Delta Tau PMAC2A-PC/104 Installation Manual Download Page 8 | Manualshive

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PMAC2A-PC/104

Introduction

2

Option 6: Extended Firmware Algorithm

Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular servo
algorithm firmware. This is only required in difficult-to-control systems (resonances, backlash, friction,
disturbances, changing dynamics).

Option 6L: Multi-block lookahead firmware

Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles
execution. With the lookahead firmware PMAC automatically controls the speed along the path (but
without changing the path) to ensure that axis limits are not violated.

Option 10: Firmware Version Specification

Normally the PMAC PCI-Lite is provided with the newest released firmware version. A label on the
memory IC shows the firmware version loaded at the factory. Option 10 provides for a user-specified
firmware version.

Option 12: Analog-to-Digital Converters

Option 12 permits the installation of 2 channels of on-board analog-to-digital converters with ±10V input
range and 12-bits resolution. The key component installed with this option is U20.

ACC-1P: Axis expansion piggyback board

ACC-1P provides 4 additional channels axis interface circuitry
for a total of 8 servo channels, each including:

•

12-bit ±10V analog output

•

Pulse-&-direction digital outputs

•

3-channel differential/single-ended encoder input

•

4 input flags, 2 output flags

•

3 PWM top-and-bottom pairs (unbuffered)

ACC-1P Option 1: I/O ports

Option 1 provides the following ports on the ACC-1P axes expansion board for digital I/O connections.

•

Multiplexer Port: this connector provides eight input lines and eight output lines at TTL levels.
When using the PMAC ACC-34x type boards these lines allow multiplexing large numbers of
inputs and outputs on the port. Up to 32 of the multiplexed I/O boards may be daisy-chained on
the port, in any combination.

•

I/O Port: this port provides eight general-purpose digital inputs and eight general-purpose digital
outputs at 5 to 24 VDC levels. This 34-pin connector was designed for easy interface to OPTO-
22 or equivalent optically isolated I/O modules when different voltage levels or opto-isolation to
the PMAC2A-PC/104 is necessary.

•

Handwheel port: this port provides 2 extra channels, each jumper selectable between encoder
input or pulse output.

ACC-1P Option 2: Analog-to-Digital Converters

Option 2 permits the installation on the ACC-1P of 2 channels of analog-to-digital converters with ±10V
input range and 12-bits resolution. The key component installed with this option is U20.

PMAC2A-PC/104 Base Board

shown stack with the ACC-1P

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Summary of Contents for PMAC2A-PC/104

Page 1: ...03670 xHxx 5 January 29 2003 1 HARDWARE REFERENCE MANUAL 2 PMAC2A PC 104 INSTALLATION MANUAL 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 ...

Page 2: ......

Page 3: ...CC 8FS Four channel direct PWM stack breakout board 4 BASE BOARD HARDWARE SETUP 5 CLOCK CONFIGURATION JUMPERS 5 BOARD RESET JUMPERS 5 CPU JUMPER CONFIGURATION 6 COMMUNICATION JUMPERS 6 I O CONFIGURATION JUMPERS 6 RESISTOR PACKS CONFIGURATION 6 Differential or Single Ended Encoder selection 6 ACC 1P HARDWARE SETUP 9 I O CONFIGURATION JUMPERS 9 RESERVED CONFIGURATION JUMPERS 9 RESISTOR PACKS CONFIGU...

Page 4: ...CY AND BAUD RATE SETUP 22 DAC OUTPUTS CONFIGURATION 23 USING FLAG I O AS GENERAL PURPOSE I O 24 GENERAL PURPOSE DIGITAL INPUTS AND OUTPUTS 24 ACC 1P with jumper E6 on position 1 2 24 ACC 2P with jumper E5 in position 2 3 25 THUMBWHEEL PORT DIGITAL INPUTS AND OUTPUTS 26 ACC 1P with jumper E6 in position 1 2 26 ACC 2P with jumper E5 in position 2 3 26 ANALOG INPUTS SETUP 27 Base Board Analog Inputs ...

Page 5: ...ERS 42 E13 POWER UP RESET LOAD SOURCE 43 E14 WATCHDOG DISABLE JUMPER 43 E15A B C FLASH MEMORY BANK SELECT 43 E16 ADC INPUTS ENABLE 44 E18 E19 PC 104 BUS ADDRESS 44 ACC 1P E POINT JUMPER DESCRIPTIONS 46 E0 RESERVED FOR FUTURE USE 46 E1 E2 MACHINE OUTPUT SUPPLY VOLTAGE CONFIGURE 46 E3 E4 JHW PD FUNCTION SELECT 47 E5 SERVO GATE ADDRESS SELECT 47 E6 I O GATE ADDRESS SELECT 47 E7 MACHINE INPUT SOURCE S...

