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^1 HARDWARE REFERENCE MANUAL PMAC2A-PC/104 Axis Expansion Accessory-1P ^3 PMAC2A-PC/104 ACC-1P Hardware Reference ^4 4xx-603671-xHxx ^5 December 6, 2010 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 Copyright Information © 2009 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues. To report errors or inconsistencies, call or email: Delta Tau Data Systems, Inc. Technical Support Phone: (818) 717-5656 Fax: (818) 998-7807 Email: [email protected] Website: http://www.deltatau.com Operating Conditions All Delta Tau Data Systems, Inc. motion controller products, accessories, and 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. 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 by damaging components or causing electrical shorts. When our products are used in an industrial environment, install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation. REVISION HISTORY REV. 1 2 3 DESCRIPTION ADDED ENCODER JUMPERS E20-E23 ADDED SOFTWARE SETUP INFO, P. 23 CORR. I-VARIABLES FOR USE WITH TURBO CPU DATE CHG APPVD 04/10/07 CP S. MILICI 10/15/09 10/01/10 CP SS S. MILICI S. SATTARI Hardware Reference Manual Table of Contents INTRODUCTION .......................................................................................................................................................4 Acc-1P: Axis Expansion Piggyback Board...........................................................................................................4 Acc-1P Option 1: I/O Ports .................................................................................................................................4 Acc-1P Option 2: Analog-to-Digital Converters .................................................................................................4 HARDWARE SETUP .................................................................................................................................................6 I/O Configuration Jumpers........................................................................................................................................6 Encoder Configuration Jumpers ................................................................................................................................6 Reserved Configuration Jumpers ..............................................................................................................................7 Resistor Packs Configuration (older rev boards without E20-23) .............................................................................7 Differential or Single-Ended Encoder Selection...................................................................................................7 Handwheel Encoder Termination Resistors .........................................................................................................8 MACHINE CONNECTIONS.....................................................................................................................................9 Mounting ...................................................................................................................................................................9 Power Supplies..........................................................................................................................................................9 Digital Power Supply............................................................................................................................................9 DAC Outputs Power Supply .................................................................................................................................9 Flags Power Supply............................................................................................................................................10 Overtravel Limits and Home Switches....................................................................................................................10 Types of Overtravel Limits..................................................................................................................................10 Home Switches....................................................................................................................................................10 Motor Signals Connections .....................................................................................................................................10 Incremental Encoder Connection .......................................................................................................................10 DAC Output Signals ...........................................................................................................................................11 Pulse and Direction (Stepper) Drivers ...............................................................................................................11 Amplifier Enable Signal (AENAx/DIRn).............................................................................................................11 Amplifier 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-Variables...................................................................................................................................................18 Filtered DAC Outputs Configuration ......................................................................................................................18 Using Flag I/O as General-Purpose I/O...................................................................................................................18 General-Purpose Digital Inputs and Outputs...........................................................................................................19 Jumper E6 on Position 1-2 .................................................................................................................................19 Jumper E5 in Position 2-3 ..................................................................................................................................19 Thumbwheel Port Digital Inputs and Outputs .........................................................................................................21 Jumper E6 in Position 1-2 ..................................................................................................................................21 Jumper E6 in Position 2-3 ..................................................................................................................................21 Analog Inputs Setup ................................................................................................................................................22 Analog Inputs......................................................................................................................................................22 SOFTWARE SETUP (TURBO PMAC2A-PC104 AND CLIPPER) ....................................................................23 Filtered DAC Outputs Configuration ......................................................................................................................23 Motor Setup for channels 9-12 ...........................................................................................................................24 Using Flag I/O as General-Purpose I/O...................................................................................................................29 General-Purpose Digital Inputs and Outputs...........................................................................................................30 Table of Contents i Hardware Reference Manual JOPTO port first ACC-1P, Jumper E6 on Position 1-2......................................................................................30 JTHW port first ACC-1P, Jumper E6 on Position 1-2........................................................................................31 JOPTO port second ACC-1P, Jumper E6 on Position 2-3 .................................................................................31 JTHW port second ACC-1P, Jumper E6 on Position 2-3 ...................................................................................32 Analog Inputs Setup ................................................................................................................................................33 Analog Inputs first ACC-1P................................................................................................................................33 Analog Inputs second ACC-1P ...........................................................................................................................33 HARDWARE REFERENCE SUMMARY .............................................................................................................35 Board Dimensions ...................................................................................................................................................35 Board Layout...........................................................................................................................................................36 Connectors and Indicators .......................................................................................................................................37 J2 - Thumbwheel Multiplexer Port (JTHW Port) ...............................................................................................37 J3 - Machine Connector (JMACH1 Port)...........................................................................................................37 J4 - Machine Connector (JMACH2 Port)...........................................................................................................37 J7 - General-Purpose 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 Inputs