Delta Tau PMAC2A-PC/104 Hardware Reference Manual Download Page 4

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REVISION HISTORY

REV. DESCRIPTION

DATE

CHG

APPVD

ADDED ENCODER JUMPERS E20-E23 04/10/07

MILICI

ADDED SOFTWARE SETUP INFO, P. 23

10/15/09

S. MILICI

CORR. I-VARIABLES FOR USE WITH TURBO CPU

10/01/10

S. SATTARI

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

Summary of Contents for PMAC2A-PC/104

Page 1: ...nderutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective ow...

Page 2: ...is Expansion Accessory 1P 1 HARDWARE REFERENCE 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...ts 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 ...

Page 4: ...D ENCODER JUMPERS E20 E23 04 10 07 CP S MILICI 2 ADDED SOFTWARE SETUP INFO P 23 10 15 09 CP S MILICI 3 CORR I VARIABLES FOR USE WITH TURBO CPU 10 01 10 SS S SATTARI Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 5: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 6: ...lifier Fault Signal FAULT 12 General Purpose Digital Inputs and Outputs J7 Port 12 Thumbwheel Multiplexer Port JTHW Port 13 Handwheel Port JHW PD Port 14 Optional Analog Inputs 14 Compare Equal Outputs 14 Machine Connections Example Using Analog 10V Amplifier 15 Machine Connections Example Using Pulse and Direction Drivers 16 SOFTWARE SETUP NON TURBO PMAC2A PC104 18 Communications 18 PMAC I Variab...

Page 7: ...e Digital Inputs and Outputs JOPT Port 37 J8 Handwheel Pulse and Direction Port JHW PD Port 37 TB1 Power Supply Terminal Block JPWR Connector 37 E POINT JUMPER DESCRIPTIONS 39 E0 Reserved for Future Use 39 E1 E2 Machine Output Supply Voltage Configure 39 E3 E4 JHW PD Function Select 39 E5 Servo Gate Address Select 40 E6 I O Gate Address Select 40 E7 Machine Input Source Sink Control 40 E16 ADC Inp...

Page 8: ...Hardware Reference Manual Table of Contents iii Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 9: ...he Acc 1P axes expansion board for digital I O connections PMAC2A PC 104 Base Board shown stacked with the Acc 1P axes 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...

Page 10: ...Hardware Reference Manual Introduction 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 11: ...ess 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 JTHW port can be used as a multiplexer port When E6 connects pins 2 and 3 the I O features on the Acc 1P board will be accessed at the regular addresses plus 40 and this is useful only when two I O gate accessories are used with the same PMAC2A PC 104 baseboard E7 ...

Page 12: ...2 kΩ resistor as part of a socketed resistor pack that can be configured as a pull up resistor to 5V or a pull down resistor to GND If this socketed resistor is configured as a pull down resistor the default configuration the combination of pull up and pull down resistors on this line acts as a voltage divider holding the line at 2 5V in the absence of an external signal This configuration is requ...

Page 13: ...re is no resistor pack in the RP56 socket If these signals are brought long distances into the PMAC board and ringing at signal transitions is a problem a SIP resistor pack may be mounted on the RP56 socket to reduce or eliminate the ringing The 6 pin termination resistor pack is the type that has independent resistors no common connection with each resistor using 2 adjacent pins Artisan Technolog...

Page 14: ...d in the PC 104 bus With the board stack into the bus it will automatically pull 5V power from the bus and it cannot be disconnected In this case there must be no external 5V supply or the two supplies will fight each other possibly causing damage This voltage could be measured on the TB1 terminal block or the JMACH1 connector In a stand alone configuration when PMAC is not plugged in a computer b...

Page 15: ...tches While normally closed to ground switches are required for the overtravel limits inputs the home switches could be either normally close or normally open types The polarity is determined by the home sequence setup through the I variables I9n2 Motor Signals Connections Incremental Encoder Connection Each JMACH1 connector provides two 5V outputs and two logic grounds for powering encoders and o...