Page 6: ...ENCODER CONNECTOR 61 ACC 2P CONNECTOR PINOUTS 63 TB1 JPWR POWER SUPPLY 63 J1 USB UNIVERSAL SERIAL BUS PORT OPTIONAL 63 J2 JTHW MULTIPLEXER PORT CONNECTOR 64 J7 JOPT I O PORT CONNECTOR 64 J8 JHW HANDWHEEL ENCODER CONNECTOR 65 J10 ETHERNET PORT OPTIONAL 66 ...

Page 7: ...wait state SRAM 512k x 8 flash memory for user backup firmware Latest released firmware version RS 232 serial interface 4 channels axis interface circuitry each including 12 bit 10V analog output Pulse direction digital outputs 3 channel differential single ended encoder input 4 input flags 2 output flags 3 PWM top and bottom pairs unbuffered 50 pin IDC header for amplifier encoder interface 34 pi...

Page 8: ...uitry for a total of 8 servo channels each including 12 bit 10V analog output Pulse direction digital outputs 3 channel differential single ended encoder input 4 input flags 2 output flags 3 PWM top and bottom pairs unbuffered ACC 1P Option 1 I O ports Option 1 provides the following ports on the ACC 1P axes expansion board for digital I O connections Multiplexer Port this connector provides eight...

Page 9: ...n 1B Ethernet Interface Option 1B provides a 10 Mbit sec Ethernet interface allowing Ethernet communications with the PMAC2A PC 104 motion controller ACC 2P Option 2 DPRAM circuitry Option 2 provides an 8K x 16 dual ported RAM for USB Ethernet or PC 104 ports on board of the ACC 2P communications board If using for USB or Ethernet communications ACC 2P Opt 1A or ACC 2P Opt 1B must be ordered If us...

Page 10: ... port provides 2 extra channels each jumper selectable between encoder input or pulse output ACC 8TS connections board ACC 8TS is a stack interface board to for the connection of either one or two ACC 28B A D converter boards When a digital amplifier with current feedback is used the analog inputs provided by the ACC 28B cannot be used ACC 8ES Four channel dual DAC analog stack board ACC 8ES provi...

Page 11: ...ating While it may be possible to operate an individual processor at a frequency higher than its maximum rating particularly at low ambient temperatures performance cannot be guaranteed at such a setting and this operation is done completely at the user s own risk If jumpers E2 and E4 are both OFF the CPU will operate at a 40 MHz frequency If E2 is ON and E4 is OFF the CPU will operate at a 60 MHz...

Page 12: ...h chip This jumper is installed in factory and must not be changed from its default state Communication Jumpers E18 E19 PC 104 Bus Base Address Control Jumpers E18 and E19 on the PMAC2A PC 104 base board determine the base address of the card in the I O space of the host PC s bus Together they specify 4 consecutive addresses on the bus where the card can be found The jumpers form the base address ...

Page 13: ...it is permissible for differential line driver inputs If this socketed resistor is configured as a pull up resistor by reversing the SIP pack in the socket the two parallel 2 2 kΩ resistors act as a single 1 1 kΩ pull up resistor holding the line at 5V in the absence of an external signal This configuration is required if complementary open collector drivers are used it is permissible for differen...

Page 14: ...PMAC2A PC 104 Base Board Hardware Setup 8 ...

Page 15: ...sses for motors 5 to 8 When E5 connects pins 2 and 3 the servo channels on the ACC 1P board will be accessed at the regular addresses for motors 5 to 8 plus 40 and this is useful only when two ACC 1P are used with the same PMAC2A PC 104 base board E6 I O Gate address select If jumper E6 connects pins 1 and 2 default the I O features on the ACC 1P will be accessed at the regular addresses and the J...

Page 16: ...nfiguration is required if complementary open collector drivers are used it is permissible for differential line driver inputs If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket labeled by a white square then the pack is configured as a bank of pull down resistors If the pack is reversed in the socket it is configured as a bank of pull up resistors The following ...

