Delta Tau PMAC2A User's Manual
Contents
1. 8000 BD01_A 2 EDOTA A 5 6 BbO A BDO7 A A BDOS A BDIO A A 1 BD14 A A BDIS_A BDIS A BDI A BDZi A BDZ A BAD A A BAO2 A BAD A BAO4 A 6 A BAOS A A DOLA BA102. 2 BOOTEN 5 3 3KSIP10C E apav 9 H 00 2 19 1 3 GND Dewos 2 57 54 97 5 04 ag 5 88 SAT 96 SATT 7 5 sato 2 510 sao 82 E BREL pet 5 06 xc SAG CPUCLK 1 sas 0 SA0S 1 vec 2 BSCAN T 124 GND SND RESET 159 BSCAN cori SA04 TDI 06 169 RESET SA4 85 SA03 17 101 SA02 A3 18 0 SA2 83 AA 19 82 SA00 20 4 SIOW 21 AS Pao SIOR A8 23 A LBEN P7g OEL 8 e vecio NC Hex t 54 vccio H a SH HA 29 9 72 BHR 11 10 HRW 271 BHDS A12 Alt HDS 7 BHA2 A13 32 12 HA2 69 38 13 68 15 34 14 HAO 67 INRD 34 18 INRD WR 269 RD GOEO X SYSCLK TMS_US 379 WR SYSCLK es E 4 5 ve 8000 PA16 DBO NC 60 U6 16 PAIT 42 TCK 5o VM ECS SS PAIS 43 PAIT DP RCS lt 0 4 DPRCS pee PA19 pata cso 58 5 20 PA21 46 20 csi pss CS 4 WDTC 21 CS4 Pag 5 00 FLASHCS 500 10 5 FLASHCS lt lt 380 iocs
3. 1 Option 10 Firmware Version 2 Option 12 Analog to Digital Converters eese eene eene nennen tree rentrer entren 2 Additonal ACCESSORIES romeo Im LI MIEL MEE 2 1 Axis Expansion Piggyback Board 2 Acc 2P Communications Board 2 Acc 8TS Connections Board 3 8 5 Four Channel Dual DAC Analog Stack seen eren 3 Acc 8FS Four Channel Direct PWM Stack Breakout Board eene 3 HARDWARE SETU P ees 5 Clock Configuration 5 Reset IMPETIS 5 CPU Configuration Jumpers 6 Communication 6 ADC Configuration 6 Encoder Configuration Jumpets t SEU S 6 Single Ended Encoders seen entere 6 I2 UID R r 6 MACHINE GLO T0 GM M c 9 APUD 9
4. 154 Baud Rate for Baud Rate for Baud Rate for 40 MHz CPU 60 MHz CPU 80 MHz CPU 0 600 Disabled 1200 1 900 0 05 900 1800 0 1 2 1200 1200 2400 3 1800 0 1 1800 3600 0 19 4 2400 2400 4800 5 3600 0 19 3600 7200 0 38 6 4800 4800 9600 7 7200 0 38 7200 14 400 0 75 8 9600 9600 19 200 9 14 400 0 75 14 400 28 800 1 5 10 19 200 19 200 38 400 11 28 800 1 5 28 800 57 600 3 0 12 38 400 38 400 76 800 13 57 600 3 0 57 600 115 200 6 0 14 76 800 76 800 153 600 15 Disabled 115 200 Disabled Not an exact baud rate Filtered DAC Output Configuration The PMAC2 PC104 is a PMAC2 style board with default 10V outputs produced by filtering a PWM signal This technique has been used been for some time now by many of our competitors Although this technique does not contain the same levels of performance as a true Digital to Analog converter for most servo applications it is more than adequate Many of our customers using this product have migrated over from the style board with true 16 bit DAC This document is meant for explaining the tradeoffs of PWM frequency vs resolution in the PMAC2PC104 base configuration as well as a comparison to the PMACI style 16 bit DACs Both the resolution and the frequency of the Filtered PWM outputs are configured in software on the PMAC2PC104 through the variable 1900 This 1900 variable also effects the phase and servo interrupts T
5. 13 14 25 26 _ 15 16 27 28 id Ed 31 32 39 40 DACn 33 34 41 42 Note The 5V and 12V extemal power 3e 1 4 1 41 supplies are required only when PMAC is not installed in a PC 104 Machine Connections 13 PMAC2A PC104 Hardware Reference Manual Machine Connections Example Using Pulse and Direction Drivers Driver 5 Volts Power Supply Stepper Motor CEEE ea fega eee L 2 22 PLIMn Flag V Rte AREA 11 12 23 24 13 14 25 26 15 16 27 28 1 2 3 4 Symbol Pin Pins Pins Pin 13 14 27 28 PUL n Note The 5V and 12V external power supplies are required only when PMAC is not installed in a PC 104 15 16 29 30 5 LE 14 Machine Connections PMAC2A PC104 Hardware Reference Manual SOFTWARE SETUP 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 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 m
