PMAC PCI-Lite Hardware Reference Manual
Table of Contents
i
Table of Contents
INTRODUCTION .......................................................................................................................................................1
Board Configuration..................................................................................................................................................1
Base Version .........................................................................................................................................................1
Option 2: Dual-Ported RAM................................................................................................................................1
Option 5xF: CPU Speed Options.........................................................................................................................1
Option 6: Extended Servo Algorithm Firmware ..................................................................................................2
Option 6L: Special Lookahead Firmware ...........................................................................................................2
Option 10: Firmware Version Specification........................................................................................................2
Option 12: Analog-to-Digital Converters............................................................................................................2
Option 15: V-to-F Converter for Analog Input.....................................................................................................2
Option 16: Battery-Backed Parameter Memory...................................................................................................2
HARDWARE SETUP .................................................................................................................................................3
Power-Supply Configuration Jumpers ......................................................................................................................3
Clock Configuration Jumpers....................................................................................................................................4
Encoder Configuration Jumpers................................................................................................................................4
Board Reset/Save Jumpers ........................................................................................................................................5
Communication Jumpers...........................................................................................................................................5
I/O Configuration Jumpers........................................................................................................................................5
Reserved Configuration Jumpers ..............................................................................................................................6
CPU Jumper Configuration .......................................................................................................................................6
Resistor Pack Configuration: Termination Resistors ................................................................................................7
Resistor Pack Configuration: Differential or Single-Ended Encoder Selection .......................................................7
MACHINE CONNECTIONS.....................................................................................................................................9
Mounting ...................................................................................................................................................................9
Power Supplies..........................................................................................................................................................9
Digital Power Supply............................................................................................................................................9
Analog Power Supply ...........................................................................................................................................9
Overtravel Limits and Home Switches....................................................................................................................10
Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection..........................................................10
Types of Overtravel Limits..................................................................................................................................10
Home Switches....................................................................................................................................................10
Motor Signals Connections (JMACH Connectors) .................................................................................................11
Incremental Encoder Connection .......................................................................................................................11
DAC Output Signals ...........................................................................................................................................11
Amplifier Enable Signal (AENAx/DIRn).............................................................................................................12
Amplifier Fault Signal (FAULTn).......................................................................................................................12
General-Purpose Digital Inputs and Outputs (JOPTO Port)....................................................................................13
Control-Panel Port I/O (JPAN Port)........................................................................................................................14
Command Inputs.................................................................................................................................................14
Selector Inputs ....................................................................................................................................................15
Alternate Use ......................................................................................................................................................15
Reset Input ..........................................................................................................................................................15
Handwheel Inputs ...............................................................................................................................................15
Optional Voltage to Frequency Converter..........................................................................................................15
Thumbwheel Multiplexer Port (JTHW Port)...........................................................................................................16
Optional Analog Inputs (JANA Port)......................................................................................................................16
Compare Equal Outputs Port (JEQU Port)..............................................................................................................17
Serial Port (JRS422 Port) ........................................................................................................................................17
Machine Connections Example...............................................................................................................................19
SOFTWARE SETUP ................................................................................................................................................21
Communications......................................................................................................................................................21
PMAC I-Variables...................................................................................................................................................21
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