Page 17: ...essary only when both ACC 2P and ACC 1P are used with the same PMAC2A PC 104 base board E7 E10 Ports Direction Control These jumpers select the I O lines direction of the JTHW and the JOPT connectors This allows configuring these ports as all inputs all outputs or half inputs and half outputs according to the following tables JTHW Connector JOPT Connector E7 E8 DATx lines SELx lines E9 E10 MOx lin...

Page 18: ...lel 2 2 kΩ resistors act as a single 1 1 kΩ pull up resistor holding the line at 5V in the absence of an external signal This configuration is required if complementary open collector drivers are used it is permissible for differential line driver inputs If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket labeled by a white square then the pack is configured as a ...

Page 19: ...tack The order of the ACC 1P or ACC 2P with respect to the base board does not matter Power Supplies Digital Power Supply 3A 5V 5 15 W Eight channel configuration with a typical load of encoders The PMAC2A PC 104 the ACC 1P and the ACC 2P each require a 1A 5 VDC power supply for operation Therefore a 3A 5 VDC power supply is recommended for a PMAC2A PC 104 board stack with ACC 1P and ACC 2P boards...

Page 20: ...ine connector PLIMn MLIMn overtravel limits HOMEn home flag FAULTn amplifier fault and USERn A power supply from 5 to 24 Volts must be used to power the circuits related to these inputs This power supply can be the same used to power PMAC and can be connected from the TB1 terminal block or the JMACH1 connector Over travel Limits and Home Switches When assigned for the dedicated uses these signals ...

Page 21: ...erential quadrature encoder connected to channel 1 DAC Output signals If PMAC is not performing the commutation for the motor only one analog output channel is required to command the motor This output channel can be either single ended or differential depending on what the amplifier is expecting For a single ended command using PMAC channel 1 connect DAC1 pin 29 to the command input on the amplif...

Page 22: ...ing is wired into this input PMAC will consider the motor not to be in a fault condition ACC 1P General Purpose Digital Inputs and Outputs J7 Port ACC 1P J7 connector provides eight general purpose digital inputs and eight general purpose digital outputs Each input and each output has its own corresponding ground pin in the opposite row The 34 pin connector was designed for easy interface to OPTO ...

Page 23: ... connect pins 2 and 3 and Jumper E2 must connect pins 2 and 3 Example Standard configuration using the ULN2803A sinking open collector output IC Further software settings are required to configure this port See the Software Setup section for details on this ACC 2P General Purpose Digital Inputs and Outputs JOPT Port ACC 2P JOPT connector provides sixteen lines of general purpose I O In contrast wi...

Page 24: ... This allows configuring this port as all inputs all outputs or half inputs and half outputs If E7 is removed or E8 is installed then the multiplexing feature if the JTHW port cannot be used ACC 1P or ACC 2P Handwheel Port JHW PD Port This port provides an extra encoder input or a set of pulse and direction outputs Jumpers E3 and E4 on either the ACC 1P or ACC 2P boards select the function of this...

Page 25: ... type of network cable to purchase depends on the configuration to the host PC When making a direct connection to a Host communication Ethernet card in a PC a cat 5 networking crossover cable must be used A standard cat 5 straight through networking cable cannot be used in this scenario When using a connection to a network hub or switch the standard cat 5 straight through networking cable must be ...

Page 26: ...L 1 2 1 2 5V 3 4 3 4 GND 5 6 17 18 CHAn 7 8 19 20 CHAn 9 10 21 22 CHBn 11 12 23 24 CHBn 13 14 25 26 CHCn 15 16 27 28 CHCn 29 30 37 38 DACn 31 32 39 40 DACn 33 34 41 42 AENAn 35 36 43 44 FAULTn 47 FLT_FLG_V 48 GND 49 12 to 15V 50 12 to 15V 48 Gnd 3 Gnd 1 5V JMACH1 Motor Encoder Load Flags Amplifier 15 Volts Power Supply 5 Volts Power Supply Note The 5V and 12V external power supplies are only requi...

Page 27: ...1 Pin 2 Pin 3 Pin 4 Pin SYMBOL 1 2 1 2 5V 3 4 3 4 GND 5 6 17 18 CHAn 7 8 19 20 CHAn 9 10 21 22 CHBn 11 12 23 24 CHBn 13 14 25 26 CHCn 15 16 27 28 CHCn JMACH1 1 Pin 2 Pin 3 Pin 4 Pin SYMBOL 13 14 27 28 PUL_n 15 16 29 30 DIR_n 3 4 3 4 GND JMACH2 Pin SYMBOL 1 5V 3 Gnd JMACH1 Stepper Motor Load Flags Driver 5 Volts Power Supply Note The 5V external power supply is only required when PMAC is not instal...