6. 28 Hardware Reference Summary PMAC2A PC104 Hardware Reference Manual E POINT JUMPER DESCRIPTIONS E0 Forced Reset Control E Point and m Physical Layout Location Description Default 0 B3 Factory use only the board will not operate No jumper D with installed E1 Servo and Phase Clock Direction Control E Point and 5222 Physical Layout Location Description Default B4 Remove jumper for PMAC to use its No jumper installed internally generated servo and phase clock El signals and to output these signals on the J8 serial port connector Jump pins 1 and 2 for PMAC to expect to receive its servo and phase clock signals on the J8 serial port connector Note If the jumper is ON and the servo and phase clocks are not brought in on J8 serial port the watchdog timer will trip immediately E2 CPU Frequency Select ON Jump pin to 2 for 60 MHz operation E4 OFF E Point and 5 4 Physical Layout Location Description Default B4 Remove jumper for 40 MHz operation E4 No jumper installed E2 OFF also or for 80 MHz operation E4 E3 Normal Re Initializing Power Up Reset Description Default Layout E3 C4 Jump pin 1 to 2 to re initialize on power No jumper installed up reset loading factory default settings Rem
7. puro CLK ADC STR C109 BDOS A 1 FAULT 1 1UF ATOPE RPI7B 4 DACI A A AENA 2 FAULI 2 1 12 22088 STSICESCFTG BDi2 A AENA S FAULT 3 P 5016 BD14 A DISA AENA F FAULT 4 1 EDITA 6 BAOT ox cur BOTA A BAOS A dev AUF BD20 BD21 A BATA PWM A T2 5 BPC 5 RPISC 22 A BD23 A DPROS WAIT 220PF u24 BAOO_A BAOT A pPRcs lt lt WAIT us HEADER 25X2 FEM PI 4 pg BAO4 BAOS A GistestoDy a FALFSATM 2 puc OUT A m a HE A VMECS L Dv RPISA LF347M 1 _ csi Vesa SSM 125 L DV LC 1 2 p pen ax bt 517 g eson EWO a a 21 4TKSIPBI U16B 1 5 8 sf H BAR BRD 5V 47 5 5 RPI7C 6 DAC2 wo CHB2 SERVO PHASE 4o TET 1 2 RPISB 22058 ENC B2 A 2 AO AL 47KSIPBI our c SNDo GND 3 4 PWM A B2 7 120 a 7 RPISD RPIED ENC B3 CHB3 12 0 12 100KSIPBl A7KSIPEL ATKSIPBI 5 RPI6C 6 7 16 HEADER 25 2 ADCT pA RANE BI 7 ADC B2 T B2 _ Hiho 4 i L DV 8 B3 d EN B D CHB4 SSM 125 L DV LC DANE e
8. A as BXY A 1 2 xy 8 Sb0 ax AK 23 52 RI 24 5 8 3004 5 5603 IDT AFCTIGAZASTPA cea 3 5006 H 10 TSSOP48 1UF 2 Eo 19 6608Mhz 1 Be G cb a2 L en 31 9 2 30 23 28 27 25 24 23 22 21 20 19 do 3 3KSIP10C 16 16 BRXD 8 3 CTS SERA i 2 SER i 5 PHA em i Hav 7 ROE 8 g 1 7 6 TR 5 RESET w 3 7420245 H TSSOP20 POHOAIRERDER 832 Jac 6 lt lt PC 104 HEADERID20 2 CND 3 EY oT o GND s 3 eno PC 104 HEADERID20 vapav 71 X 3 aksIP10c J9 TBO UT HSIPENOS EN cb CE 1 EY TF 05 C96 2 gt dis 15 5 0 22UF 35 1UF HOLE 4 4 M3 12 AUF HOLE 06 97 1SMC18AT3 1UF HOLE GND 12 Tei 07 C98 GND 15 1 224 35 um 4 I GND 9532 3602 WW e ITE SERO IAS BEST AA 2 BB RPA 2 BRTS TN ANS UL Hone AAA NBI BL Hanel PAn R eese 2 ONLY apav 4 1 2 su L3 gt EXTAL MHRTSFAIT9 6608 1 GND MODA IRQA 2 SOT23 5 MODB IRQB 3
9. From v107 to 108 W1 removed ese 5 3775 375 3425 603670 Fri Jul 28 14 31 44 2006 24 Hardware Reference Summary PMAC2A PC104 Hardware Reference Manual From 108 to 109 E20 in same location but rotated 90 degrees n 5775 603670 9manuadl pcb Fri Jul 28 13 45 31 2006 Hardware Reference Summary 25 PMAC2A PC104 Hardware Reference Manual Board Layout Sneeo TIT e E a Le A B C D E F Feature Location Feature Location Feature Location 0 E2 El E2 E2 E3 E3 E3 E4 A2 E8 A3 E9 B6 E10 A2 Ell 12 5 JMACH2 A4 26 Hardware Reference Summary PMAC2A PC104 Hardware Reference Manual Connectors and Indicators J3 Machine Connector JMACH1 Port The primary machine interface connector is I MACHI labeled 13 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 amp B Ansley P N 609 5041 2 Standard flat cable stranded 50 wire T amp B Ansley P N 171 50 3 Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 94 Machine Connector JMACH2 Port This machine interface connec