Page 16: ...analog output by defining an M variable to the command register then writing values to the M variable The analog outputs are intended to drive high impedance inputs with no significant current draw The 220Ω output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the output circuitry but any current draw above 10 mA can result in noticeable signal distortion ...

Page 17: ...ight inputs If it connects pins 1 and 2 the default setting the inputs are biased to 5V for the OFF state and they must be pulled low for the ON state If E7 connects pins 2 and 3 the inputs are biased to ground for the OFF state and must be pulled high for the ON state In either case a high voltage is interpreted as a 0 by the PMAC software and a low voltage is interpreted as a 1 PMAC is shipped s...

Page 18: ...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 Either the Acc 1P or the Acc 2P boards but not both can use this connector as a multiplexing port This is selected by jumper E6 on the Acc 1P board and jumper E5 on the Acc 2P board Alternatively the inputs and outputs on this port may be used as d...

Page 19: ... servomotor for manual displacement or used by a motor as a secondary encoder for dual feedback applications There is no C index channel input on the handwheel encoder port Optional Analog Inputs The optional analog to digital converter inputs are ordered either through Option 12 on the baseboard or Option 2 on the axes expansion board Each option provides two 12 bit analog inputs analog inputs wi...

Page 20: ...Hardware Reference Manual Machine Connections 15 Machine Connections Example Using Analog 10V Amplifier Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ...Hardware Reference Manual Machine Connections 16 Machine Connections Example Using Pulse and Direction Drivers Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 22: ...Hardware Reference Manual Machine Connections 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 23: ...The following I variables must be set properly to use the digital to analog filtered DAC outputs I900 1001 PWM frequency 29 4kHz PWM 1 4 I901 2 Phase Clock 19 6kHz I902 3 Servo frequency 4 9kHz I903 1746 ADC frequency I906 1001 PWM frequency 29 4kHz PWM 5 8 I907 1746 ADC frequency I9n6 0 Output mode PWM Ix69 1001 DAC limit 10Vdc I10 1710933 Servo interrupt time n channel number from 1 to 8 x motor...

Page 24: ...l Output M00 M1 Y C080 1 Digital Output M01 M2 Y C080 2 Digital Output M02 M3 Y C080 3 Digital Output M03 M4 Y C080 4 Digital Output M04 M5 Y C080 5 Digital Output M05 M6 Y C080 6 Digital Output M06 M7 Y C080 7 Digital Output M07 M8 Y C080 8 Digital Input MI0 M9 Y C080 9 Digital Input MI1 M10 Y C080 10 Digital Input MI2 M11 Y C080 11 Digital Input MI3 M12 Y C080 12 Digital Input MI4 M13 Y C080 13 ...

Page 25: ...n Control 1 output 0 input M34 X C0C0 8 8 Direction Control 1 output 0 input M40 X C0C4 0 24 Inversion control 0 0V 1 5V M42 Y C0C4 0 24 JI O port data type control 1 I O In order to properly setup the digital outputs an initialization PLC must be written scanning through once on power up reset and then disabling itself OPEN PLC1 CLEAR M32 FF BITS 0 8 are assigned as output M34 0 BITS 9 16 are ass...

Page 26: ... as a byte M50 Y C082 0 1 DAT0 Input M51 Y C082 1 1 DAT1 Input M52 Y C082 2 1 DAT2 Input M53 Y C082 3 1 DAT3 Input M54 Y C082 4 1 DAT4 Input M55 Y C082 5 1 DAT5 Input M56 Y C082 6 1 DAT6 Input M57 Y C082 7 1 DAT7 Input M58 Y C082 0 8 U DAT0 7 Inputs treated as a byte Jumper E6 in Position 2 3 M40 Y C0C2 8 1 SEL0 I O Line M41 Y C0C2 9 1 SEL1 I O Line M42 Y C0C2 10 1 SEL2 I O Line M43 Y C0C2 11 1 SE...

Page 27: ...ith these inputs provided a range of values between 2048 and 2048 for the respective 10Vdc input range The following is the software procedure to setup and read these ports Analog Inputs I907 1746 Set ADC clock frequency at 4 9152 MHz WX C034 1FFFFF Clock strobe set for bipolar inputs M305 X 0714 12 12 S ADCIN_1 on JMACH1 connector Acc 1P pin 45 M405 X 0715 12 12 S ADCIN_2 on JMACH1 connector Acc ...