Page 28: ...tible with the PMAC2A PC 104 board and will shutdown the board when used The operational frequency of the CPU can be set in software by the variable I46 If this variable is set to 0 PMAC firmware looks at the jumpers E2 and E4 to set the operational frequency for 40 60 and 80 MHz operation If I46 is set to a value greater than 0 the operational frequency is set to 10MHz I46 1 regardless of the jum...

Page 29: ...U 0 600 DISABLED 1200 1 900 0 05 900 1800 0 1 2 1200 1200 2400 3 1800 0 1 1800 3600 0 19 4 2400 2400 4800 5 3600 0 19 3600 7200 0 38 6 4800 4800 9600 7 7200 0 38 7200 14 400 0 75 8 9600 9600 19 200 9 14 400 0 75 14 400 28 800 1 5 10 19 200 19 200 38 400 11 28 800 1 5 28 800 57 600 3 0 12 38 400 38 400 76 800 13 57 600 3 0 57 600 115 200 6 0 14 76 800 76 800 153 600 15 DISABLED 115 200 DISABLED Not...

Page 30: ...set at the default position 1 2 In this case the lines on its J7 general purpose I O connector will be mapped into PMAC s address space in register Y C080 Jumpers E5 and E6 should be configured on position 2 3 only when two ACC 1P are used In this case the I O lines can be accessed at address Y C0C0 If no ACC 1P is present on the PMAC2A PC 104 stack configuration and only ACC 2P is used then jumpe...

Page 31: ... Define inputs and outputs voltages M42 FFFF All lines are I O type DIS PLC1 Disable PLC1 scanning through once on power up reset CLOSE Note After loading this program you must set I5 2 or 3 and ENABLE PLC 1 ACC 2P with jumper E5 in position 2 3 M0 Y C0C0 0 Digital Output M00 M1 Y C0C0 1 Digital Output M01 M2 Y C0C0 2 Digital Output M02 M3 Y C0C0 3 Digital Output M03 M4 Y C0C0 4 Digital Output M04...

Page 32: ...t are defined according to the setup of the address selection jumpers Jumper E6 on the ACC 1P or E5 on the ACC 2P determine which set of the following M variables are used ACC 1P with Jumper E6 in Position 1 2 M40 Y C082 8 1 SEL0 Output M41 Y C082 9 1 SEL1 Output M42 Y C082 10 1 SEL2 Output M43 Y C082 11 1 SEL3 Output M44 Y C082 12 1 SEL4 Output M45 Y C082 13 1 SEL5 Output M46 Y C082 14 1 SEL6 Out...

Page 33: ... Option 2 on the axes expansion board Each option provides two 12 bit analog inputs with a 10 VDC range The M variables associated with these inputs provided a range of values between 2048 and 2048 for the respective 10 VDC input range The following is the software procedure to setup and read these ports Base Board Analog Inputs I903 1746 Set ADC clock frequency at 4 9152 MHz WX C014 1FFFFF Clock ...

Page 34: ...PMAC2A PC 104 PMAC2A PC 104 Software Setup 28 ...

Page 35: ...PC 104 Base Board Hardware Reference Summary 29 BASE BOARD HARDWARE REFERENCE SUMMARY The following information is based on the PMAC2A PC 104 board Part Number 603670 100 Board Dimensions Board Layout 1 2 3 4 ...

Page 36: ... N 171 50 3 Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 J4 Machine Connector JMACH2 Port This machine interface connector is labeled JMACH2 or J4 on the PMAC It contains the pins for four channels of machine I O end of travel input flags home flag and pulse and direction output signals In addition the B_WDO output allows monitoring the state of the Watchdog safety feature 1 34 p...

Page 37: ...host computer s bus or from the JMACH1 connector This terminal block may be used as an alternative power supply connector or to easily measure the voltages applied to the board 1 4 pin terminal block 0 150 pitch LED Indicators D1 when this red LED is lit it indicates that the watchdog timer has tripped and shut down the PMAC D2 when this green LED is lit it indicates that power is applied to the 5...

