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Delta Tau Turbo PMAC PCI-Lite, Hardware Reference Manual

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HARDWARE REFERENCE MANUAL

 

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Turbo PMAC PCI-Lite 

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Programmable Multi-Axis Controller 

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 4xx-603657-THxx 

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 June 21, 2011 

Single Source Machine Control                                                                     

   

Power  //  Flexibility  //  Ease of Use 

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

 

Summary of Contents for Turbo PMAC PCI-Lite

Page 1: ...PMAC PCI Lite 3 Programmable Multi Axis Controller 4 4xx 603657 THxx 5 June 21 2011 Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 209...

Page 2: ...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...

Page 3: ...E CHG APPVD 1 ADDED 33MHz PCI BUS SPEED E44 E48 JUMPER SETTINGS REV 105 LAYOUT FEATURE TABLE REMOVED OPTION 2B USB OPTIONS 5D0 5D3 OPTION 7 CORRECTED E122 JUMPERS to 1 2 10 12 06 CP S S 2 ISOLATION JU...

Page 4: ......

Page 5: ...Voltage Selection 8 Resistor Pack Configuration Termination Resistors 8 Resistor Pack Configuration Differential or Single Ended Encoder Selection 8 MACHINE CONNECTIONS 10 Mounting 10 Power Supplies...

Page 6: ...quency Control 29 E7 Machine Input Source Sink Control 30 E10A B C Flash Memory Bank Select 30 E17A D Amplifier Enable Direction Polarity Control 30 E18 E20 Power Up Reset Load Source 31 E21 Power Up...

Page 7: ...JEQU Position Compare 39 JANA Analog Inputs Option 39 CONNECTOR PINOUTS 40 J1 Display Port Connector 40 J2 Control Panel Port Connector 40 J3 Multiplexer Port Connector 41 J4 Serial Port Connector 42...

Page 8: ......

Page 9: ...ation only Board Configuration Base Version The base version of the Turbo PMAC PCI Lite provides a 1 1 2 slot board with 80 MHz DSP56303 CPU 120 MHz PMAC equivalent 128k x 24 SRAM compiled assembled p...

Page 10: ...emory and a 1M x 8 flash memory Option 5C3 provides an 80 MHz DSP56303 CPU 120 MHz PMAC equivalent with 8k x 24 of internal memory an expanded 512k x 24 of compiled assembled program memory an expande...

Page 11: ...nversion table Option 15 provides a voltage to frequency converter in component U18 that permits the use of the Wiper input on the control panel port Option 16 Battery Backed Parameter Memory The cont...

Page 12: ...the default configuration these jumpers are off keeping the circuits isolated from each other provided separate isolated supplies are used E89 E90 Input Flag Supply Control If E90 connects pins 1 and...

Page 13: ...addressing of multiple cards on a daisy chain serial cable set by these jumpers on older controllers is determined by the Turbo PMAC variable I0 See the Software Setup section of this manual for deta...

Page 14: ...g the clock lines for synchronization I O Configuration Jumpers Caution A wrong setting of these jumpers will damage the associated output IC E1 E2 Machine Output Supply Configure With the default sin...

Page 15: ...ne of which can be used at any given time The eight combinations of settings for jumpers E10A E10B and E10C select which bank of the flash memory is used In the factory production process firmware is...

Page 16: ...resistor using two adjacent pins The following table shows which packs are used to terminate each input device Device Resistor Pack Pack Size Encoder 1 RP61 6 pin Encoder 2 RP63 6 pin Encoder 3 RP67...

Page 17: ...used It is permissible for differential line driver inputs even without encoder loss detection If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket marked by a wide wh...

Page 18: ...be no external 5V supply or the two supplies will fight each other possibly causing damage This voltage could be measured between pins 1 and 3 of the terminal block In a stand alone configuration whe...

Page 19: ...ons the same type of switches used for overtravel limits are recommended Normally closed switches are proven to have greater electrical noise rejection than normally open types Using the same type of...

Page 20: ...rvo amplifiers that expect this type of input and for driving voltage to frequency V F converters such as PMAC s Acc 8D Option 2 board for running stepper motor drivers If using PMAC to commutate the...