10. CLOCK ADC CS 12 13 a12 pas 22 021 ET 6 enr cs pig t x E CHAT RD 15 32 1 Sb cH 37 str RESET 36d OND FLAG on Par 7 4 2RP25 HOME1 5 RESET GS ATi 179 Pio Flag 12 V Flag 3 4 V 89 0 Fag 3 PONTS LM6132AIM i 1 30 SHAD 20 AT lt 17411 5 ils n i i Ursa 10 REF IN Mo AS 15 1 10 0010 Pas D2 GND GND FLAG C1 T GNO GND ax BIOKSIPBI USERT 2 7 12 REF OUT 15 09 et 34 2 2 Ht 4 12 vee R26 pas ex 7 Veo vec 24 ADSTEGIE AT 22 35 Di FLAG 2 41 1 28 26 2 p 125 SSOP24 AG r Dot 34 2 FLAG B2 20 3 4 2 4290700 C127 6 5 5 TOUF 10V 24 06 33 Do PLIMT PLIMZ 5 i MLIMZ 1UF 4 25 05 37 1UF TACIT TALIM FLAG C2 mgo GND 35 USERZ AS 26 A04 00 USERT USER2 FLAG_D2 12 86 6 37 e B7 AT W1 27 403 BYTE PUL 27 13 87 Ape 1 2np2a 28 29 DIR FLAG B3 14 35 3 PLIMG SOLDER Sos 3 EGU Te EQU Z ot Bet 5 5 i MOST 9 JUMPER 2 2 2 508 HOMES HOMES FLAG C3
11. Motor Signals Connections Incremental Encoder Connection Each connector provides two 5V outputs and two logic grounds for powering encoders and other devices The 5V outputs are on pins and 2 the grounds are on pins 3 and 4 The encoder signal pins are grouped by number all those numbered 1 1 1 CHB1 1 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 1 is pin 5 and 1 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 setting of the resistor packs see the Hardware Setup section for details For a differential encoder connect the complementary signal lines 15 pin 7 and CHBI is pin 11 The third channel index pulse is optional for encoder 1 CHC1 is pin 13 and CHC1 is pin 15 10 Machine Connections PMAC2A PC104 Hardware Reference Manual Example differential quadrature encoder connected to channel 1 DAC Output Signals If PMAC 1 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 usin
12. Power Supplies e egi ee 9 Digital POWer Supply bueno deeper 9 DAC Outputs Power Supply ates esee e eh esee t deret 9 Flags POWer SUPDIV 10 Overtravel Limits and Home 10 Ivpesof Overtravel 10 Ve IIT cate 10 Motor Siptials 10 Incremental Encoder 10 DAC Output Signals 11 Pulse and Direction Stepper Drivers 11 Amplifier Enable Signal 11 Amplifier Fault Signal FAULT 12 Optional Analog oec REN ds cde ea at Sadao I MEE Compare Equal Outputs REM Serial Port JRS232 Port Machine Connections Example Using Analog 10 13 Machine Connections Example Using Pulse and Direction Drivers sese 14 SOFTWARE SETUP ee 15 PIMAG 15 Com m n Corsi pte 15 Operational Frequency and Baud Rate Setup 15 Filtered DAC Output Configuration 16 Parameters to Set up Global Hardware Signals e