Page 38: ...PMAC2A PC 104 ACC 1P Hardware Reference Summary 32 ACC 1P HARDWARE REFERENCE SUMMARY The following information is based on the ACC 1P board Part Number 603671 100 Board Dimensions Board Layout 1 2 3 4 ...

Page 39: ...special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination 1 26 pin female flat cable connector T B Ansley P N 609 2641 2 Standard flat cable stranded 26 wire T B Ansley P N 171 26 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J3 Machine Connector JMACH1 Port The primary machine interfac...

Page 40: ...ed I O modules Delta Tau s Accessory 21F is a six foot cable for this purpose 1 34 pin female flat cable connector T B Ansley P N 609 3441 2 Standard flat cable stranded 34 wire T B Ansley P N 171 34 3 Phoenix varioface module type FLKM 34 male pins P N 22 81 06 3 J8 Handwheel Pulse and Direction Port JHW PD Port This port provides an extra encoder input or a set of pulse and direction outputs and...

Page 41: ...PMAC2A PC 104 ACC 1P Hardware Reference Summary 35 ...

Page 42: ...PMAC2A PC 104 ACC 2P Hardware Reference Summary 36 ACC 2P HARDWARE REFERENCE SUMMARY The following information is based on the ACC 2P board Part Number 603672 100 Board Dimensions Board Layout 1 2 3 4 ...

Page 43: ...elta Tau provides accessory boards and software structures special M variable definitions to capitalize on this feature Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination 1 26 pin female flat cable connector T B Ansley P N 609 2641 2 Standard flat cable stranded 26 wire T B Ansley P N 171 26 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J7...

Page 44: ...ut or a set of pulse and direction outputs and its function is selectable by jumpers 1 10 pin female flat cable connector T B Ansley P N 609 1041 2 Standard flat cable stranded 10 wire T B Ansley P N 171 10 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J10 Ethernet Communications Port This connector provides access to the Ethernet communications feature ordered through Option 1B...

Page 45: ... in a host computer s bus or from the JMACH1 connector This terminal block may be used as an alternative power supply connector or to easily measure the voltages applied to the board 1 4 pin terminal block 0 150 pitch LED Indicators D2 when this green LED is lit it indicates that power is applied to the 5V input D6 D7 these two LEDs monitor the operation of the Ethernet communications circuitry ...

Page 46: ...Control E Point and Physical Layout Location Description Default E1 B4 Remove jumper for PMAC to use its internally generated servo and phase clock signals and to output these signals on the J8 serial port connector Jump pins 1 and 2 for PMAC to expect to receive its servo and phase clock signals on the J8 serial port connector No jumper installed Note If the E1 jumper is ON and the servo and phas...

Page 47: ... Reset E Point and Physical Layout Location Description Default E3 C4 Jump pin 1 to 2 to re initialize on power up reset loading factory default settings Remove jumper for normal power up reset loading user saved settings No jumper installed E4 CPU Frequency Select E Point and Physical Layout Location Description Default E4 C4 Remove jumper for 40 MHz operation E2 OFF also or for 60 MHz operation ...

Page 48: ...ut Enable E Point and Physical Layout Location Description Default E9 B1 Jump pin 1 to 2 to enable the SERVO clock line on the J8 connector allowing synchronization with another PMAC Remove jumper to disable the SERVO clock line on the J8 connector No Jumper E10 E12 Power Up State Jumpers E Point and Physical Layout Location Description Default E10 E12 E5 Remove jumper E10 jump E11 jump E12 to rea...

Page 49: ... Disable Jumper E Point and Physical Layout Location Description Default E14 B3 Jump pin 1 to 2 to disable WATCHDOG timer for test purposes only Remove jumper to enable WATCHDOG timer No jumper E15A B C Flash Memory Bank Select E Point and Physical Layout Location Description Default E15A E15C E4 Remove all 3 jumpers to select flash memory bank with factory installed firmware Use other configurati...

Page 50: ...m digital amplifiers No jumper E18 E19 PC 104 Bus Address E Point and Physical Layout Location Description Default Jumpers E18 and E19 select the PC 104 bus address for communications according to the following table E18 E19 Address Hex Address Dec OFF OFF 200 512 OFF ON 210 528 ON OFF 220 544 E18 E19 D4 ON ON 230 560 No E18 jumper installed jumper E19 installed Note Jumper E18 must be removed and...

Page 51: ...PMAC2A PC 104 Base Board E Point Jumper Descriptions 45 ...