Enable........................................................................................................................................40 CONNECTOR PINOUTS.........................................................................................................................................41 TB1 (JPWR): Power Supply ..................................................................................................................................41 J2 (JTHW): Multiplexer Port Connector .................................................................................................................42 J3 (JMACH1): Machine Port Connector (50-Pin Header) .....................................................................................43 J4 (JMACH2): Machine Port Connector (34-Pin Header) ......................................................................................45 J7 (JOPTO): I/O Port Connector .............................................................................................................................46 J8 (JHW) Handwheel Encoder Connector...............................................................................................................47 SCHEMATICS ..........................................................................................................................................................49 ii Table of Contents Hardware Reference Manual Table of Contents iii Hardware Reference Manual INTRODUCTION The PMAC2A PC/104 motion controller is a compact, cost-effective version of Delta Tau’s PMAC2 family of controllers. The PMAC2A PC/104 can be composed of three boards in a stack configuration. The baseboard provides four channels of either DAC ±10V or pulse and direction command outputs. The optional axis expansion board provides a set of four additional servo channels and I/O ports. The optional communications board provides extra I/O ports and either the USB or Ethernet interface for faster communications. Acc-1P: Axis Expansion Piggyback Board Acc-1P provides four additional channels axis interface circuitry for a total of eight servo channels, each including: • 12-bit ±10V filtered PWM analog output • Pulse-and-direction digital outputs • 3-channel differential/single-ended encoder input • Four input flags, two output flags • Three PWM top-and-bottom pairs (unbuffered) Acc-1P Option 1: I/O Ports PMAC2A PC/104 Base Board shown Option 1 provides the following ports on the Acc-1P axes stacked with 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 24Vdc 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 two 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 two channels of analog-to-digital converters with ±10V input range and 12-bits resolution. The key component installed with this option is U20. 4 Hardware Setup Hardware Reference Manual Introduction 5 Hardware Reference Manual HARDWARE SETUP On the Acc-1P, there are a number of jumpers called E-points or W-points that customize the hardware features of the CPU for a given application and must be setup appropriately. The following is an overview grouped in appropriate categories. For an itemized description of the jumper setup configuration, refer to the E-Point Descriptions section. I/O Configuration Jumpers E1-E2: Machine Output Supply Configure – With the default sinking output driver IC (ULN2803A or equivalent) in U7 for the J7 JOPT port outputs, these jumpers must connect pins 1 and 2 to supply the IC correctly. If this IC is replaced with a sourcing output driver IC (UDN2981A or equivalent), these jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly. A wrong setting of these jumpers will damage the associated output IC. E3-E4: JHW, PD Function Select – When jumper E3 connects pins 2 and 3, a set of pulse and direction signals can be output on channel 1 (pins 2 to 5) of the JHW, PD port. If E3 connects pins 1 and 2, then channel 1 is configured as a handwheel encoder input. When jumper E4 connects pins 2 and 3, a set of pulse and direction signals can be output on channel 2 (pins 6 to 9) of the JHW, PD port. If E4 connects pins 1 and 2, then channel 2 is configured as a handwheel encoder input. E5: Servo Gate address select – If jumper E5 connects pins 1 and 2 (default) the servo channels on the Acc-1P will be accessed at the regular addresses 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-1Ps are used with the same PMAC2A PC/104 baseboard. E6: I/O Gate address select – If jumper E6 connects pins 1 and 2 (default) the I/O features on the Acc1P 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: Machine Input Source/Sink Control – With this jumper connecting pins 1 and 2 (default) the machine input lines on the J7 JOPT port are pulled up to +5V or the externally provided supply voltage for the port. This configuration is suitable for sinking drivers. If the jumper is changes to connect pins 2 and 3, these lines are pulled down to GND – this configuration is suitable for sourcing drivers. E16: ADC Enable Jumper – Install E16 to enable the analog-to-digital converter circuitry ordered through Option-2. Remove this jumper to disable this option, which might be necessary to control motor 5 through a digital amplifier with current feedback. Encoder Configuration Jumpers E20-E23: Encoder Single Ended/Differential Select – The ACC-1P has differential line receivers for each encoder channel, but can accept either single-ended (one signal line per channel) or differential (two signal lines, main and complementary, per channel). A jumper for each encoder permits customized configurations, as described below. Single-Ended Encoders With the jumper for an encoder set for single-ended (pin 1 to 2), the differential input lines for that encoder are tied to 2.5V; the single signal line for each channel is then compared to this reference as it changes between 0 and 5V. When using single-ended TTL-level digital encoders, the differential line input should be left open, not grounded or tied high; this is required for The PMAC differential line receivers to work properly. 6 Hardware Setup Hardware Reference Manual Differential Encoders Differential encoder signals (pin 2 to 3) can enhance noise immunity by providing common-mode noise rejection. Modern design standards virtually mandate their use for industrial systems, especially in the presence of PWM power amplifiers, which generate a great deal of electromagnetic interference. Connect pin 1 to 2 to tie differential line to +2.5V • Tie to +2.5V when no connection • Tie to +2.5V for single-ended encoders Connect pin 2 to 3 to tie differential line to +5V • Don’t care for differential line driver encoders • Tie to +5V for complementary open-collector encoders (obsolete) Reserved Configuration Jumpers E0: Reserved for future use Resistor Packs Configuration (older rev boards without E20-23) Differential or Single-Ended Encoder Selection The differential input signal pairs to the PMAC have user-configurable pull-up/pull-down resistor networks to permit the acceptance of either single-ended or differential signals in one setting, or the detecting loss of differential signals in another setting. The ‘+’ inputs of each differential pair each have a hard-wired 1 kΩ pull-up resistor to +5V. This cannot be changed. The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 kΩ resistor to +5V; each also has another 2.2 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 required for single-ended inputs using the ‘+’ lines alone; it is desirable for unconnected inputs to prevent the pick-up of spurious noise; 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 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 table lists the pull-up/pull-down resistor pack for each input device: Hardware Setup Device Resistor Pack Pack Size Encoder 1 Encoder 2 Encoder 3 RP30 RP31 RP36 6-pin 6-pin 6-pin 7 Hardware Reference Manual Encoder 4 Handwheel Encoder RP37 RP55 6-pin 6-pin Handwheel Encoder Termination Resistors The PMAC provides a socket for termination resistors on the handwheel encoder differential input pairs coming into the board. As shipped, there 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. 8 Hardware Setup Hardware Reference Manual MACHINE CONNECTIONS Typically, the user connections are actually made to terminal blocks that are attached to the JMACH connectors by a flat cable. The following are the terminal blocks recommended for connections: • 34-Pin IDC header to terminal block breakouts (Phoenix part number 2281063) Delta Tau part number 100-FLKM34-000 • 50-Pin IDC header to terminal block breakouts (Phoenix part number 2281089) Delta Tau part number 100-FLKM50-000 Mounting The PMAC2A PC/104 is always installed either using standoffs, when it is stacked to a PC/104 computer or used as a stand-alone controller. At each of the four corners of the PMAC2A PC/104 board, there are mounting holes that can be used to mount the board on standoffs. The PMAC2A PC/104 baseboard is placed always at the bottom of the stack. The order of the Acc-1P or Acc-2P with respect to the baseboard does not matter. Power Supplies Baseboard mounted at the bottom of the stack 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 @ 5VDC power supply for operation. Therefore, a 3A @ 5VDC power supply is recommended for a PMAC2A PC/104 board stack with Acc-1P and Acc-2P boards. • The host computer provides the 5 Volts power supply in the case PMAC is installed 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 bus, it will need an external 5V supply to power its digital circuits. The 5V power supply can be brought in either from the TB1 terminal block or from the JMACH1 connector. DAC Outputs Power Supply 0.3A @ +12 to +15V (4.5W) 0.25A @ -12 to -15V (3.8W) (Eight-channel configuration) • The host computer provides the ±12 Volts power supply in the case PMAC is installed in the PC/104 bus. With the board stack into the bus, it will pull ±12V power from the bus automatically