13. and ADC CLK analog to digital converter clock Parameters to Set Up Per Channel Hardware Signals 19 6 1916 is output mode is output channel number i e for channel 1 the variable to set would be 1916 1926 for channel 2 etc On 1 there is only one output and one output mode DAC output On PMAC2 boards each channel has 3 outputs and there are 4 output modes Since this is board was designed to output filtered PWM signals we want to configure at least the first output as PWM Therefore the default value of 0 15 the choice For information on this variable consult the PMACI PMAC2 software reference manual Ix69 Ix69 15 the motor output command limit The analog outputs on PMACI style boards and some PMAC2 accessories are 16 bit DACs which map a numerical range of 32 768 to 32 767 into a voltage range of 10V to 10V relative to analog ground For our purposes of a filtered PWM output this value still represents the maximum voltage output however the ratio is slightly different With a true DAC 1 69 32767 allows a maximum voltage of 10V output With the filtered PWM circuit Ix69 15 a function of 1900 10V signal in the output register is no longer 32767 as was in PMACI a 10V signal is corresponds to a value equal to 1900 Anything over 1900 will just rail the Dac at 10V For Example Desired Maximum Output Value 6V 69 6 10 1900 Desired Maximum Output Value 10V Ix69 1900 10
14. 16 SND ND EST i USERS _ TSOPSp FLAG D3 37 32 DSTA MUMS MIN t 187 811 AB USER3 USER4 FLAG A4 19 30 1 2RP29 HOME4 woe PULS PUL ar FLAG B4 Bo B12 3 3 DR 3 DRAF 913 28 5 3 Sv UF GND Equa EOU 4 FLAG C4 gt 95 GND 7 7 BIGKSIPSI USERS AUF 1UF 5 B WDO FLAG D4 B 14 J FLT FLG V 5V apa x B15 A15 Wi 1 To 2 FOR 29232 7 24 815 Als bos 9 Wl 2 3 FOR 28 HEADER 17X2 TR 7 Se de DSTESEIM TAACASZAS Read iocs e S SOCKET dog 5 008 00 a T 00 GND Eom ae A EFT EDOTA 4 7KSIP10C 3 3KSIP10C 35 TEES enp 5 35 2 43 5 BDO3 A u32 ps 42148000817 FAULT 1 2 i 2Rpag FALTI Dr 41 0027 FAULT 17171 ALS FAULT 2 3 4 FALT2 08 55 30 4 BDOS A FAULT S 12 2 4 FAULT 3 5 FALTS 55 10 FAULTS 15 7 SIOKSIPSI Ud FALTE DE 38 11 50057 EQU TF 14 6 EQU T 06 56 07 37 dz BDOT A EQU 2 13 YS ADI EaU 07 96 87 i3 E EQU S 12178 26 i EQUS Do 35 9 4 A 5 EAU 09 35 12 vs n T TSESV DU Em BDTU A 357 1 20 PHASE VCCA DIZ 30 1
15. 4 GND Common Digital Common For encoders 1 5 CHAI Input Encoder A Channel Positive 2 6 CHA2 Input Encoder A Channel Positive 2 7 1 Input Encoder A Channel Negative 2 3 8 2 Input Encoder A Channel Negative 2 3 9 1 Input Encoder B Channel Positive 2 10 CHB2 Input Encoder B Channel Positive 2 11 1 Input Encoder B Channel Negative 2 3 12 CHB2 Input Encoder B Channel Negative 2 3 13 CHCI Input Encoder C Channel Positive 2 14 CHC2 Input Encoder C Channel Positive 2 15 CHCI Input Encoder C Channel Negative 2 3 16 CHC2 Input Encoder C Channel Negative 2 3 17 Input Encoder A Channel Positive 2 18 4 Input Encoder A Channel Positive 2 19 CHA3 Input Encoder A Channel Negative 2 3 20 CHA4 Input Encoder A Channel Negative 2 3 21 CHB3 Input Encoder B Channel Positive 2 22 CHB4 Input Encoder B Channel Positive 2 23 CHB3 Input Encoder B Channel Negative 2 3 24 CHB4 Input Encoder B Channel Negative 2 3 25 CHC3 Input Encoder C Channel Positive 2 26 CHC4 Input Encoder C Channel Positive 2 27 CHC3 Input Encoder C Channel Negative 2 3 28 CHC4 Input Encoder C Channel Negative 2 3 29 DACI Output Analog Output Positive 1 4 30 DAC2 Output Analog Output Positive 2 4 3l DACI Output Analog Output Negative 1 4 5 32 DAC2 Output Analog Output Negative 2 4 5 33 1 Output Amplifier Enable 1 34 AENA2 Output Amplifier Enable 2 35 FAULTI Input Amplifier Fault 1 6 36 FAULT2 Input Amplifier Fault 2 6 37 DAC3 Outpu
16. 53 iocs 5 vecio 22 x 9 wc i 12063 4 cas 1UF GND E 9 8 10 1UF BIXD BRTS I crs 1 HEADER 10 BOX 8 E u9 tenn AH EB E9 7 4 t 4 Bs DEP D GND SN75240PW 1 Re gt 3 4 5 6 PHASE 7 8 SERVO 2208 p4X2 NC U35A uasa 10E phase 2 1e 1 2 4 Pa ik 20E servo 5 SERVO A 1 14 74 14 PHA 3 30 5014 3014 t 40E uss vase L H vss 13 12 10 SER m T