Page 21: ...e manually controlled setting Ix00 0 and using the suggested definition of the Mx14 variable Amplifier Fault Signal FAULTn This input can take a signal from the amplifier so PMAC knows when the amplif...

Page 22: ...ate In either case a high voltage is interpreted as a 0 by the PMAC software and a low voltage is interpreted as a 1 Caution Do not connect these outputs directly to the supply voltage or damage to th...

Page 23: ...motor just de selected has its position following function turned off Ix06 is set to 0 automatically Alternate Use If I2 has been set to 1 the discrete inputs can be used for parallel data servo feed...

Page 24: ...ariables are used for this board The Acc 34x family Serial I O Multiplexer boards provides 64 I O point per board optically isolated from PMAC The TWS form of M variables is used for these boards The...

Page 25: ...alog inputs Setting variables I5061 to I5076 to 8 the data can be read from registers Y 3400 to Y 341F See the Turbo PMAC Software Reference for further details on this Compare Equal Outputs Port JEQU...

Page 26: ...DB 25 Female IDC 26 Do not connect wire 26 1 1 PMAC IDC 26 PMAC DB 25 1 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 1 14 2 TXD 15 3 RXD 16 4 RTS 17 5 CTS 18 6 DSR 19 20 DTR 8 21...

Page 27: ...51 52 37 38 LIMn 58 58 58 58 AGND 1 2 1 2 5V 3 4 3 4 GND 17 18 5 6 CHCn 19 20 7 8 CHCn 21 22 9 10 CHBn 23 24 11 12 CHBn 25 26 13 14 CHAn 27 28 15 16 CHAn 43 44 29 30 DACn 45 46 31 32 DACn 47 48 33 34...

Page 28: ...ccessory The programming features and configuration variables for the Turbo PMAC are fully described in the Turbo PMAC User and Software manuals Operational Frequency and Baud Rate Setup Variable I52...

Page 29: ...baud rate must be changed through the bus communications port or the Turbo PMAC must be re initialized by resetting or powering up with the E51 jumper ON This forces the Turbo PMAC to the default baud...

Page 30: ...Turbo PMAC PCI Lite 22 Hardware Reference Summary HARDWARE REFERENCE SUMMARY Board Dimensions Part Number 603657 100...

Page 31: ...74 A9 E17A A8 E75 B9 E17B A8 E85 B5 E17C A8 E87 C5 E17D A7 E88 A2 E18 B4 E89 B5 E19 B4 E90 B5 E20 B4 E98 A4 E21 B4 E100 A3 E22 A9 E101 A7 E23 A9 E102 A7 E28 C6 E109 B6 E29 A8 E110 A7 E30 A8 E111 A7 E3...

Page 32: ...Turbo PMAC PCI Lite 24 Hardware Reference Summary Board Dimensions Part Number 603657 105...

Page 33: ...B2 E74 B9 E17A A8 E75 B9 E17B A8 E85 A5 E17C A8 E87 A5 E17D A8 E88 A2 E18 B4 E89 B5 E19 B4 E90 B5 E20 B4 E98 A7 E21 B4 E100 A3 E22 A9 E101 A4 E23 A9 E102 A4 E28 B7 E109 B6 E29 A8 E110 A7 E30 A8 E111...

Page 34: ...e Acc 3D cable for this purpose which connects PMAC to a DB 25 connector Standard DB 9 to DB 25 or DB 25 to DB 9 adapters may be needed for a particular setup J5 General Purpose Digital Inputs and Out...

Page 35: ...an alternative power supply connector if PMAC is not installed in a PCI bus LED Indicators D20 and D20A When these green LEDs are lit they indicate that power is applied to the 5V input D21 and D21A W...

Page 36: ...nk output configuration JOPTO Machine outputs M01 M08 Jump pin 2 to 3 to apply GND to pin 10 of U13 should be UDN2981A for source output configuration Caution The jumper setting must match the type of...

Page 37: ...F N divided by 15 OFF OFF OFF OFF N divided by 16 Note The setting of I variable I10 should be adjusted to match the servo interrupt cycle time set by E98 E3 E6 E29 E33 and the crystal clock frequency...

Page 38: ...n Default E10A E10C A2 Remove all three jumpers to select flash memory bank with factory installed firmware Use another configuration to select one of the seven other flash memory banks No jumpers ins...