and it cannot be disconnected. In this case, there must be no external ±12V supply, or the two supplies will fight each other, possibly causing damage. This voltage could be measured on the TB1 terminal block. • In a stand-alone configuration, when PMAC is not plugged in a computer bus, it will need an external ±12V supply only when the digital-to-analog converter (DAC) outputs are used. The ±12V lines from the supply, including the ground reference, can be brought in either from the TB1 terminal block or from the JMACH1 connector. Machine Connections 9 Hardware Reference Manual Flags Power Supply Each channel of PMAC has five dedicated digital inputs on the machine connector: PLIMn, MLIMn (overtravel limits), HOMEn (home flag), FAULTn (amplifier fault), and USERn. A power supply from 5 to 24V 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. Overtravel Limits and Home Switches When assigned for the dedicated uses, these signals provide important safety and accuracy functions. PLIMn and MLIMn are direction-sensitive over-travel limits that must conduct current to permit motion in that direction. If no over-travel switches will be connected to a particular motor, this feature must be disabled in the software setup through the PMAC Ix25 variable. Types of Overtravel Limits PMAC expects a closed-to-ground connection for the limits to not be considered on fault. This arrangement provides a failsafe condition. Usually, a passive normally close switch is used. If a proximity switch is needed instead, use a 5 to 24V normally closed to ground NPN sinking type sensor. Home Switches • 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 other devices. The +5V outputs are on pins 1 and 2; the grounds are on pins 3 and 4. The encoder signal pins are grouped by number: all those numbered 1 (CHA1+, CHA1-, CHB1+, CHC1+, etc.) belong to encoder #1. The encoder number does not have to match the motor number, but usually does. Connect the A and B (quadrature) encoder channels to the appropriate terminal block pins. For encoder 1, the CHA1+ is pin 5 and CHB1+ is pin 9. If there is a single-ended signal, leave the complementary signal pins floating – do not ground them. However, if single-ended encoders are used, check the settings of the resistor packs (see the Hardware Setup section for details). For a differential encoder, connect the complementary signal lines – CHA1- is pin 7, and CHB1- is pin 11. The third channel (index pulse) is optional; for encoder 1, CHC1+ is pin 13, and CHC1- is pin 15. Example: differential quadrature encoder connected to channel #1: 10 Machine Connections Hardware Reference Manual 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 amplifier. Connect the amplifier’s command signal return line to PMAC’s GND line (pin 48). In this setup, leave the DAC1- pin floating; do not ground it. For a differential command using PMAC channel 1, connect DAC1 (pin 29) to the plus-command input on the amplifier. Connect DAC1- (pin 31) to the minus-command input on the amplifier. PMAC’s GND should still be connected to the amplifier common. Any analog output not used for dedicated servo purposes may be utilized as a general-purpose 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. Example: Pulse and Direction (Stepper) Drivers The channels provided by the PMAC2A PC/104 board or the Acc-1P board can output pulse and direction signals for controlling stepper drivers or hybrid amplifiers. These signals are at TTL levels. Amplifier Enable Signal (AENAx/DIRn) Most amplifiers have an enable/disable input that permits complete shutdown of the amplifier regardless of the voltage of the command signal. PMAC’s AENA line is meant for this purpose. AENA1- is pin 33. This signal is an open-collector output and an external 3.3 kΩ pull-up resistor can be used if necessary. Machine Connections 11 Hardware Reference Manual Amplifier Fault Signal (FAULT-) This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems, and can shut down action. The polarity is programmable with I-variable Ix25 (I125 for motor 1) and the return signal is ground (GND). FAULT1- is pin 35. With the default setup, this signal must actively be pulled low for a fault condition. In this setup, if nothing is wired into this input, PMAC will consider the motor not to be in a fault condition. 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 34pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Delta Tau’s Acc-21F is a six-foot cable for this purpose. Characteristics of the JOPTO port on the PMAC: • 16 I/O points. 100 mA per channel, up to 24V • Hardware selectable between sinking and sourcing in groups of 8; default is all sinking (inputs can be changed simply by moving a jumper; sourcing outputs must be special-ordered or field-configured) • Eight inputs, and eight outputs only; no changes. Parallel (fast) communications to PMAC CPU • Not opto-isolated; easily connected to Opto-22 (PB16) or similar modules through Acc-21F cable Jumper E7 on the Acc-1P board controls the configuration of the eight 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 standard with a ULN2803A sinking (open-collector) output IC for the eight outputs. These outputs can sink up to 100 mA and have an internal 3.3 kΩ pull-up resistor to go high (RP18). Do not connect these outputs directly to the supply voltage, or damage to the PMAC will result from excessive current draw. The user can provide a high-side voltage (+5 to +24V) into Pin 33 of the J7 connector, and allow this to pull up the outputs by connecting pins 1 and 2 of Jumper E1. Jumper E2 must also connect pins 1 and 2 for a ULN2803A sinking output. It is possible for these outputs to be sourcing drivers by substituting a UDN2981A IC for the ULN2803A. This U7 IC is socketed, and so may easily be replaced. Usually the U7 IC is offset by two pins on its socket, and so pins 1 and 2 usually remain open. WARNING Having Jumpers E1 and E2 set wrong can damage the IC. The +V output on this connector has a 2A fuse, F1, for excessive current protection. For this driver, the internal resistor packs pull-down instead. With a UDN2981A driver IC, Jumper E1 must 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. 12 Machine Connections Hardware Reference Manual Further software settings are required to configure this port. See the Software Setup section for details. Thumbwheel Multiplexer Port (JTHW Port) The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW connector has sixteen lines. These lines can be used to multiplex large numbers of inputs and outputs on the port, and Delta 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. 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 discrete, non-multiplexed I/O. In this case, these I/O lines can be accessed through M-variables. See the Software Setup section for details on this. Machine Connections 13 Hardware Reference Manual When used as non-multiplexed I/O, jumpers E7 and E8 select the I/O lines direction of the JTHW connector. 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. Handwheel Port (JHW / PD Port) This port provides an extra encoder input or a set of pulse and direction outputs. Jumpers E3 and E4 select the function of this connector between encoder input or pulse and direction outputs. The handwheel encoder input can be linked to a 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 with a ±10Vdc range. Compare Equal Outputs The compare-equals (EQU) outputs have a dedicated use of providing a signal edge when an encoder position reaches a pre-loaded value. This is very useful for scanning and measurement applications. Instructions for use of these outputs are covered in detail in the PMAC2 User Manual. 14 Machine Connections Hardware Reference Manual Machine Connections Example: Using Analog ±10V Amplifier Machine Connections 15 Hardware Reference Manual Machine Connections Example: Using Pulse and Direction Drivers 16 Machine Connections Hardware Reference Manual Machine Connections 17 Hardware Reference Manual SOFTWARE SETUP (non-Turbo PMAC2A-PC104) Note: The PMAC2A PC/104 requires the use of V1.17 or newer firmware. There are few differences between the previous V1.16H firmware and the V1.17 firmware other than the addition of internal support for the Flex CPU design. Communications Delta Tau provides software tools that allow communicating with of the PMAC2A PC/104 board by either its standard RS-232 port or the optional USB or Ethernet ports. PEWIN is the most important in the series of software accessories, and it allows configuring and programming the PMAC for any particular application. PMAC I-Variables PMAC has a large set of Initialization parameters (I-variables) that determine the "personality" of the card for a specific application. Many of these are used to configure a motor properly. Once set up, these variables may be stored in non-volatile EAROM memory (using the SAVE command) so the card is always configured properly (PMAC loads the EAROM I-variable values into RAM on power-up). Filtered DAC Outputs Configuration The following I-variables must be set properly to use the digital-to-analog (filtered DAC) outputs: I900 I901 I902 I903 I906 I907 I9n6 Ix69 I10 = = = = = = = = = 1001 2 3 1746 1001 1746 0 1001 1710933 ; ; ; ; ; ; ; ; ; PWM frequency 29.4kHz, PWM 1-4 Phase Clock 19.6kHz Servo frequency 4.9kHz ADC frequency PWM frequency 29.4kHz, PWM 5-8 ADC frequency Output mode: PWM DAC limit 10Vdc Servo interrupt time n = channel number from 1 to 8 x = motor number from 1 to 8 Using Flag I/O as General-Purpose I/O Either the user flags or other not assigned axes flag on the base board can be used as general-purpose I/O for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions, which are defined in the PMAC2 Software reference, allows accessing each particular line according to the following table: Flag Type HOME PLIM MLIM USER AENA 5-24 VDC Input 5-24 VDC Input 5-24 VDC Input 5-24 VDC Input 5-24 VDC Output #5 M520 M521 M522 M515 M514 Channel Number #6 #7 M620 M621 M622 M615 M614 M720 M721 M722 M715 M714 #8 M820 M821 M822 M815 M814 Note: When using these lines as regular I/O points the appropriate setting of the Ix25 variable must be used to enable or disable the safety flags feature. 