17. IS LOANED SUBJECT TO RETURN UPON DEMAND TITLE 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 VR2 LM1117MPX 1 8 MG33269ST 1 8 3 2 o 507 223 pua 32 L sg a o GND 15 32 31 SAT SAOZ 1a LBEN 29 SA03 5000 2 ri BHO 28 SDOT 3 0 BHT SA05 4 26 35 5002 5 25 shor 5003 24 i 7 MC33269ST 3 3 23 5004 Te 10 5005 9 BHS 21 8 5006 11 12 BH 80 223 BASA 13 AS 5 14 AB AT m BAO8 1 5 m 56 BAO A 17 10 AS 18 eA GC 5
18. Input Home Flag 3 10 20 4 Input Home Flag 4 10 21 PLIM3 Input Positive End Limit 3 8 9 22 PLIMA Input Positive End Limit 4 8 9 23 MLIM3 Input Negative End Limit 3 8 9 24 MLIM4 Input Negative End Limit 4 8 9 25 USERI Input User Flag 3 26 USER2 Input User Flag 4 27 PUL 3 Output Pulse Output 3 28 PUL 4 Output Pulse Output 4 29 DIR 3 Output Direction Output 3 30 DIR 4 Output Direction Output 4 31 EQU3 Output Encoder Comp Equal 3 32 EQU4 Output Encoder Comp Equal 4 33 B_WDO Output Watchdog Out Indicator driver 34 No Connect Note 8 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 9 Must be conducting to usually GND for PMAC to consider itself not into this limit Automatic limit function can be disabled with Ix25 Note 10 Functional polarity for homing or other trigger use of HOMEn controlled by Encoder Flag Variable I9n2 HMFLn selected for trigger by Encoder Flag Variable 1913 Must be conducting to usually GND to produce a 0 in PMAC software 36 Connector Pinouts PMAC2A PC104 Hardware Reference Manual Connector Pinouts 37 PMAC2A PC104 Hardware Reference Manual SCHEMATICS 38 Connector Pinouts PMAC2A PC104 Hardware Reference Manual THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU DATA SYSTEMS INC AND
19. TRR 5 47 gt 8 5 LI BN d RP21B 2 ATKSIPBI PWM A BA4 7 BPI8D 7 RPI9D j RP21D 5 22 6 7 RP22D Tooksied zu 4 47KSIPSI E15 FLASH BANK SELECT LF347M y 1E15A 2 R30 3 3K UF FIORE 14 RP23D RBS 2 FLAG T1 T RIT 32 19180 E158 2 51 N 584 1 2 Ra 014 A S ELAG WT NB 420 100 DANT B FLAG V AAS EAS V2 i ADCIN 2 R20 R2 gl 9 FLAG_W2 i 5 20 0K1 pro 3ksiPi C 1 wp 56 LM6132AIM t 22 A24 WP RP46 FLASHCS 2 wR 1 2 FLAG T3 FLASHCS ce we RD gt 98 a 21 OF Pas PRDY 4 FLAG V3 2022 4 A20 sts R22 R23 19 PATS 5 19 51 D7 E FLAG Ta PAI 5 Ais 27 2 1 ss LAA x PAIG 8 16 39 ven avo 25 LAN AG vec GND eus CH 1 SDO A 1 09 te WE A15 10 a7 3 CH 22 ADC AS A5 Mh TH ats pats 12 12 NS 54 spo s 2 3 3ksiPi0C AM A14 005 33ksiPtoc Busy 213 12 25 1 11 aur d 5 20 13 96 A12 A13 Date D4 aur aur ADCIN 1 R24 6 CH_BO
20. for PC 104 bus communications PMAC2A PC 104 Option 2A must be ordered The key component installed with this option is U17 USB Ethernet and PC 104 bus communications cannot be made simultaneously it is jumper selectable Acc 2P Option 3 Ports Option 3 provides the following ports on the Acc 2P communications board for digital I O connections e 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 e Port this port provides 16 general purpose digital I O lines at TTL levels and these can be configured as all inputs all outputs or eight inputs and eight outputs Handwheel port this port provides two extra channels each jumper selectable between encoder input or pulse output Acc 8TS Connections Board 8 15 a stack interface board to for the connection of either one or two Acc 28B A D converter boards When a digital amplifier with current feedback is used the analog inputs provided by the Acc 28B cannot be used 8 Four Channel Dual DAC Analog Stack Board Acc 8ES provides four channels of 18 bit dual DAC with four DB 9 connectors This accessory is stacked to the PMAC2A PC 104 board and it is mostly used with amplifiers that require two 10 V command s