Page 28: ...69 1001 DAC limit ch 2 10Vdc I369 1001 DAC limit ch 3 10Vdc I469 1001 DAC limit ch 4 10Vdc I569 1001 DAC limit ch 5 10Vdc I669 1001 DAC limit ch 6 10Vdc I769 1001 DAC limit ch 7 10Vdc I869 1001 DAC limit ch 8 10Vdc I10 3421867 Servo interrupt time Once this has been downloaded to the Clipper board save and reset the board SAVE and commands The executive s tuning programs can now be used to set up ...

Page 29: ... 078143 0 24 S ENC9 captured position M914 X 078145 14 AENA9 output status M915 X 078140 19 USER9 flag input status M917 X 078140 11 ENC9 capture flag M918 X 078140 8 ENC9 count error flag M919 X 078140 14 CHC9 input status M920 X 078140 16 HMFL9 flag input status M921 X 078140 17 PLIM9 flag input status M922 X 078140 18 MLIM9 flag input status M923 X 078140 15 FAULT9 flag input status M7210 X 781...

Page 30: ... Y 07814A 8 16 S OUT10A command value DAC or PWM M1003 X 07814B 0 24 S ENC10 captured position M1014 X 07814D 14 AENA10 output status M1015 X 078148 19 USER10 flag input status M1017 X 078148 11 ENC10 capture flag M1018 X 078148 8 ENC10 count error flag M1019 X 078148 14 CHC10 input status M1020 X 078148 16 HMFL10 flag input status M1021 X 078148 17 PLIM10 flag input status M1022 X 078148 18 MLIM1...

Page 31: ... PLC 25 CLOSE Note After loading this program set I5 2 or 3 and ENABLE PLC 1 THIRD CHANNEL OF GATE 3 MOTOR 11 M1101 X 078151 0 24 S ENC11 24 bit counter position M1102 Y 078152 8 16 S OUT11A command value DAC or PWM M1103 X 078153 0 24 S ENC11 captured position M1114 X 078155 14 AENA11 output status M1115 X 078150 19 USER11 flag input status M1117 X 078150 11 ENC11 capture flag M1118 X 078150 8 EN...

Page 32: ...4 350B The default values not retained on a SAVE command must again be added to the run once startup PLC from the previous section OPEN PLC 25 CLEAR M7200 1001 M7201 5 M7202 3 M7203 1746 M7204 15 M7205 7FFFC0 M7206 FFFFFE Motor 9 defaults M7210 3 M7211 0 M7212 1 M7213 0 M7216 0 Motor 10 defaults M7220 3 M7221 0 M7222 1 M7223 0 M7226 0 Motor 11 defaults M7230 3 M7231 0 M7232 1 M7233 0 M7236 0 DIS P...

Page 33: ...8158 15 FAULT12 flag input status M7240 X 7815D 0 4 I7mn0 M7241 X 7815D 13 1 I7mn1 M7242 X 7815D 4 4 I7mn2 M7243 X 7815D 8 4 I7mn3 M7246 X 7815D 20 4 I7mn6 Default values NOT retained on a SAVE command M7240 3 M7241 0 M7242 1 M7243 0 M7246 0 Motor specific I variables retained on a SAVE command I1224 1 I1225 78158 I1269 1001 I1202 7815A I1203 350C I1204 350C The default values not retained on a SA...

Page 34: ...Flag Type 5 6 7 8 HOME 5 24 VDC Input M520 M620 M720 M820 PLIM 5 24 VDC Input M521 M621 M721 M821 MLIM 5 24 VDC Input M522 M622 M722 M822 USER 5 24 VDC Input M515 M615 M715 M815 AENA 5 24 VDC Output M514 M614 M714 M814 Motors 9 through 12 must use the following M variables as defined from the previous section since the servo gate used for these motors is at a non standard address Channel Number Fl...