18 Software Setup Hardware Reference Manual General-Purpose Digital Inputs and Outputs If one Acc-1P is present on the PMAC2A PC/104 stack configuration then its jumpers E5 and E6 should be 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-1Ps are used. In this case, the I/O lines can be accessed at address Y:$C0C0. If no Acc-1P is present on the PMAC2A PC/104 stack configuration, and only Acc-2P is used, then jumper E5 on the Acc-2P board should connect pins 1 and 2. In this case the lines on its JOPT generalpurpose I/O connector will be mapped into PMAC's address space in register Y:$C080. If both Acc-1P and Acc-2P are used, then jumper E5 on the Acc-2P board should connect pins 2 and 3 and its I/O lines can be accessed at address Y:$C0C0. Typically, these I/O lines are accessed individually with M-variables. Following is a suggested set of Mvariable definitions to use these data lines. Jumper E6 on Position 1-2 M0->Y:$C080,0 M1->Y:$C080,1 M2->Y:$C080,2 M3->Y:$C080,3 M4->Y:$C080,4 M5->Y:$C080,5 M6->Y:$C080,6 M7->Y:$C080,7 M8->Y:$C080,8 M9->Y:$C080,9 M10->Y:$C080,10 M11->Y:$C080,11 M12->Y:$C080,12 M13->Y:$C080,13 M14->Y:$C080,14 M15->Y:$C080,15 M32->X:$C080,0,8 M34->X:$C080,8,8 M40->X:$C084,0,24 M42->Y:$C084,0,24 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; Digital Output M00 Digital Output M01 Digital Output M02 Digital Output M03 Digital Output M04 Digital Output M05 Digital Output M06 Digital Output M07 Digital Input MI0 Digital Input MI1 Digital Input MI2 Digital Input MI3 Digital Input MI4 Digital Input MI5 Digital Input MI6 Digital Input MI7 Direction Control bits 0-7 (1=output, Direction Control bits 8-15 (1=output, Inversion control (0 = 0V, 1 = 5V) J7 port data type control (1 = I/O) 0 = input) 0 = input) In order to properly setup the digital outputs an initialization PLC must be written scanning through once on power-up/reset, then disabling itself: OPEN PLC1 CLEAR M32=$FF M34=$0 M40=$FF00 M42=$FFFF DIS PLC1 CLOSE ;BITS 0-8 are assigned as output ;BITS 9-16 are assigned as input ;Define as inputs and outputs ;All lines are I/O type ;Disable PLC1 (scanning through once on ;power-up/reset) Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. Jumper E5 in Position 2-3 M0->Y:$C0C0,0 M1->Y:$C0C0,1 Software Setup ; Digital Output M00 ; Digital Output M01 19 Hardware Reference Manual M2->Y:$C0C0,2 M3->Y:$C0C0,3 M4->Y:$C0C0,4 M5->Y:$C0C0,5 M6->Y:$C0C0,6 M7->Y:$C0C0,7 M8->Y:$C0C0,8 M9->Y:$C0C0,9 M10->Y:$C0C0,10 M11->Y:$C0C0,11 M12->Y:$C0C0,12 M13->Y:$C0C0,13 M14->Y:$C0C0,14 M15->Y:$C0C0,15 M32->X:$C0C0,0,8 M34->X:$C0C0,8,8 M40->X:$C0C4,0,24 M42->Y:$C0C4,0,24 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; Digital Output M02 Digital Output M03 Digital Output M04 Digital Output M05 Digital Output M06 Digital Output M07 Digital Input MI0 Digital Input MI1 Digital Input MI2 Digital Input MI3 Digital Input MI4 Digital Input MI5 Digital Input MI6 Digital Input MI7 Direction Control (1=output, 0 = input) Direction Control (1=output, 0 = input) Inversion control (0 = 0V, 1 = 5V) JI/O port data type control (1 = I/O) In order to properly setup the digital outputs, an initialization PLC must be written scanning through once on power-up/reset, and then disabling itself: OPEN PLC1 CLEAR M32=$FF M34=$0 M40=$FF00 M42=$FFFF DIS PLC1 CLOSE ;BITS 0-8 are assigned as output ;BITS 9-16 are assigned as input ;Define as inputs and outputs ;All lines are I/O type ;Disable PLC1 (scanning through once on ;power-up/reset) Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. 20 Software Setup Hardware Reference Manual Thumbwheel Port Digital Inputs and Outputs The inputs and outputs on the thumbwheel multiplexer port of either the Acc-1P or the Acc-2P boards may be used as discrete, non-multiplexed I/O. In this case, these I/O lines can be accessed through Mvariables that are defined according to the setup of the address selection jumpers. Jumper E6 on the Acc1P or E5 on the Acc-2P determine which set of the following M-variables are used: Jumper E6 in Position 1-2 M40->Y:$C082,8,1 M41->Y:$C082,9,1 M42->Y:$C082,10,1 M43->Y:$C082,11,1 M44->Y:$C082,12,1 M45->Y:$C082,13,1 M46->Y:$C082,14,1 M47->Y:$C082,15,1 M48->Y:$C082,8,8,U M50->Y:$C082,0,1 M51->Y:$C082,1,1 M52->Y:$C082,2,1 M53->Y:$C082,3,1 M54->Y:$C082,4,1 M55->Y:$C082,5,1 M56->Y:$C082,6,1 M57->Y:$C082,7,1 M58->Y:$C082,0,8,U ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; SEL0 Output SEL1 Output SEL2 Output SEL3 Output SEL4 Output SEL5 Output SEL6 Output SEL7 Output SEL0-7 Outputs treated as a byte DAT0 Input DAT1 Input DAT2 Input DAT3 Input DAT4 Input DAT5 Input DAT6 Input DAT7 Input DAT0-7 Inputs treated as a byte ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; SEL0 I/O Line SEL1 I/O Line SEL2 I/O Line SEL3 I/O Line SEL4 I/O Line SEL5 I/O Line SEL6 I/O Line SEL7 I/O Line SEL0-7 I/O Lines treated as a byte DAT0 I/O Line DAT1 I/O Line DAT2 I/O Line DAT3 I/O Line DAT4 I/O Line DAT5 I/O Line DAT6 I/O Line DAT7 I/O Line DAT0-7 I/O Lines treated as a byte Jumper E6 in Position 2-3 M40->Y:$C0C2,8,1 M41->Y:$C0C2,9,1 M42->Y:$C0C2,10,1 M43->Y:$C0C2,11,1 M44->Y:$C0C2,12,1 M45->Y:$C0C2,13,1 M46->Y:$C0C2,14,1 M47->Y:$C0C2,15,1 M48->Y:$C0C2,8,8,U M50->Y:$C0C2,0,1 M51->Y:$C0C2,1,1 M52->Y:$C0C2,2,1 M53->Y:$C0C2,3,1 M54->Y:$C0C2,4,1 M55->Y:$C0C2,5,1 M56->Y:$C0C2,6,1 M57->Y:$C0C2,7,1 M58->Y:$C0C2,0,8,U Software Setup 21 Hardware Reference Manual Analog Inputs Setup The optional analog-to-digital converter inputs are ordered either through Option-12 on the baseboard or Option-2 on the axes expansion board. Each option provides two 12-bit analog inputs with a ±10Vdc range. The M-variables associated with these inputs provided a range of values between +2048 and – 2048 for the respective ±10Vdc input range. The following is the software procedure to setup and read these ports. Analog Inputs I907 = 1746 WX:$C034, $1FFFFF M305->X:$0714,12,12,S M405->X:$0715,12,12,S 22 ;Set ADC clock frequency at 4.9152 MHz ;Clock strobe set for bipolar inputs ;ADCIN_1 on JMACH1 connector (Acc-1P) pin 45 ;ADCIN_2 on JMACH1 connector (Acc-1P) pin 46 Software Setup Hardware Reference Manual SOFTWARE SETUP (Turbo PMAC2A-PC104 and Clipper) Filtered DAC Outputs Configuration Although the Clipper Board uses standard Turbo PMAC2 firmware certain I-variables must be set properly to use the digital-to-analog (filtered DAC) outputs. For the first ACC-1P board, the E5 jumper should be set 1-2 to enable the four channels as motors 5-8 at base address $78100. The PMAC firmware will automatically set up the encoder conversion table and basic motor I-variables for channels 5 through 8 after a “$$$***” command is issued. This will provide a total of 8 channels. The suggested M-variables as specified in the Turbo PMAC/PMAC2 Software reference for motors 5 through 8 will apply. The Ivariables should be set as follows: I7000 I7001 I7002 I7003 I7100 I7101 I7102 I7103 I7016 I7026 I7036 I7046 I7116 I7126 I7136 I7146 I169 I269 I369 I469 I569 I669 I769 I869 I10 = 1001 = 5 = 3 = 1746 = 1001 = 5 = 3 = 1746 = 0 = 0 = 0 = 0 = 0 = 0 = 0 = 0 = 1001 = 1001 = 1001 = 1001 = 1001 = 1001 = 1001 = 1001 = 3421867 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; PWM frequency 29.4kHz, PWM 1-4 Phase Clock 9.8kHz Servo frequency 2.45kHz ADC frequency PWM frequency 29.4kHz, PWM 5-8 Phase Clock 9.8kHz Servo frequency 2.45kHz ADC frequency Output mode ch#1: PWM Output mode ch#2: PWM Output mode ch#3: PWM Output mode ch#4: PWM Output mode ch#5: PWM Output mode ch#6: PWM Output mode ch#7: PWM Output mode ch#8: PWM DAC limit ch#1 10Vdc DAC limit ch#2 10Vdc DAC limit ch#3 10Vdc DAC limit ch#4 10Vdc DAC limit ch#5 10Vdc DAC limit ch#6 10Vdc DAC limit ch#7 10Vdc DAC limit ch#8 10Vdc Servo interrupt time Once this has been downloaded to the Clipper board, save and reset the board (“SAVE” and “$$$” commands). The executive’s tuning programs can now be used to set up the PID parameters. For the second ACC-1P board, the E5 jumper should be set 2-3 to enable the four channels as motors 912 at base address $78140. This will require special set-up since there are no I-variables associated with this servo gate address, nor will the PMAC firmware set up the encoder conversion table – this must be done in a “run once startup PLC”. The following M-variables will be required to access the hardware setup registers of the 3rd servo gate: M7200->X$7815C,8,16 M7201->X$78144,16,4 M7202->X$78144,20,4 M7203->X$78144,0,12 M7204->X$7815C,0,8 M7205->X$7814C,0,24 M7206->X$78154,0,24 ;MaxPhase/PWM Frequency Control (I7m00 equivalent) ;Phase Clock Frequency Control (I7m01 equivalent) ;Servo Clock Frequency Control (I7m02 equivalent) ; Hardware Clock Control (I7m03 equivalent) ; PWM/PFM Deadtime/Width Control (I7m04 equivalent) ; DAC Strobe Word (I7m05 equivalent) ; ADC Strobe Word (I7m06 equivalent) The following I-variables will add motors 9 through 12 to the encoder conversion table: Software Setup 23 Hardware Reference Manual I8008=$78140;ECT Entry I8009=$78148;ECT Entry I8010=$78150;ECT Entry I8011=$78158;ECT Entry I8012=$0;ECT Entry 12 motor motor motor motor #9 #10 #11 #12 The following run once startup PLC will assign the correct clock values and other hardware settings for the third servo gate to properly set-up the filtered PWM DAC outputs: OPEN PLC 25 CLEAR M7200 = 1001 M7201 = 5 M7202 = 3 M7203 = 1746 M7204 = 15 M7205 = $7FFFC0 M7206 = $FFFFFE DIS PLC 25 CLOSE Motor Setup for channels 9-12 The following M-variables will be required to access the necessary registers for the set-up (with default values) and status of each motor (listed separately for each motor): // FIRST CHANNEL OF