21. frequency of the ripple decreased from about 30kHz to 15kHz are some measurements taken with a PMAC2PC104 I900 Value Output Voltage PWM Approximate Approximate Resolution Output Change Frequency Ripple Ripple Signed Per 1bit increment Magnitude Frequency In output register 1001 11 bit 9 9mV 29 4177 KHz 230mV 30KHz 2002 12 bit 4 99mV 14 72 Khz 700mV 1SKHz 4004 13bit 2 49mV 7 36 Khz 2V 7Khz How does the ripple affect servo performance It really depends on the system For most servo systems the mechanics can t respond anywhere near these frequencies Some systems with linear amplifiers it will effect the performance especially as you lower the PWM frequency and effectively the ripple frequency i e galvanometers etc In the overall majority of the servo world these ripple frequencies will not show in the system due to mechanical and electrical time constants of most systems This will happen regardless of the amplifier used So why is the recommended setup for 30KHz A few reasons the first is aesthetics Nobody wants to put a scope an output signal and see 1 or 2V of hash If you increase that frequency the hash is minimized The second reason is response of the output with respect to the servo filter If you increase the output resolution and thus lower the PWM frequency far enough you will notice some lag in the system from the delays between the output register value actually bein
22. kHz 2 1001 3 58 835KHz PWM Frequency 117 964 8 kHz 4 1001 6 29 418KHz PHASE Clock Frequency MaxPhase Frequency 2 1 19 61KHz Servo Clock Frequency PHASE Clock Frequency 3 1 4 90KHz 110 8388608 4 902943 1710933 I1x69 10V 10 1900 1001 add headroom to 1024 Now lets say I wanted to double my resolution 1900 2002 MaxPhase Frequency 117 964 8 kHz 2 2002 3 29 44KHz PWM Frequency 117 964 8 kHz 4 2002 6 14 72KHz In order to save headroom on firmware routines that trigger off the phase and servo interrupts it 1 best to keep those frequencies about the same as above Some systems may want higher phase and servo 20 Software Setup PMAC2A PC104 Hardware Reference Manual interrupt frequencies for better servo performance but our default frequencies are typically more than fast enough for many applications We will discuss tuning parameter a bit later in this document 1901 29 44KHz 19 61KHz 1 0 5 set it at 14 72KHz This is not exactly the same since 1901 is an integer value but pretty close Since we are doing any commutation with a 10V signal it doesn t make that much of a difference The Servo Frequency we will be able to get close though 1902 14 72KHz 4 9 1 2 004 or 2 which is 4 9KHz For a 10V max signal output 1 69 1900 headroom 2024 We must set I10 whenever we change the servo clock but since we kept it basically the same 119 stays pretty much
23. not tie to GND Note 6 Note 7 Functional polarity controlled by variable 1 25 Must be conducting to usually GND to produce a 0 in PMAC software Automatic fault function can be disabled with Ix25 Can be used to provide input power when the PC 104 bus connector 1 not being used When the bus configuratio is used these supply voltages automatically come through the bus connector from the PC power supply Connector Pinouts 35 PMAC2A PC104 Hardware Reference Manual J4 JMACH2 Machine Port CPU 3 Connector saOOOOOOOOOOOOOOOO00 J2 34 Pin Header idol Pin Symbol Function Description Notes 1 FLG 12 