Page 52: ...for sink output configuration JOPTO MACHINE outputs M01 M08 Jump pin 2 to 3 to apply GND to pin 10 of U7 should be UDN2981A for source output configuration WARNING The jumper setting must match the type of driver IC or damage to the IC will result 1 2 Jumper installed E2 B2 Jump pin 1 to 2 to apply GND to pin 10 of U7 should be ULN2803A for sink output configuration Jump pin 2 to 3 to apply V 5V t...

Page 53: ...ate Address Select E Point and Physical Layout Location Description Default E5 E5 Jump pin 1 to 2 to address ACC 1P channels at the regular addresses for channels 5 to 8 Jump pin 2 to 3 to address ACC 1P channels at the regular addresses for channels 5 to 8 plus 40 1 2 Jumper installed E6 I O Gate Address Select E Point and Physical Layout Location Description Default E6 E5 Jump pin 1 to 2 to addr...

Page 54: ...y 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 1 2 Jumper installed E16 ADC Inputs Enable E Point and Physical Layout Location Description Default E16 D1 Jump pin 1 to 2 to enable the Option 12 ADC inputs Remove jumper to disable the ADC inputs which might be necessary for reading current feedback...

Page 55: ...PMAC2A PC 104 Acc 1P E Point Jumper Descriptions 49 ...

Page 56: ...annel 2 outputs 1 2 Jumper installed E5 I O Gate Address Select E Point and Physical Layout Location Description Default E5 F1 Jump pin 1 to 2 to address ACC 2P I O ports at the regular addresses Jump pin 2 to 3 to address ACC 2P I O ports at the regular addresses plus 40 1 2 Jumper installed E6 Communications Port Select E Point and Physical Layout Location Description Default E6 E6 Jump pin 1 to...

Page 57: ...ATx lines outputs Jumper installed E8 D1 Install jumper to make SELx lines inputs No jumper to make SELx lines outputs No jumper E9 D2 Install jumper to make MOx lines inputs No jumper to make MOx lines outputs No jumper E10 D2 Install jumper to make MIx lines inputs No jumper to make MIx lines outputs Jumper installed ...

Page 58: ... it is not in a bus configuration When the PMAC is in a bus configuration these supplies automatically come through the bus connector from the bus power supply in this case this terminal block should not be used J4 JRS232 Serial Port Connector 10 Pin Connector Front View Pin Symbol Function Description Notes 1 PHASE Output Phasing Clock 2 DTR Bidirect Data Terminal Ready Tied to DSR 3 TXD Input Re...

Page 59: ...3 16 CHC2 Input Encoder C Ch Neg 2 3 17 CHA3 Input Encoder A Ch Pos 2 18 CHA4 Input Encoder A Ch Pos 2 19 CHA3 Input Encoder A Ch Neg 2 3 20 CHA4 Input Encoder A Ch Neg 2 3 21 CHB3 Input Encoder B Ch Pos 2 22 CHB4 Input Encoder B Ch Pos 2 23 CHB3 Input Encoder B Ch Neg 2 3 24 CHB4 Input Encoder B Ch Neg 2 3 25 CHC3 Input Encoder C Ch Pos 2 26 CHC4 Input Encoder C Ch Pos 2 27 CHC3 Input Encoder C C...

Page 60: ... 3 and 4 of servo amps and encoders Note 1 In standalone applications these lines can be used as 5V power supply inputs to power PMAC s digital circuitry 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 Note 4 10V 10 mA max referenced to common ground GND Note 5 Lea...

Page 61: ...t Positive End Limit 3 8 9 24 MLIM4 Input Positive End Limit 4 8 9 25 USER1 Input User Flag 1 26 USER2 Input User Flag 2 27 PUL_1 Input Pulse Output 1 28 PUL_2 Input Pulse Output 2 29 DIR_1 Input Direction Output 1 30 DIR_2 Input Direction Output 2 31 EQU1 Output Enc Comp Equal 1 32 EQU2 Output Enc Comp Equal 2 33 B_WDO Output Watchdog Out Indicator driver 34 No Connect Note 1 Pins marked PLIMn sh...

Page 62: ...put Negative Supply Voltage REF to digital GND This terminal block can be used to provide the input for the power supply for the circuits on the PMAC board when it is not in a bus configuration When the PMAC is in a bus configuration these supplies automatically come through the bus connector from the bus power supply in this case this terminal block should not be used J2 JTHW Multiplexer Port Con...