GATE #3 - MOTOR #9 M901->X:$078141,0,24,S M902->Y:$078142,8,16,S M903->X:$078143,0,24,S M914->X:$078145,14 M915->X:$078140,19 M917->X:$078140,11 M918->X:$078140,8 M919->X:$078140,14 M920->X:$078140,16 M921->X:$078140,17 M922->X:$078140,18 M923->X:$078140,15 M7210->X:$78145,0,4 M7211->X:$78145,13,1 M7212->X:$78145,4,4 M7213->X:$78145,8,4 M7216->X:$78145,20,4 ; ; ; ; ; ; ; ; ; ; ; ; ENC9 24-bit counter position OUT9A command value; DAC or PWM ENC9 captured position AENA9 output status USER9 flag input status ENC9 capture flag ENC9 count error flag CHC9 input status HMFL9 flag input status PLIM9 flag input status MLIM9 flag input status FAULT9 flag input status ;I7mn0 Servo IC m ;I7mn1 Servo IC m ;I7mn2 Servo IC ;I7mn3 Servo IC m ;I7mn6 Servo IC Channel n Encoder/Timer Decode Control Channel n Position Compare Channel Select m Channel n Capture Control Channel n Capture Flag Select Control m Channel n Output Mode Select // Default values (NOT retained on a "SAVE" command) M7210 = 3 M7211 = 0 M7212 = 1 M7213 = 0 M7216 = 0 //Motor specific I-variables (retained on a "SAVE" command) I924 = 1 I925 = $78140 I969 = 1001 I902 = $78142 24 Software Setup Hardware Reference Manual I903 = $3509 I904 = $3509 The default values not retained on a “SAVE” command must be added to the “run once startup PLC” from the previous section that set up the main hardware clocks: OPEN PLC 25 CLEAR // Main HDW Clocks 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 DIS PLC 25 CLOSE Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. // SECOND CHANNEL OF GATE #3 - MOTOR #10 M1001->X:$078149,0,24,S ; ENC10 24-bit counter position M1002->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 ; MLIM10 flag input status M1023->X:$078148,15 ; FAULT10 flag input status M7220->X:$7814D,0,4 M7221->X:$7814D,13,1 M7222->X:$7814D,4,4 M7223->X:$7814D,8,4 M7226->X:$7814D,20,4 ;I7mn0 ;I7mn1 ;I7mn2 ;I7mn3 ;I7mn6 // Default values (NOT retained on a "SAVE" command) M7220 = 3 M7221 = 0 M7222 = 1 M7223 = 0 Software Setup 25 Hardware Reference Manual M7226 = //Motor I1024 = I1025 = I1069 = I1002 = I1003 = I1004 = 0 specific I-variables (retained on a "SAVE" command) 1 $78148 1001 $7814A $350A $350A 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 // Main HDW Clocks 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 DIS 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 ; ENC11 count error flag M1119->X:$078150,14 ; CHC11 input status M1120->X:$078150,16 ; HMFL11 flag input status M1121->X:$078150,17 ; PLIM11 flag input status M1122->X:$078150,18 ; MLIM11 flag input status M1123->X:$078150,15 ; FAULT11 flag input status 26 Software Setup Hardware Reference Manual M7230->X:$78155,0,4 M7231->X:$78155,13,1 M7232->X:$78155,4,4 M7233->X:$78155,8,4 M7236->X:$78155,20,4 ;I7mn0 ;I7mn1 ;I7mn2 ;I7mn3 ;I7mn6 // Default values (NOT retained on a "SAVE" command) M7230 = 3 M7231 = 0 M7232 = 1 M7233 = 0 M7236 = 0 //Motor specific I-variables (retained on a "SAVE" command) I1124 = 1 I1125 = $78150 I1169 = 1001 I1102 = $78152 I1103 = $350B I1104 = $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 PLC 25 CLOSE Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. Software Setup 27 Hardware Reference Manual // FOURTH CHANNEL OF GATE #3 - MOTOR #12 M1201->X:$078159,0,24,S ; ENC12 24-bit counter position M1202->Y:$07815A,8,16,S ; OUT12A command value; DAC or PWM M1203->X:$07815B,0,24,S ; ENC12 captured position M1214->X:$07815D,14 ; AENA12 output status M1215->X:$078158,19 ; USER12 flag input status M1217->X:$078158,11 ; ENC12 capture flag M1218->X:$078158,8 ; ENC12 count error flag M1219->X:$078158,14 ; CHC12 input status M1220->X:$078158,16 ; HMFL12 flag input status M1221->X:$078158,17 ; PLIM12 flag input status M1222->X:$078158,18 ; MLIM12 flag input status M1223->X:$078158,15 ; FAULT12 flag input status M7240->X:$7815D,0,4 M7241->X:$7815D,13,1 M7242->X:$7815D,4,4 M7243->X:$7815D,8,4 M7246->X:$7815D,20,4 ;I7mn0 ;I7mn1 ;I7mn2 ;I7mn3 ;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 “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 28 Software Setup Hardware Reference Manual M7223 = 0 M7226 = 0 // Motor #11 defaults M7230 = 3 M7231 = 0 M7232 = 1 M7233 = 0 M7236 = 0 // Motor #12 defaults M7240 = 3 M7241 = 0 M7242 = 1 M7243 = 0 M7246 = 0 DIS PLC 25 CLOSE Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. Using Flag I/O as General-Purpose I/O Either the user flags or other unassigned axes flag on the ACC-1P board can be used as general-purpose I/O for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated M-variables definitions, which are the suggested definitions for motors 5 through 8 in the Turbo PMAC/PMAC2 Software reference, allows accessing each particular line according to the following table: Flag Type HOME PLIM MLIM USER AENA 5-24 VDC Input 5-24 VDC Input 5-24 VDC Input 5-24 VDC Input 5-24 VDC Output #5 M520 M521 M522 M515 M514 Channel Number #6 #7 M620 M621 M622 M615 M614 M720 M721 M722 M715 M714 #8 M820 M821 M822 M815 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: Flag Type HOME PLIM MLIM USER AENA 5-24 VDC Input 5-24 VDC Input 5-24 VDC Input 5-24 VDC Input 5-24 VDC Output #9 M920 M921 M922 M915 M914 Channel Number #10 #11 M1020 M1021 M1022 M1015 M1014 M1120 M1121 M1122 M1115 M1114 #12 M1220 M1221 M1222 M1215 M1214 Note: When using these lines as regular I/O points the appropriate setting of the Ixx24 variable must be used to enable or disable the safety flags feature. Software Setup 29 Hardware Reference Manual General-Purpose Digital Inputs and Outputs If one Acc-1P is present then its jumper E6 should be 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 at base address Y:$78500. If a second Acc-1P is used then its E6 jumper should be configured 2-3 and its I/O lines can be accessed at base address Y:$78540. The inputs and outputs on the thumbwheel port of the Acc-1P boards may only be used as discrete, nonmultiplexed I/O. As in the case of the JOPTO port they are defined according to the setup of the address selection jumper E6. Typically, these I/O lines are accessed individually with M-variables. Following is a suggested set of Mvariable definitions to use these data lines. JOPTO port first ACC-1P, Jumper E6 on Position 1-2 M4050->Y:$78500,0 M4051->Y:$78500,1 M4052->Y:$78500,2 M4053->Y:$78500,3 M4054->Y:$78500,4 M4055->Y:$78500,5 M4056->Y:$78500,6 M4057->Y:$78500,7 M4066->Y:$78500,0,8,u ; Digital Output M00 ; Digital Output M01 ; Digital Output M02 ; Digital Output M03 ; Digital Output M04 ; Digital Output M05 ; Digital Output M06 ; Digital Output M07 ;all outputs as an 8bit word M4058->Y:$78500,8 M4059->Y:$78500,9 M4060->Y:$78500,10 M4061->Y:$78500,11 M4062->Y:$78500,12 M4063->Y:$78500,13 M4064->Y:$78500,14 M4065->Y:$78500,15 M4067->Y:$78500,8,8,u ; ; ; ; ; ; ; ; ; Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input all inputs as M4068->X:$78500,0,8 M4069->X:$78500,8,8 M4070->X:$78504,0,24 M4071->Y:$78504,0,24 ; ; ; ; Direction Direction Inversion port data MI0 MI1 MI2 MI3 MI4 MI5 MI6 MI7 an 8bit word Control bits Control bits control (0 = type control 0-7 (1=output, 8-15 (1=output, 0V, 1 = 5V) (1 = I/O) 0 = input) 0 = input) In order to properly setup the JOPTO digital I/O an initialization PLC must be written scanning through once on power-up/reset, and then disabling itself: OPEN PLC12 CLEAR M4068=$FF M4069=$0 M4070=$FF00 M4071=$FFFF DIS PLC1 up/reset) CLOSE ;BITS 0-8 are assigned as output ;BITS 9-16 are assigned as input ;Define inputs and outputs ;All lines are I/O type ;Disable PLC1 (scanning through once on power- Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. 30 Software Setup Hardware Reference Manual JTHW port first ACC-1P, Jumper E6 on Position 1-2 M4080->Y:$78502,8,1 ; SEL0 Output M4081->Y:$78502,9,1 ; SEL1 Output M4082->Y:$78502,10,1 ; SEL2 Output M4083->Y:$78502,11,1 ; SEL3 Output M4084->Y:$78502,12,1 ; SEL4 Output M4085->Y:$78502,13,1 ; SEL5 Output M4086->Y:$78502,14,1 ; SEL6 Output M4087->Y:$78502,15,1 ; SEL7 Output M4088->Y:$78502,8,8,U ; SEL0-7 Outputs treated as a byte M4090->Y:$78502,0,1 ; M4091->Y:$78502,1,1 ; M4092->Y:$78502,2,1 ; M4093->Y:$78502,3,1 ; M4094->Y:$78502,4,1 ; M4095->Y:$78502,5,1 ; M4096->Y:$78502,6,1 ; M4097->Y:$78502,7,1 ; M4098->Y:$78502,0,8,U DAT0 Input DAT1 Input DAT2 Input DAT3 Input DAT4 Input DAT5 Input DAT6 Input DAT7 Input ; DAT0-7 Inputs treated as a byte M4099->X:$078502,0,8 ; Direction control for DAT0 to DAT7 M4099->X:$078502,8,8 ; Direction control for SEL0 to SEL7 In order to properly setup the JTHW digital I/O an initialization PLC must be written scanning through once on power-up/reset, and then disabling itself: OPEN PLC 13 CLEAR M4089=0 M4099=$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 M4101->Y:$78540,1 M4102->Y:$78540,2 M4103->Y:$78540,3 M4104->Y:$78540,4 M4105->Y:$78540,5 M4106->Y:$78540,6 M4107->Y:$78540,7 M4116->Y:$78540,0,8,u ; Digital Output M00 ; Digital Output M01 ; Digital Output M02 ; Digital Output M03 ; Digital Output M04 ; Digital Output M05 ; Digital Output M06 ; Digital Output M07 ;all outputs as an 8bit word M4108->Y:$78540,8 M4109->Y:$78540,9 M4110->Y:$78540,10 M4111->Y:$78540,11 M4112->Y:$78540,12 M4113->Y:$78540,13 ; ; ; ; ; ; Software Setup Digital Digital Digital Digital Digital Digital Input Input Input Input Input Input MI0 MI1 MI2 MI3 MI4 MI5 31 Hardware Reference Manual M4114->Y:$78540,14 M4115->Y:$78540,15 M4117->Y:$78540,8,8,u ; Digital Input MI6 ; Digital Input MI7 ; all inputs as an 8bit word M4118->X:$78540,0,8 M4119->X:$78540,8,8 M4120->X:$78544,0,24 M4121->Y:$78544,0,24 ; ; ; ; Direction Control Direction Control Inversion control J9 port data type bits 0-7 (1=output, bits 8-15 (1=output, (0 = 0V, 1 = 5V) control (1 = I/O) 0 = input) 0 = input) In order to properly setup the JOPTO digital I/O, an initialization PLC must be written scanning through once on power-up/reset, and then disabling itself: OPEN PLC14 CLEAR M4118=$FF M4119=$0 M4120=$FF00 M4121=$FFFF DIS