Channel B A...

Page 35: ...onnector 100 pin male box header with center key 0 050 pitch AMP part 1 04068 7 Delta Tau part 014 00100 FPB TB1 2 4 Pin Terminal Block This terminal block can be used to provide the input for the pow...

Page 36: ...WD_NO Output Watchdog relay out Normally open 4 COM Input Watchdog return V or 0V Note The normally closed relay contact is open while PMAC2 is operating properly it has power and the watchdog timer...

Page 37: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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