Page 35: ... 78500 5 Digital Output M05 M4056 Y 78500 6 Digital Output M06 M4057 Y 78500 7 Digital Output M07 M4066 Y 78500 0 8 u all outputs as an 8bit word M4058 Y 78500 8 Digital Input MI0 M4059 Y 78500 9 Digital Input MI1 M4060 Y 78500 10 Digital Input MI2 M4061 Y 78500 11 Digital Input MI3 M4062 Y 78500 12 Digital Input MI4 M4063 Y 78500 13 Digital Input MI5 M4064 Y 78500 14 Digital Input MI6 M4065 Y 785...

Page 36: ...rol for SEL0 to SEL7 In order to properly setup the JTHW digital I O an initialization PLC must be written scanning through once on power up reset and then disabling itself OPEN PLC 13 CLEAR M4089 0 M4099 FF DISPLC10 CLOSE Note After loading this program set I5 2 or 3 and ENABLE PLC 13 JOPTO port second ACC 1P Jumper E6 on Position 2 3 M4100 Y 78540 0 Digital Output M00 M4101 Y 78540 1 Digital Out...

Page 37: ...LC 1 JTHW port second ACC 1P Jumper E6 on Position 2 3 M4130 Y 78542 8 1 SEL0 Output M4131 Y 78542 9 1 SEL1 Output M4132 Y 78542 10 1 SEL2 Output M4133 Y 78542 11 1 SEL3 Output M4134 Y 78542 12 1 SEL4 Output M4135 Y 78542 13 1 SEL5 Output M4136 Y 78542 14 1 SEL6 Output M4137 Y 78542 15 1 SEL7 Output M4138 Y 78542 8 8 U SEL0 7 Outputs treated as a byte M4140 Y 78542 0 1 DAT0 Input M4141 Y 78542 1 1...

Page 38: ...software procedure to setup and read these ports on the first ACC 1P Analog Inputs first ACC 1P I7103 1746 Set ADC clock frequency at 4 9152 MHz I7106 1FFFFF Clock strobe set for bipolar inputs M505 Y 78105 12 12 S ADCIN_1 on JMACH1 connector Acc 1P pin 45 M605 Y 7810D 12 12 S ADCIN_2 on JMACH1 connector Acc 1P pin 46 Analog Inputs second ACC 1P M7203 1746 Set ADC clock frequency at 4 9152 MHz M72...

Page 39: ...Hardware Reference Manual Software Setup 34 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 40: ... Reference Summary 35 HARDWARE REFERENCE SUMMARY The following information is based on the Acc 1P board part number 603671 100 Board Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 41: ... F Feature Location Feature Location E0 C6 RP30 E2 E1 B2 RP31 E2 E2 B2 RP36 E3 E3 E4 RP37 E3 E4 E4 RP55 E4 E5 E5 RP56 E5 E6 E5 TB1 B6 E7 E5 JMACH1 F4 E16 D1 JMACH2 A4 D6 F6 JHW PD A2 F1 A1 J7 A3 J2 E4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 42: ...onitoring the state of the Watchdog safety feature 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 J7 General Purpose Digital Inputs and Outputs JOPT Port Acc 1P s JOPT connector provides eight general purpose digital inputs and eight general purpose digital ou...

Page 43: ...Hardware Reference Manual 38 Hardware Reference Summary Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 44: ...C will result 1 2 Jumper installed E2 B2 Jump pin 1 to 2 to apply GND to pin 11 of U7 should be ULN2803A for sink output configuration Jump pin 2 to 3 to apply V 5V to 24V 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 E3 E4 JHW PD Function Select E Point and Physica...

Page 45: ... Machine Input Source Sink Control E Point and Physical Layout Location Description Default E7 E5 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 pull...

Page 46: ...e REF to digital GND 4 12V Input 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...

Page 47: ...lect 5 Output Multiplexer select output 15 DAT6 Input Data 6 Input Data input from multiplexed 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 N C Output Buffer Request Low is Buffer Request 22 GND Common ...