PLC3 up/reset) CLOSE ;BITS 0-8 are assigned as output ;BITS 9-16 are assigned as input ;Define inputs and outputs ;All lines are I/O type ;Disable PLC1 (scanning through once on power- Note: After loading this program, set I5=2 or 3 and ENABLE PLC 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 ; M4141->Y:$78542,1,1 ; M4142->Y:$78542,2,1 ; M4143->Y:$78542,3,1 ; M4144->Y:$78542,4,1 ; M4145->Y:$78542,5,1 ; M4146->Y:$78542,6,1 ; M4147->Y:$78542,7,1 ; M4148->Y:$78542,0,8,U DAT0 Input DAT1 Input DAT2 Input DAT3 Input DAT4 Input DAT5 Input DAT6 Input DAT7 Input ; DAT0-7 Inputs treated as a byte M4139->X:$078502,0,8 ; Direction control for DAT0 to DAT7 M4149->X:$078502,8,8 ; Direction control for SEL0 to SEL7 In order to properly setup the JTHW digital I/O an initialization PLC must be written scanning through once on power-up/reset, and then disabling itself: OPEN PLC 15 CLEAR M4139=0 M4149=$FF DISPLC10 32 Software Setup Hardware Reference Manual CLOSE Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. Analog Inputs Setup The optional analog-to-digital converter inputs are ordered either through Option-2 on the axes expansion board. Each option provides two 12-bit analog inputs with a ±10Vdc range. The M-variables associated with 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 on the first ACC-1P. Analog Inputs first ACC-1P I7103 = 1746 I7106 = $1FFFFF M505->Y:$78105,12,12,S M605->Y:$7810D,12,12,S ;Set ADC clock frequency at 4.9152 MHz ;Clock strobe set for bipolar inputs ;ADCIN_1 on JMACH1 connector (Acc-1P) pin 45 ;ADCIN_2 on JMACH1 connector (Acc-1P) pin 46 Analog Inputs second ACC-1P M7203 = 1746 M7206 = $1FFFFF M905->Y:$78145,12,12,S M1005->Y:$7814D,12,12,S Software Setup ;Set ADC clock frequency at 4.9152 MHz ;Clock strobe set for bipolar inputs ;ADCIN_1 on JMACH1 connector (Acc-1P) pin 45 ;ADCIN_2 on JMACH1 connector (Acc-1P) pin 46 33 Hardware Reference Manual 34 Software Setup Hardware Reference Manual HARDWARE REFERENCE SUMMARY The following information is based on the Acc-1P board, part number 603671-100. Board Dimensions Hardware Reference Summary 35 Hardware Reference Manual Board Layout 1 2 3 4 5 6 A 36 B C D E Feature Location Feature Location E0 E1 E2 E3 E4 E5 E6 E7 E16 D6 F1 C6 B2 B2 E4 E4 E5 E5 E5 D1 F6 A1 RP30 RP31 RP36 RP37 RP55 RP56 TB1 JMACH1 JMACH2 JHW / PD J7 J2 E2 E2 E3 E3 E4 E5 B6 F4 A4 A2 A3 E4 F Hardware Reference Summary Hardware Reference Manual Connectors and Indicators J2 - Thumbwheel Multiplexer Port (JTHW Port) The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW connector has eight input lines and eight output lines. The output lines can be used to multiplex large numbers of inputs and outputs on the port, and Delta 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 J3 - Machine Connector (JMACH1 Port) The primary machine interface connector is JMACH1, labeled J3 on the PMAC. It contains the pins for four channels of machine I/O: analog outputs, incremental encoder inputs, amplifier fault and enable signals and power-supply connections. 1. 50-pin female flat cable connector T&B Ansley P/N 609-5041 2. Standard flat cable stranded 50-wire T&B Ansley P/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-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 outputs. Each input and each output has its own corresponding ground pin in the opposite row. The 34pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Delta Tau's Acc-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 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 TB1 – Power Supply Terminal Block (JPWR Connector) In almost in all cases the PMAC2A PC/104 will be powered from the PC/104 bus when it is installed 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 Hardware Reference Summary 37 Hardware Reference Manual 38 Hardware Reference Summary Hardware Reference Manual E-POINT JUMPER DESCRIPTIONS E0: Reserved for Future Use E Point and Physical Layout Location Description Default E0 C6 For future use. No jumper E1 - E2: Machine Output Supply Voltage Configure E Point and Physical Layout Location Description E1 B2 Jump pin 1 to 2 to apply +V (+5V to 24V) to pin 10 of U7 (should be ULN2803A 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). Default 1-2 Jumper installed Warning: The jumper setting must match the type of driver IC, or damage to the IC will result. B2 E2 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). 1-2 Jumper installed Warning: The jumper setting must match the type of driver IC, or damage to the IC will result. E3 – E4: JHW, PD Function Select E Point and Physical Layout Location Description E3 E4 E4 E4 Jump pin 1 to 2 to enable handwheel channel 1 inputs. Jump pin 2 to 3 to enable pulse and direction channel 1 outputs. Jump pin 1 to 2 to enable handwheel channel 2 inputs. Jump pin 2 to 3 to enable pulse and direction channel 2 outputs. E-Point Jumper Descriptions Default 1-2 Jumper installed 1-2 Jumper installed 39 Hardware Reference Manual E5: Servo Gate Address Select E Point and Physical Layout Location Description 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. Default 1-2 Jumper installed E6: I/O Gate Address Select E Point and Physical Layout Location E6 E5 Description Default Jump pin 1 to 2 to address Acc-1P I/O ports at the regular addresses. Jump pin 2 to 3 to address Acc-1P I/O ports at the regular addresses plus $40. 1-2 Jumper installed E7: Machine Input Source/Sink Control E Point and Physical Layout E7 Location Description Default 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 pulled up for ON state (+5V to +24V). 1-2 Jumper installed E16: ADC Inputs Enable E Point and Physical Layout Location D1 E16 40 Description 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 signals from digital amplifiers. Default No jumper E-Point Jumper Descriptions Hardware Reference Manual CONNECTOR PINOUTS TB1 (JPWR): Power Supply (4-Pin Terminal Block) Top View Pin# Symbol Function 1 2 GND +5V Common Input Description Notes Reference Voltage Positive Supply Voltage Supplies all PMAC digital circuits 3 +12V Input Positive Supply Voltage 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. Connector Pinouts 41 Hardware Reference Manual J2 (JTHW): Multiplexer Port Connector (26-Pin Connector) Pin# Symbol Front View Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DAT0 Input Data-0 Input Data input from multiplexed accessory 4 SEL0 Output Select-0 Output Multiplexer select output 5 DAT1 Input Data -1 Input Data input from multiplexed accessory 6 SEL1 Output Select -1 Output Multiplexer select output 7 DAT2 Input Data -2 Input Data input from multiplexed accessory 8 SEL2 Output Select -2 Output Multiplexer select output 9 DAT3 Input Data -3 Input Data input from multiplexed accessory 10 SEL3 Output Select -3 Output Multiplexer select output 11 DAT4 Input Data -4 Input Data input from multiplexed accessory 12 SEL4 Output Select -4 Output Multiplexer select output 13 DAT5 Input Data -5 Input Data input from multiplexed accessory 14 SEL5 Output Select -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 PMAC Common 23 N.C. Output In Position Low is In Position 24 GND Common PMAC Common 25 +5V Output +5VDC Supply Power supply out 26 N.C. Input PMAC Reset Low is Reset The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels. While these I/O can be used in unmultiplexed form for 16 discrete I/O points, most users will utilize PMAC software and accessories to use this port in multiplexed form to greatly multiply the number of I/O that can be accessed on this port. In multiplexed form, some of the SELn outputs are used to select which of the multiplexed I/O are to be accessed. 42 Connector Pinouts Hardware Reference Manual J3 (JMACH1): Machine Port Connector (50-Pin Header) Top View Pin# Symbol Function 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 27 28 29 30 31 32 33 34 35 36 37 38 39 +5V +5V GND GND CHA5 CHA6 CHA5/ CHA6/ CHB5 CHB6 CHB5/ CHB6/ CHC5 CHC6 CHC5/ CHC6/ CHA7 CHA8 CHA7/ CHA8/ CHB7 CHB8 CHB7/ CHB8/ CHC7 CHC8 CHC7/ CHC8/ DAC5 DAC6 DAC5/ DAC6/ AENA5/ AENA6/ FAULT5/ FAULT6/ DAC7 DAC8 DAC7/ Output Output Common Common Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Output Output Output Output Output Output Input Input Output Output Output Connector Pinouts Description +5V Power +5V Power Digital Common Digital Common Encoder A Channel Positive Encoder A Channel Positive Encoder A Channel Negative Encoder A Channel Negative Encoder B Channel Positive Encoder B Channel Positive Encoder B Channel Negative Encoder B Channel Negative Encoder C Channel Positive Encoder C Channel Positive Encoder C Channel Negative Encoder C Channel Negative Encoder A Channel Positive Encoder A Channel Positive Encoder A Channel Negative Encoder A Channel Negative Encoder B Channel Positive Encoder B Channel Positive Encoder B Channel Negative Encoder B Channel Negative Encoder C Channel Positive Encoder C Channel Positive Encoder C Channel Negative Encoder C Channel Negative Analog Out Positive 5 Analog Out Positive 6 Analog Out Negative 5 Analog Out Negative 6 Amplifier-Enable 5 Amplifier -Enable 6 Amplifier -Fault 5 Amplifier -Fault 6 Analog Out Positive 7 Analog Out Positive 8 Analog Out Negative 7 Notes For Encoders, 1 For Encoders, 1 2 2 2,3 2,3 2 2 2,3 2,3 2 2 2,3 2,3 2 2 2,3 2,3 2 2 2,3 2,3 2 2 2,3 2,3 4 4 4,5 4,5 6 6 4 4 4,5 43 Hardware Reference Manual J3 JMACH1 (50-Pin-Header) (Continued) Top View Pin# Symbol Function Description Notes 40 DAC8/ Output Analog Out Negative 8 4,5 41 AENA7/ Output Amplifier-Enable 7 42 AENA8/ Output Amplifier -Enable 8 43 FAULT7/ Input Amplifier -Fault 7 6 44 FAULT8/ Input Amplifier -Fault 8 6 45 ADCIN_1 Input Analog Input 1 Option-2 required 46 ADCIN_2 Input Analog Input 2 Option-2 required 47 FLT_FLG_V Input Amplifier Fault pull-up V+ 48 GND Input Analog Common 49 A+15V Input DACs +15V Supply 50 A-15V Input DACs -15V Supply The J3 connector is 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 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. 