Page 39: ...al Layout Location Description Default E22 A9 Jump pin 1 to 2 to obtain handwheel encoder signal from front panel at J2 16 for CHB2 ENC2 B No jumper E23 A9 Jump pin 1 to 2 to obtain handwheel encoder...

Page 40: ...d the settings of E29 E33 are not relevant E34A E38 Encoder Sampling Clock Frequency Control Jumpers E34A E38 control the encoder sampling clock SCLK used by the gate array ICs No more than one of the...

Page 41: ...per installed E57 B7 Jump pin 1 to 2 to allow EQU3 to interrupt host PC at PMAC interrupt level IR7 No jumper installed E58 B7 Jump pin 1 to 2 to allow MI2 to interrupt host PC at PMAC interrupt level...

Page 42: ...o create a positive voltage frequency number in PMAC set variable I915 to 4 E74 E75 Clock Output Control for External Interpolation E Point and Physical Layout Location Description Default E74 A9 Jump...

Page 43: ...e E Point and Physical Layout Location Description Default E89 B5 Jump pin 1 to 2 to use A 15V on J8 JMACH1 pin 59 as supply for input flags Remove jumper to use A 15V OPT V from J9 pin 9 as supply fo...

Page 44: ...ge OPT V to U37 flag output driver IC 1 2 Jumper installed E101 E102 Motors 1 4 Amplifier Enable Output Configure E Point and Physical Layout Location Description Default E101 A7 Jump pin 1 to 2 to ap...

Page 45: ...A7 Jump pin 1 to 2 to enable the Phase Servo and Init lines on the J4 connector Jump pin 2 to 3 to disable the Phase Servo and Init lines on the J4 connector E111 on positions 1 to 2 is necessary for...

Page 46: ...2 171 26 T B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J5 JOPT OPTO I O 1 Two 34 pin female flat cable connector Delta Tau P N 014 R0...

Page 47: ...041 2 171 10 T B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 JANA Analog Inputs Option 1 Two 20 pin female flat cable connector Delta T...

Page 48: ...y unit The DISPLAY command may be used to send messages and values to the display See Also Program Commands DISPLAY Accessories Acc 12 12A 12C Acc 16D J2 Control Panel Port Connector J2 JPAN 26 Pin Co...

Page 49: ...Ix06 I O and Memory Map Y 78800 Suggested M variables M20 M32 J3 Multiplexer Port Connector J3 JTHW 26 Pin Connector Front View Pin Symbol Function Description Notes 1 GND Common PMAC common 2 GND Co...

Page 50: ...bol Function Description Notes 1 CHASSI Common PMAC common 2 S 5V Output 5Vdc supply Deactivated by E8 3 RD Input Receive data Diff I O low true 4 RD Input Receive data Diff I O high true 5 SD Output...

Page 51: ...ns Synchronizing PMAC to other PMACs J5 I O Port Connector J5 JOPT 34 Pin Connector Front View Pin Symbol Function Description Notes 1 MI8 Input Machine input 8 Low is true 2 GND Common PMAC common 3...

Page 52: ...be made sourcing with an IC U13 to UDN2981 and jumper E1 E2 change E7 controls whether the inputs are pulled up or down internally Outputs are rated at 100mA per channel J6 Auxiliary I O Port Connecto...

Page 53: ...C1 Input Encoder C channel positive 2 18 CHC2 Input Encoder C channel positive 2 19 CHC1 Input Encoder C channel negative 2 3 20 CHC2 Input Encoder C channel negative 2 3 21 CHB1 Input Encoder B chann...

Page 54: ...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...

Page 55: ...on Notes 1 ANAI00 Input Analog input 0 0 5v or 2 5v range 2 ANAI01 Input Analog input 1 0 5v or 2 5v range 3 ANAI02 Input Analog input 2 0 5v or 2 5v range 4 ANAI03 Input Analog input 3 0 5v or 2 5v r...

Page 56: ...or Channel 4 11 HF41 Input Amp Fault Amp fault input for Channel 1 12 HF42 Input Amp Fault Amp fault input for Channel 2 13 HF43 Input Amp Fault Amp fault input for Channel 3 14 HF44 Input Amp Fault A...

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