Page 48: ... Channel Positive 2 18 CHA8 Input Encoder A Channel Positive 2 19 CHA7 Input Encoder A Channel Negative 2 3 20 CHA8 Input Encoder A Channel Negative 2 3 21 CHB7 Input Encoder B Channel Positive 2 22 CHB8 Input Encoder B Channel Positive 2 23 CHB7 Input Encoder B Channel Negative 2 3 24 CHB8 Input Encoder B Channel Negative 2 3 25 CHC7 Input Encoder C Channel Positive 2 26 CHC8 Input Encoder C Chan...

Page 49: ...used to connect PMAC to the second 4 channels Channels 5 6 7 and 8 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 ...

Page 50: ... Positive End Limit 8 8 9 23 MLIM7 Input Negative End Limit 7 8 9 24 MLIM8 Input Negative End Limit 8 8 9 25 USER7 Input User Flag 7 26 USER8 Input User Flag 8 27 PUL_7 Output Pulse Output 7 28 PUL_8 Output Pulse Output 8 29 DIR_7 Output Direction Output 7 30 DIR_8 Output Direction Output 8 31 EQU7 Output Encoder Comp Equal 7 32 EQU8 Output Encoder Comp Equal 8 33 B_WDO Output Watchdog Out Indicat...

Page 51: ...chine Output 7 20 GND Common PMAC Common 21 MO6 Output Machine Output 6 22 GND Common PMAC Common 23 MO5 Output Machine Output 5 24 GND Common PMAC Common 25 MO4 Output Machine Output 4 26 GND Common PMAC Common 27 MO3 Output PMAC Common 28 GND Common PMAC COMMON 29 MO2 Output Machine Output 2 30 GND Common PMAC Common 31 MO1 Output Machine Output 1 32 GND Common PMAC Common 33 V Input Output V Po...

Page 52: ... selected by jumpers E3 and E4 5 HWB1 DIR1 Input Output HW 1 Channel B or direction output selected by jumpers E3 and E4 6 HWA2 PUL2 Input Output HW 2 Channel A or pulse output selected by jumpers E3 and E4 7 HWA2 PUL2 Input Output HW 2 Channel A or pulse output selected by jumpers E3 and E4 8 HWB2 DIR2 Input Output HW 2 Channel B or direction output selected by E3 and E4 9 HWB2 DIR2 Input Output ...

Page 53: ...Hardware Reference Manual 48 Connector Pinouts Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 54: ...Hardware Reference Manual Connector Pinouts 49 SCHEMATICS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 55: ... 2 3 4 5 6 7 8 9 10 C33 1UF DAT2 OF DELTA TAU DATA SYSTEMS INC ALL RIGHTS TO DESIGNS AND KEY IO_19 HW1_B1 F1 2AMP_FUSE DAT4 DIR_2 BA06_A DAT4 GND SBHE IO_24 IRQ11 HW1_A1 RP1 10KSIP10C 1 2 3 4 5 6 7 8 9 10 DISP1 BRD GND SA05 SIOW DATA_2 MI1 E7 M2 HOLE GND 5V CS4 ONLY PURSUANT TO WRITTEN LICENSE OR WRITTEN INSTRUCTIONS Link DISP5 SA19 DACK3 DRQ6 M1 HOLE D1 1SMC5 0AT3 PUL_2 GND GND 5V SEL_3 DIR_1 RP6...

Page 56: ...2_A PLIM6 CHA8 EQU_8 ADCIN_6 JMACH1 GND BD11_A PWM_A_B5 CHC5 BD02_A BA08_A RP32 2 2KSIP10C 1 2 3 4 5 6 7 8 9 10 THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU PWM_C_B5 AENA7 FLAG_V5 MLIM8 SERVO PHASE U26A DS75452N DIP8 SOCKET 1 2 3 SIP SOCKET BA02_A BWR_A SERVO BWDO_A HOME7 CHC7 5V FLT_FLG_V GND FLAG_U7 PWM_A_B7 PWM A B8 ADC_STR U16B LF347M SO14 5 6 7 U17D LF347M SO14 12 13 14 R30 3 3K PW...

Page 57: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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