44 Connector Pinouts Hardware Reference Manual J4 (JMACH2): Machine Port Connector (34-Pin Header) Pin# Symbol FLG_5_6_V FLG_7_8_V Function Front View Description Notes 1 Input Flags 5-6 Pull-Up 2 Input Flags 7-8 Pull-Up 3 GND Common Digital Common 4 GND Common Digital Common 5 HOME5 Input Home-Flag 5 10 6 HOME6 Input Home-Flag 6 10 7 PLIM5 Input Positive End Limit 5 8,9 8 PLIM6 Input Positive End Limit 6 8,9 9 MLIM5 Input Negative End Limit 5 8,9 10 MLIM6 Input Negative End Limit 6 8,9 11 USER5 Input User Flag 5 12 USER6 Input User Flag 6 13 PUL_5 Output Pulse Output 5 14 PUL_6 Output Pulse Output 6 15 DIR_5 Output Direction Output 5 16 DIR_6 Output Direction Output 6 17 EQU5 Output Encoder Comp-Equal 5 18 EQU6 Output Encoder Comp-Equal 6 19 HOME7 Input Home Flag 7 10 20 HOME8 Input Home Flag 8 10 21 PLIM7 Input Positive End Limit 7 8,9 22 PLIM8 Input 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 Indicator/Driver 34 No Connect Note 1: Pins marked PLIMn should be connected to switches at the positive end of travel. Pins marked MLIMn should be connected 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 produce a 0 in PMAC software. Connector Pinouts 45 Hardware Reference Manual J7 (JOPTO): I/O Port Connector (34-Pin Connector) Front View Pin# Symbol Function Description 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 MI8 GND MI7 GND MI6 GND MI5 GND MI4 GND MI3 GND MI2 GND MI1 GND MO8 Input Common Input Common Input Common Input Common Input Common Input Common Input Common Input Common Output Machine Input 8 PMAC Common Machine Input 7 PMAC Common Machine Input 6 PMAC Common Machine Input 5 PMAC Common Machine Input 4 PMAC Common Machine Input 3 PMAC Common Machine Input 2 PMAC Common Machine Input 1 PMAC Common Machine Output 8 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 GND MO7 GND MO6 GND MO5 GND MO4 GND MO3 GND MO2 GND MO1 GND +V Common Output Common Output Common Output Common Output Common Output Common Output Common Output Common Input/Output PMAC Common Machine Output 7 PMAC Common Machine Output 6 PMAC Common Machine Output 5 PMAC Common Machine Output 4 PMAC Common PMAC Common PMAC COMMON Machine Output 2 PMAC Common Machine Output 1 PMAC Common +V Power I/O Notes Low is TRUE Low is TRUE Low is TRUE Low is TRUE Low is TRUE Low is TRUE Low is TRUE Low is TRUE Low-TRUE (Sinking) High-TRUE (Sourcing) " " " " " " " " " " " " " " +V = +5V to +24V +5V out from PMAC, +5 to +24V in from external source, DIODE isolation from PMAC 34 GND Common PMAC Common This connector provides means for eight general-purpose inputs and eight general-purpose outputs. Inputs and outputs may be configured to accept or provide either +5V or +24V signals. Outputs can be made sourcing with an IC (U7 to UDN2981) and jumper (E1 and E2) change. E7 controls whether the inputs are pulled up or down internally. Outputs are rated at 100mA per channel. 46 Connector Pinouts Hardware Reference Manual J8 (JHW) Handwheel Encoder Connector Pin# Symbol Function 1 2 GND HWA1+ / PUL1+ HWA1- / PUL1HWB1+ / DIR1+ HWB1- / DIR1HWA2+ / PUL2+ HWA2- / PUL2HWB2+ / DIR2+ HWB2- / DIR2+5V Common Input/Output Reference voltage HW1 Channel A or pulse output selected by jumpers E3 and E4 Input/Output HW 1 Channel A or pulse output selected by jumpers E3 and E4 Input/Output HW 1 Channel B or direction output selected by jumpers E3 and E4 Input/Output HW 1 Channel B or direction output selected by jumpers E3 and E4 Input/Output HW 2 Channel A or pulse output selected by jumpers E3 and E4 Input/Output HW 2 Channel A or pulse output selected by jumpers E3 and E4 Input/Output HW 2 Channel B or direction output selected by E3 and E4 Input/Output HW 2 Channel B or direction output selected by E3 and E4 3 4 5 6 7 8 9 10 Connector Pinouts Output Description Supply voltage 47 Hardware Reference Manual 48 Connector Pinouts Hardware Reference Manual SCHEMATICS Connector Pinouts 49 Hardware Reference Manual THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU DATA SYSTEMS INC. AND IS LOANED SUBJECT TO RETURN UPON DEMAND. TITLE TO THIS DOCUMENT IS NEVER SOLD OR TRANSFERRED FOR ANY REASON. THIS DOCUMENT IS TO BE USED ONLY PURSUANT TO WRITTEN LICENSE OR WRITTEN INSTRUCTIONS OF DELTA TAU DATA SYSTEMS INC. ALL RIGHTS TO DESIGNS AND INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC. POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE ABOVE AGREEMENT. +5V C26 DATA_6 DATA_7 SEL_0 SEL_1 SEL_2 SEL_3 SEL_4 SEL_5 SEL_6 SEL_7 RESET+ RP1 10KSIP10C RP2 10KSIP10C HEADER 26 GND R4 74AC16245DL (DL) GND 3.3K 1 DATA_4 DATA_5 R3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 9 8 7 6 5 4 3 2 DATA_2 DATA_3 10 GND 1 SA00 SA01 SA02 SA03 SA04 SA05 SA06 SA07 SA08 SA09 SA10 SA11 SA12 SA13 SA14 SA15 SA16 SA17 SA18 SA19 AEN IOCHRDY SD00 SD01 SD02 SD03 SD04 SD05 SD06 SD07 IOCHCHK- T/R1 B0 B1 GND B2 B3 VCC B4 B5 GND B6 B7 B8 B9 GND B10 B11 VCC B12 B13 GND B14 B15 T/R2 OE1 A0 A1 GND A2 A3 VCC A4 A5 GND A6 A7 A8 A9 GND A10 A11 VCC A12 A13 GND A14 A15 OE2 9 8 7 6 5 4 3 2 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 .1UF U5 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 J2 (JTHW) GND 1 GND 2 DAT0 3 SEL0 4 DAT1 5 SEL1 6 DAT2 7 SEL2 8 DAT3 9 SEL3 10 DAT4 11 SEL4 12 DAT5 13 SEL5 14 DAT6 15 SEL6 16 DAT7 17 SEL7 18 N.C. 19 GND 20 BFLD21 GND 22 IPLD23 GND 24 +5V 25 INIT26 DAT0 SEL0 DAT1 SEL1 DAT2 SEL2 DAT3 SEL3 DAT4 SEL4 DAT5 SEL5 DAT6 SEL6 DAT7 SEL7 10 .1UF DATA_0 DATA_1 J1A GND J2 +5V C25 3.3K GND PC/104/HEADER_A32 J1B -12V +5V -5V +5V E5 3 GND -12V 4 E6 NC7SZ86M5 (SOT23-5) SW4 GND 1 U37 GND 4 2 U36 NC7SZ32M5 (SOT23-5) NC7SZ08M5 (SOT23-5) IOEN- DIN0 DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 DIN7 GND 4 2 U34 BCS1- C27 4 2 1 1 BCS1+5V NC7SZ32M5 (SOT23-5) +5V +5V 2 4 2 U33 CS4- E6 1 GND 1 2 BA06_A BA06_A BWDO_A- SW1 3 3 1 +5V 2 GND BCS4- 2 3 4 5 6 7 8 9 GND GND SSM-125-L-DV-LC IO_16 IO_17 IO_18 IO_19 IO_20 IO_21 IO_22 IO_23 guard band GND GND PC/104/HEADER/D20 2 3 4 5 6 7 8 9 1 E0 RP50 1 2 3 4 5 6 7 8 9 10 (jisp) J9 10 E2 1 RESET+ D4 MBRS140T3 U7 1S 1A 2A 3A 4A 5A 6A 7A 8A GND VCC 1Y 2Y 3Y 4Y 5Y 6Y 7Y 8Y 2S 20 19 18 17 16 15 14 13 12 11 C31 .1UF RP8 3.3KSIP10C E1 E2 SHOULD BE 25mil ETCH E1 D5 F1 2AMP_FUSE 10 C20 .01UF GND 1 RP53 RP54 10 TMS_U4 RP52 1 TCK_U4 2 3 4 5 6 7 8 9 2.2KSIP10C 10 10KSIP10C 1 10 10KSIP8I RP6 1 19 SOCKET REQ'D 1 1KSIP10C SOCKET REQ'D RP55 GND 2 3 4 5 6 HW1_A1HW1_B1HW2_A2HW2_B2- 1 3 5 7 2 3 4 5 6 7 8 9 6 7 8 CMD_IN DAT_STB CMD_STB VLTN CTRL0 CTRL1 CTRL2 CTRL3 J7 (JOPT) MI8 1 GND 2 MI7 3 GND 4 MI6 5 GND 6 MI5 7 GND 8 MI4 9 GND 10 MI3 11 GND 12 MI2 13 GND 14 MI1 15 GND 16 MO8 17 GND 18 MO7 19 GND 20 MO6 21 GND 22 MO5 23 GND 24 MO4 25 GND 26 MO3 27 GND 28 MO2 29 GND 30 MO1 31 GND 32 +V 33 GND 34 9 8 7 6 5 4 3 2 G1 G2 1SMC33AT3 10 TDO_U4 TDI_U4 BSCAN- HSIP8NO5 RP56 HW1_A1+ HW1_B1+ HW2_A2+ HW2_B2+ 2 4 6 8 220SIP8I (IN-SOCKET) 2.2KSIP6C (IN-SOCKET) SW1 SW4 M1 CE1 +5V .1UF HOLE CE2 M2 .1UF D1 + C1 1SMC5.0AT3 22UF 35V U8 VCC VCC HW1_A1 CE3 M3 .1UF HOLE CE4 M4 .1UF HOLE +12V D2 + C2 1SMC18AT3 22UF 35V C3 + 1SMC18AT3 HW1_B1 5 HW2_A2 13 12 HW2_B2 IN-A OUT-C IN-C OUT-B IN-B 11 EN-B,D OUT-D TP1 GND IN-B IN-D GND U9 16 VCC 2 HW1_A1+ 1 HW1_A1- 22UF 35V 1 E3 2 4 6 HW1_B1+ PUL_1 7 14 HW2_A2+ DIR_2 15 15 HW2_A2- 1 9 HW2_B2- 3 10 HW2_B2+ 8 IN-A 1 HW1_B1- 3 EN-A,C OUT-A OUT-A OUT-C E4 2 12 IN-C OUT-C IN-B OUT-B EN-B,D OUT-B OUT-D PUL_2 9 IN-D C32 .1UF GND TERMBLK 4 (.150 PITCH) DIR_1 7 ST34C86CF16 (SO16) GND 1 2 3 4 EN-A,C IN-A IN-D D3 TB1 OUT-A IN-C -12V (JPWR) 3 4 HOLE GND GND +5V +12V -12V J7 2 4 6 8 2 4 6 8 10KSIP10C 1 2 3 4 1 TMS GND TCK VCC GND 2 3 4 5 6 7 8 9 (DIP20) XOR8-PLUS153 OR ULN2803A OR UDN2981A (IN-SOCKET) RP7 2 3 4 5 6 7 8 9 +3.3V TDO TDI BSCAN- R40 3.3K 2 3 4 5 6 7 8 9 A1 A2 A3 A4 A5 A6 A7 A8 3.3K 1 10KSIP10C RP51 Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y8 R5 2 E0 10 1 IO_24 IO_25 IO_26 IO_27 IO_28 IO_29 IO_30 IO_31 +5V RP4 74AC541 (SOL20) 10KSIP10C J9 20 10 .1UF 1 IO_07 IO_06 IO_05 IO_04 IO_03 IO_02 IO_01 IO_00 .1UF HEADER 25X2(FEM) CLS125LDDV +5V RP9 10KSIP10C +5V C24 NC7SZ86M5 (SOT23-5) U6 18 17 16 15 14 13 12 11 RP5 10KSIP8I 1 3 5 7 1 3 5 7 2 3 4 5 6 7 8 9 GND +12V CS1- E5 1 U35 2 3.3KSIP10C 1 GND BD01 BD03 BD05 BD07 BD09 BD11 BD13 BD15 BD17 BD19 BD21 BD23 BA01 BA03 BA05 VMECSCS4BWDO_ABRDPHASE RESET- +5V GND E7 10 9 8 7 6 5 4 3 2 PC/104/HEADER/D20 J2D GND 0 1 MEMCS161 2 IOCS162 3 IRQ10 3 4 IRQ11 4 5 IRQ12 5 6 IRQ15 6 7 IRQ14 7 8 DACK08 9 DRQ0 9 10 DACK510 11 DRQ5 11 12 DACK612 13 DRQ6 13 14 DACK714 15 DRQ7 15 16 +5V 16 17 MASTER17 18 GND 18 19 GND 19 20 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 3 2 GND 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 E7 1 IO_15 IO_14 IO_13 IO_12 IO_11 IO_10 IO_09 IO_08 +5V J5 BD00 BD02 BD04 BD06 BD08 BD10 BD12 BD14 BD16 BD18 BD20 BD22 BA00 BA02 BA04 BX/Y CS1CS00BWRSERVO 19.6608Mhz 1 10KSIP10C (JEXPA) +5V GND RP3 5 GND .1UF 3 KEY C86 5 NC7SZ08M5 (SOT23-5) GND 5 (KEY) 2 3 4 5 6 7 8 9 10 DISP0 DISP1 DISP2 DISP3 DISP4 DISP5 DISP6 DISP7 BX/Y_A 3 4 1 U38 2 PC/104/HEADER_B32 J2C 0 1 SBHE1 2 LA23 2 3 LA22 3 4 LA21 4 5 LA20 5 6 LA19 6 7 LA18 7 8 LA17 8 9 MEMR9 10 MEMW10 11 SD08 11 12 SD09 12 13 SD10 13 14 SD11 14 15 SD12 15 16 SD13 16 17 SD14 17 18 SD15 18 19 (KEY) (KEY) 19 20 GND 1 BX/Y 2 GND 3 +5V 1 RESTDRV 10 IRQ9 3 GND GND +12V 5 +5V DRQ2 3 -5V ENDXFR- +5V 5 -12V BALE TC DACK2IRQ3 IRQ4 IRQ5 IRQ6 IRQ7 SYSCLK REFRESHDRQ1 DACK1DRQ3 DACK3SIORSIOWSMEMRSMEMW(KEY) 3 (KEY) +12V GND GND OSC 5 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 +5V 3 GND GND SET "E3 1-TO-2 TO ENABLE HANDWHEEL FOR CHANNEL 1 SET "E3 2-TO-3 TO ENABLE PULSE/DIR FOR CHANNEL 1 SET "E4 1-TO-2 TO ENABLE HANDWHEEL FOR CHANNEL 2 SET "E4 2-TO-3 TO ENABLE PULSE/DIR FOR CHANNEL 2 OUT-D GND ST34C87CF16 (SO16) 16 3 DIR_1- 5 PUL_1- 6 PUL_1+ 14 DIR_2+ 13 DIR_2- 11 PUL_2- +5V PUL_1+ PUL_1DIR_1+ DIR_1PUL_2+ PUL_2DIR_2+ DIR_2- GND C33 Connector Pinouts PUL_1+ PUL_1DIR_1+ DIR_1PUL_2+ PUL_2DIR_2+ DIR_2- HEADER 10 .1UF Delta Tau Data Systems, Inc. SHEET2 Title 671-1SH2 |Link Size D Document Number Date: Thursday, September 13, 2001 |671-1SH2.sch 50 J8 (JHW,PD) GND 1 HW1_A1+ 2 HW1_A13 HW1_B1+ 4 HW1_B15 HW2_A2+ 6 HW2_A27 HW2_B2+ 8 HW2_B29 +5V 10 HW1_A1+ HW1_A1HW1_B1+ HW1_B1HW2_A2+ HW2_A2HW2_B2+ HW2_B2- PUL_2+ 10 8 J8 DIR_1+ 2 PMAC2-PC/104, SECOND-FOUR-AXIS GENERAL I/O Rev -- 603671-321 Sheet 1 of 2 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 BD01_A BD03_A BD05_A BD07_A BD09_A BD11_A BD13_A BD15_A BD17_A BD19_A BD21_A BD23_A BA01_A BA03_A BA05_A BA07_A BA09_A BA11_A BA13_A 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 BD01_A BD03_A BD05_A BD07_A BD09_A BD11_A BD13_A BD15_A BA01_A BA03_A BA05_A BA07_A BA09_A BA11_A BA13_A HEADER 20X2(FEM) CLS120LDDV C100 1 RP13A 2 4 R10 47PF 5 U15B 47KSIP8I (SO14) 4 47KSIP8I 200.0K 1% LF347M 6 6 1 RP15A 3 47KSIP8I C110 47PF LF347M 6 5 U16B 6 47KSIP8I 4 2 1 RP19A 2 4 + 1 U17A (SO14) 1 RP20A 2 3 47KSIP8I C112 6 5 47PF LF347M 5 RP20C 7 U17B 6 47KSIP8I (SO14) 9 4 4 RP20D 47KSIP8I C105 100KSIP8I 7 RP19D 47KSIP8I DAC7- 3 ENC_C5 3 RP22B 2 3 47PF -12V 5 U18B 5 RP21C 7 (SO14) 6 47KSIP8I 9 12 U17D 3 RP23B 14 4 DAC7+ ENC_C6 5 ENC_C7 13 220SIP8I (SO14) RP21D 47KSIP8I IN-C IN-B OUT-B IN-B EN-B,D 11 OUT-D IN-D GND 5 RP23C 8 5 RP22C 7 RP22D 6 47KSIP8I 6 DAC8- U10B 3 4 6 7 GND (SO8) 3 DS75451M (SOCKET) BWDO_A+ (SO14) 74ACT14 .1UF U14A U14B (SO8) 5 CHB5+ 1 CHB5- 7 CHB6- 6 CHB6+ 14 CHB7+ 15 BWR_ASERVO BD01_A BD03_A BD05_A BD07_A BD09_A BD11_A BD13_A BD15_A BD17_A BD19_A BD21_A BD23_A BA01_A BA03_A BWR_ASERVO BRD_APHASE 12 U18D CHB7- 9 CHB8- 10 CHB8+ 8 +5V C79 +5V D6 LED GRN 16 2 CHC5+ 1 CHC5- 7 CHC6- 6 CHC6+ 14 CHC7+ 15 1 R32 1K AENA_6 CHC8- 10 CHC8+ 6 AENA_7 6 1 (SO14) 74ACT14 6 8 R20 +5V +5V RP45 6 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 HOME5+ PLIM5+ MLIM5+ USER5+ PUL_5+ DIR_5+ EQU_5+ HOME7+ PLIM7+ MLIM7+ USER7+ PUL_7+ DIR_7+ EQU_7+ B_WDO GND 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 FLAG_C5 FLAG_D5 HOME6+ PLIM6+ MLIM6+ USER6+ PUL_6+ DIR_6+ EQU_6+ HOME8+ PLIM8+ MLIM8+ USER8+ PUL_8+ DIR_8+ EQU_8+ FLAG_A6 FLAG_B6 FLAG_C6 FLAG_D6 FLAG_A7 FLAG_B7 FLAG_C7 FLAG_D7 FLAG_A8 FLAG_B8 FLAG_C8 FLAG_D8 HEADER 17X2 DS75451M (SOCKET) OE1 A0 A1 GND A2 A3 VCC A4 A5 GND A6 A7 A8 A9 GND A10 A11 VCC A12 A13 GND A14 A15 OE2 74AC16245DL (DL) GND 10 1 10 2RP25 4 6 810KSIP8I HOME5+ PLIM5+ MLIM5+ USER5+ 1 3 5 7 2RP26 4 6 810KSIP8I HOME6+ PLIM6+ MLIM6+ USER6+ 1 3 5 7 2RP28 4 6 810KSIP8I HOME7+ PLIM7+ MLIM7+ USER7+ 1 3 5 7 2RP29 4 6 810KSIP8I HOME8+ PLIM8+ MLIM8+ USER8+ 1 4.99K/1% +5V .1UF 20.0K/1% 1 3 5 7 10 RP46 R23 C121 100PF C122 100PF 3 LM6132AIM R26 2 1 2 3 4 5 6 7 8 9 10 11 12 R25 4.99K/1% 8 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 2 3 4 5 6 7 8 9 T/R1 B0 B1 GND B2 B3 VCC B4 B5 GND B6 B7 B8 B9 GND B10 B11 VCC B12 B13 GND B14 B15 T/R2 R24 ADCIN_5 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 FLAG_A5 FLAG_B5 3 AENA7- 5 AENA8- GND + 1 U19A (SO8) R27 20.0K/1% 100PF U20 DGND CH_B1+ CH_B1CH_B0+ CH_B0CH_A1+ CH_A1CH_A0+ CH_A0REF_IN REF_OUT AGND +VD SDO_A SDO_B BUSY CLOCK CSRD CONVST A0 M0 M1 +VA 24 23 22 21 20 19 18 17 16 15 14 13 FLAG_T5 FLAG_U5 FLAG_V5 FLAG_W5 FLAG_T6 FLAG_U6 FLAG_V6 FLAG_W6 2 3 4 5 6 7 8 9 FLAG_T7 FLAG_U7 FLAG_V7 FLAG_W7 FLAG_T8 FLAG_U8 FLAG_V8 FLAG_W8 ADC_A5 ADC_A6 10 3.3KSIP10C ADC_CLK ADC_CSADC_STR +5V ADS7861E (SSOP24) C125 4.99K/1% C123 2 3 4 5 6 7 8 9 3.3KSIP10C + 7 U19B (SO8) 4 (JMACH2) J4 3.3KSIP10C 100PF R21 4.99K/1% C124 .1UF U21 AENA6- DS75452N C80 1 C73 .1UF Flag_3_4_V 5 DS75452N U27B (DIP8) 7 (SOCKET) DAC8+ 20.0K/1% RP27 AENA5- DS75452N U27A (DIP8) 2 (SOCKET) AENA_8 8 3 DS75452N U26B (DIP8) 7 (SOCKET) U10C 5 CHC7- 9 (DIP8) 2 (SOCKET) AENA_5 BWDO_A+ GND .1UF U26A 220SIP8I Flag_3_4_V RP24 BRD_APHASE +5V 7 RP23D 14 (SO14) 5 Flag_1_2_V BD01_A BD03_A BD05_A BD07_A BD09_A BD11_A BD13_A BD15_A BD17_A BD19_A BD21_A BD23_A BA01_A BA03_A C126 .1UF .1UF + C127 10UF/10V GND FLT_FLG_V GND +5V RP43 RP44 10 2 2 1 1 16 1 .1UF +5V CHA8+ 8 BD00_A BD02_A BD04_A BD06_A BD08_A BD10_A BD12_A BD14_A BD16_A BD18_A BD20_A BD22_A BA00_A BA02_A BA04_A BX/Y_A 8 C120 1 GND 10 BD00_A BD02_A BD04_A BD06_A BD08_A BD10_A BD12_A BD14_A BD16_A BD18_A BD20_A BD22_A BA00_A BA02_A BA04_A BX/Y_A 47KSIP8I LF347M 13 20.0K/1% Flag_1_2_V C63 +5V CHA8- .1UF ADCIN_6 GND C64 CHA7- 9 .1UF GND 12 RESET+ CHA7+ 15 GND 3.3KSIP10C RESET+ 14 220SIP8I (SO14) 24K C72 2 CHA6+ C78 R22 GND R31 3.3K IN-C OUT-C ST34C86CF16 (SO16) R17 +5V 1 BWDO_A- EN-A,C IN-D (SO14) 74ACT14 (SO14) 74ACT14 4.7KSIP10C 3.3KSIP10C FAULT_5 FAULT_6 FAULT_7 FAULT_8 EQU_5+ EQU_6+ EQU_7+ EQU_8+ +5V +12V HEADER 25X2 20 10 C85 PWM_C_T6 PWM_C_B6 PWM_C_T7 PWM_C_B7 PWM_C_T8 PWM_C_B8 BWDO_A+ GND GND 74AC16245DL (DL) 1 E16 2 3 4 5 6 7 8 9 ADC_CS- 2 JUMP E16 TO ENABLE ATD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 PWM~A~T5 PWM~A~B5 GND PWM~A~T6 PWM~A~B6 +5V RP32 2.2KSIP10C SIP SOCKET DIR_6+ PUL_6+ RP30 DIR_7+ PUL_7+ 1 DIR_8+ PUL_8+ 6 5 4 3 2 RP33 1KSIP10C CHA5CHB5CHC5- CHA5+ CHB5+ CHC5+ 1 2.2KSIP6C RP31 GND 2.2KSIP6C GND 51 RP38 2.2KSIP10C SIP SOCKET RP36 10 PWM~A~T8 PWM~A~B8 DIR_5+ PUL_5+ 1 +5V PWM~A~T7 PWM~A~B7 1 Connector Pinouts 1 19 6 5 4 3 2 RP39 1KSIP10C 2 3 4 5 6 7 8 9 PWM_A_T8 PWM_A_B8 PWM_C_T5 PWM_C_B5 T/R1 B0 B1 GND B2 B3 VCC B4 B5 GND B6 B7 B8 B9 GND B10 B11 VCC B12 B13 GND B14 B15 T/R2 G1 G2 74AC541 (SOL20) .1UF FALT5FALT6FALT7FALT8EQU_5 EQU_6 EQU_7 EQU_8 SERVO PHASE SCLK 2RP42 4 6 810KSIP8I 10 PWM_A_T6 PWM_A_B6 PWM_A_T7 PWM_A_B7 U22 OE1 A0 A1 GND A2 A3 VCC A4 A5 GND A6 A7 A8 A9 GND A10 A11 VCC A12 A13 GND A14 A15 OE2 VCC GND 1 3 5 7 1 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 A1 A2 A3 A4 A5 A6 A7 A8 FAULT~5 FAULT~6 FAULT~7 FAULT~8 2 3 4 5 6 7 8 9 BWDO_A+ PWM_A_T5 PWM_A_B5 CHA6+ CHA6CHB6+ CHB6CHC6+ CHC6CHA8+ CHA8CHB8+ CHB8CHC8+ CHC8DAC6+ DAC6AENA6FALT6DAC8+ DAC8AENA8FALT8ADCIN_6 -12V .1UF Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y8 2 3 4 5 6 7 8 9 10 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 C75 .1UF GND 1 +5V U32 2 3 4 5 6 7 8 9 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 CHA5+ CHA5CHB5+ CHB5CHC5+ CHC5CHA7+ CHA7CHB7+ CHB7CHC7+ CHC7DAC5+ DAC5AENA5FALT5DAC7+ DAC7AENA7FALT7ADCIN_5 FLT_FLG_V (JMACH1) J3 10 +5V 1 GND C74 18 17 16 15 14 13 12 11 2 3 4 5 6 7 8 9 +5V 2 3 4 5 6 7 8 9 BWDO_A- IN-A IN-A 12 ENC_C8 U18C 10 C115 470PF .1UF U10A RESET- 6 C77 OUT-A 200.0K 1% LF347M 7 RP21B 47KSIP8I C107 +5V RESET- IN-D 4 47KSIP8I LF347M 13 LM6132AIM R30 3.3K CHA6- 10 13 3.3K 47KSIP8I LF347M 6 8 10 2 4 8 100KSIP8I 8 2 4 7 RP18D (SO14) 74ACT14 U10F R38 +5V 1 RP21A 11 11 3.3K + 1 U18A (SO14) + (SO14) 74ACT14 U10E R37 +5V PWM~A~B8 OUT-D R16 C114 - 3.3K 8 11 220SIP8I C119 LF347M 2 9 IN-D 220PF U10D R36 +5V 1 RP23A 8 24K 3 GND ENC_B8 220SIP8I (SO14) EN-B,D DAC6+ VCC R15 47KSIP8I 3.3K U16D (SO14) 1 RP22A .1UF SCLK_DIR 12 8 IN-B IN-B 12 7 RP17D OUT-B U25 47KSIP8I + .1UF R35 GND CHA5- 7 .1UF - C54 13 IN-C ST34C86CF16 (SO16) 8 C113 470PF 4 +5V 6 ENC_B7 OUT-C GND U17C 10 +12V 5 RP19C 5 8 14 IN-A EN-A,C IN-C ENC_B6 200.0K 1% LF347M 7 11 RP20B 47KSIP8I + LF347M C106 6 13 IN-A R14 .1UF 5 RP18C 4 DAC6- 220PF -12V PWM~A~T8 CHA5+ 1 C76 OUT-A C118 .1UF - 3 RP19B 47KSIP8I 3 47KSIP8I LF347M R13 + 4 7 RP16D 6 - 3 RP18B 100KSIP8I 6 220SIP8I 47KSIP8I 47KSIP8I 2 PWM~A~B7 5 RP17C 8 24K 3 IN-D GND ST34C86CF16 (SO16) ENC_B5 (SO14) 5 RP16C +12V 1 RP18A 100KSIP8I OUT-D VCC U16C C104 PWM~A~T7 IN-D DAC5+ 220SIP8I (SO14) IN-B U24 8 C111 470PF .1UF 9 10 RP15D 47KSIP8I C103 -12V 5 RP15C 7 (SO14) 8 47KSIP8I 4 IN-B EN-B,D 11 ENC_A8 3 RP17B 14 200.0K 1% LF347M 7 RP15B 47KSIP8I 11 100KSIP8I 2 + 8 U15D OUT-B R12 LF347M + 1 U16A (SO14) - PWM~A~B6 SSM-125-L-DV-LC 12 IN-C 2 .1UF 47KSIP8I 7 RP13D 4 47KSIP8I LF347M 13 24K 2 7 RP12D 13 220PF 3 HEADER 25X2(FEM) CLS125LDDV ENC_A7 IN-C OUT-C THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU DATA SYSTEMS INC. AND IS LOANED SUBJECT TO RETURN UPON DEMAND. TITLE TO THIS DOCUMENT IS NEVER SOLD OR TRANSFERRED FOR ANY REASON. THIS DOCUMENT IS TO BE USED ONLY PURSUANT TO WRITTEN LICENSE OR WRITTEN INSTRUCTIONS OF DELTA TAU DATA SYSTEMS INC. ALL RIGHTS TO DESIGNS AND INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC. POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE ABOVE AGREEMENT. 16 C117 .1UF BA07_A BA09_A BA11_A 3 RP16B 2 R11 4 100KSIP8I 5 RP13C DAC5- 5 12 47KSIP8I +12V 5 RP12C 2 ENC_A6 EN-A,C 220SIP8I (SO14) 1 RP16A C102 PWM~A~T6 1 RP17A 8 U15C 8 C109 470PF .1UF 9 10 RP14D 47KSIP8I C101 -12V 6 7 RP14B 47KSIP8I 5 RP14C 7 4 100KSIP8I 3 RP13B 3 47KSIP8I 11 4 LF347M 6 + BA06_A BA08_A BA10_A 3 RP12B C108 IN-A IN-A 4 - .1UF PWM~A~B5 2 + C56 GND 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 1 RP14A - +5V 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 2 PWM_B_T5 PWM_B_B5 PWM_B_T6 PWM_B_B6 PWM_B_T7 PWM_B_B7 PWM_B_T8 PWM_B_B8 ADC_A5 ADC_A6 ADC_A7 ADC_A8 ADC_B5 ADC_B6 ADC_B7 ADC_B8 ADC_STR FAULT~5 FAULT~6 FAULT~7 FAULT~8 BA07_A BA09_A BA11_A WAIT- + GND LF347M + 1 U15A (SO14) 3 J6 PWM_A_T5 PWM_A_B5 PWM_A_T6 PWM_A_B6 PWM_A_T7 PWM_A_B7 PWM_A_T8 PWM_A_B8 PWM_C_T5 PWM_C_B5 PWM_C_T6 PWM_C_B6 PWM_C_T7 PWM_C_B7 PWM_C_T8 PWM_C_B8 ADC_CLK AENA_5 AENA_6 AENA_7 AENA_8 BA06_A BA08_A BA10_A DPRCS- OUT-A 220PF - (JEXPB) .1UF 3 ENC_A5 .1UF 47KSIP8I + 2 - 1 RP12A 100KSIP8I + CUT PINS 1 THRU 42 OF P6 AFTER ASSEMBLY C57 VCC - PWM~A~T5 +5V U23 C116 +12V + SSM-120-L-DV-LC - BA00_A BA02_A BA04_A BA06_A BA08_A BA10_A BA12_A BX/Y_A (JEXP_A) J11 BD00_A BD02_A BD04_A BD06_A BD08_A BD10_A BD12_A BD14_A BD16_A BD18_A BD20_A BD22_A BA00_A BA02_A BA04_A BA06_A BA08_A BA10_A BA12_A BX/Y_A + BD00_A BD02_A BD04_A BD06_A BD08_A BD10_A BD12_A BD14_A - Hardware Reference Manual CHA7CHB7CHC7- CHA7+ CHB7+ CHC7+ CHA8CHB8CHC8- CHA8+ CHB8+ CHC8+ 2.2KSIP6C 6 5 4 3 2 RP37 CHA6CHB6CHC6- CHA6+ CHB6+ CHC6+ 1 6 5 4 3 2 Title GND Delta Tau Data Systems, Inc. PMAC2-PC/104, SECOND-FOUR-AXIS MACHINE I/O 2.2KSIP6C 671-1SH2.sch Size D Document Number Date: Wednesday, October 10, 2001 Rev -- 603671-321 Sheet 2 of 2