Page 63: ...lect output 17 DAT7 Input Data 7 Input Data input from multiplexed accessory 18 SEL7 Output Select 7 Output Multiplexer select output 19 N C N C No Connection 20 GND Common PMAC Common 21 BRLD Output Buffer Request Low is BUFFER REQ 22 GND Common PMAC Common 23 IPLD Output In Position Low is IN POSITION 24 GND Common PMAC Common 25 5V Output 5VDC Supply Power supply out 26 INIT Input PMAC Reset Lo...

Page 64: ... B Ch Pos 2 23 CHB7 Input Encoder B Ch Neg 2 3 24 CHB8 Input Encoder B Ch Neg 2 3 25 CHC7 Input Encoder C Ch Pos 2 26 CHC8 Input Encoder C Ch Pos 2 27 CHC7 Input Encoder C Ch Neg 2 3 28 CHC8 Input Encoder C Ch Neg 2 3 29 DAC5 Output Analog Out Pos 5 4 30 DAC6 Output Analog Out Pos 6 4 31 DAC5 Output Analog Out Neg 5 4 5 32 DAC6 Output Analog Out Neg 6 4 5 33 AENA5 Output AMP ENABLE 5 34 AENA6 Outp...

Page 65: ...ot used i e digital single ended encoders Note 4 10V 10 mA max referenced to common ground GND Note 5 Leave floating if not used do not tie to GND Note 6 Functional polarity controlled by variable Ix25 Must be conducting to 0V usually GND to produce a 0 in PMAC software Automatic fault function can be disabled with Ix25 J4 JMACH2 Machine Port Connector 34 Pin Header Front View Pin Symbol Function ...

Page 66: ...nnected to switches at the negative end of travel Note 2 Must be conducting to 0V usually GND for PMAC to consider itself not into this limit Automatic limit function can be disabled with Ix25 Note 3 Functional polarity for homing or other trigger use of HOMEn controlled by Encoder Flag Variable I9n2 HMFLn selected for trigger by Encoder Flag Variable I9n3 Must be conducting to 0V usually GND to p...

Page 67: ... either 5 volt or 24 volt signals Outputs can be made sourcing with an IC U7 to UDN2981 and jumper E1 E2 change E7 controls whether the inputs are pulled up or down internally Outputs are rated at 100mA per channel J8 JHW Handwheel Encoder Connector Pin Symbol Function Description 1 GND Common Ref voltage 2 HWA1 PUL1 Input Output HW1 Channel A or pulse output selected by jumpers E3 and E4 3 HWA1 P...

Page 68: ...PMAC2A PC 104 Acc 1P Connector Pinouts 62 ...

Page 69: ...ply for the circuits on the PMAC board when it is not in a bus configuration When the PMAC is in a bus configuration these supplies automatically come through the bus connector from the bus power supply in this case this terminal block should not be used J1 USB Universal Serial Bus Port Optional Pin Symbol Function 1 VCC N C 2 D DATA 3 D DATA 4 GND GND 5 SHELL SHIELD 6 SHELL SHIELD This connector ...

Page 70: ...d accessory 16 SEL6 Output Select 6 Output Multiplexer select output 17 DAT7 Input Data 7 Input Data input from multiplexed accessory 18 SEL7 Output Select 7 Output Multiplexer select output 19 N C N C No Connection 20 GND Common PMAC Common 21 BRLD Output Buffer Request Low is BUFFER REQ 22 GND Common PMAC Common 23 IPLD Output In Position Low is IN POSITION 24 GND Common PMAC Common 25 5V Output...

Page 71: ... MO5 Output Machine Output 5 Direction selectable 24 GND Common PMAC Common 25 MO4 Output Machine Output 4 Direction selectable 26 GND Common PMAC Common 27 MO3 Output Machine Output 3 Direction selectable 28 GND Common PMAC Common 29 MO2 Output Machine Output 2 Direction selectable 30 GND Common PMAC Common 31 MO1 Output Machine Output 1 Direction selectable 32 GND Common PMAC Common 33 5 Output ...

Page 72: ...ECT 5 NO CONNECT 6 RXD 7 NO CONNECT 8 NO CONNECT 9 NO CONNECT 10 NO CONNECT This connector is used for Ethernet communications from the ACC 2P to a PC and it is provided when ACC 2P Option 1B is ordered The appropriate Category 5 10 100 Base T network cable that mates to this connector can be readily purchased from any local computer store The type of network cable to purchase depends on the confi...

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