Input Flags 1 2 Pull Up 2 FLG 34 V Input Flags 3 4 Pull Up 3 GND Common Digital Common 4 GND Common Digital Common 5 1 Input Home Flag 1 10 6 HOME2 Input Home Flag 2 10 7 PLIMI Input Positive End Limit 1 8 9 8 PLIM2 Input Positive End Limit 2 8 9 9 MLIMI Input Negative End Limit 1 8 9 10 MLIM2 Input Negative End Limit 2 8 9 11 USERI Input User Flag 1 12 USER2 Input User Flag 2 13 PUL 1 Output Pulse Output 1 14 PUL 2 Output Pulse Output 2 15 DIR 1 Output Direction Output 1 16 DIR 2 Output Direction Output 2 17 EQUI Output Encoder Comp Equal 1 18 EQU2 Output Encoder Comp Equal 2 19 HOME3
24. the amplifier regardless of the voltage of the command signal PMAC s AENA line is meant for this purpose is pin 33 This signal 15 an open collector output and an external 3 3 pull up resistor can be used if necessary Machine Connections 11 PMAC2A PC104 Hardware Reference Manual JMACH1 33 1 Connect to the 48 amplifier enable input 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 1125 for motor 1 and the return signal is ground GND FAULTI 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 5 24Vdc Power Supply _ Connect to the amplifier fault output JMACH1 47 FLT_FLG_V Optional Analog Inputs The optional analog to digital converter inputs are ordered either through Option 12 on the CPU or Option 2 on the axes expansion board Each option provides two 12 bit analog inputs analog inputs with 10Vdc range JMACH1 45 1 10V analog signal 3 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 ve
25. the same Without rounding it works out to the following I10 8388608 4 906613 1709653 For precise timing within your motion application it is important not to round off when calculating I10 Effects of Output Resolution and Servo Interrupt Frequency on Servo Gains When you change your output resolution and or servo interrupt timing your tuning parameters will no longer respond the same The system will have to be tuned again in order to achieve the desired performance There is an approximate relation of output resolution to servo loop gains If you were switching an application from a PMAC style 16bit Dac to a 2 104 with default resolution of about 116165 you can expect a change of your gains in order to get similar response The max output value of the output command with 16bit Dac is 32767 With the PMAC2Pc104 at its default parameters the max output value 15 1001 If you had equal servo interrupt frequencies the proportional gain on the PC104 system would have a proportional gain 1001 32767 or about 1 32 smaller This is more a rule of thumb than an exact formula It is always recommended to go through a full tuning procedure when changing output resolution If you decide to change the Servo Interrupt Frequency then you are also changing the dynamics of the servo filter and thus the system You will need to retune the system in order to get the desired performance If you increase the servo frequency you will need to low
26. 4HCTZ8C 4 Keer 01 02 TAACTAA TAACTAA E 9014 S014 o ba E asc 36D 06 CARDO WAIT BTA 08 4 waT D10 TACTA TAACTAA 010 5014 D12 D13 D14 D15 D16 D17 D18 D19 D20 D21 D22 022 sv 10 R2 INIT 1 2 3 4 5 10K S014 5014 TAACTIA TACTA AUF 5014 50723 Fr 1 cos RPSA o RPS RESET mum Ksibel CRESET usp wo T 8 WDO lt woo RPSC 1 6 3 74 14 s Puno E 1 16 1 50725 INS mex use 3 14 3 ne cas bs m woo x2 nc Ex 4 bi c34 7 TAACTAA 64 Hne ox E0 E14 35V GND D2 01 9 tant 5512315 7 LED 50116 13 2 GRN RED M onn x TAACTIA E14 pa R5 1 1K 1K TRST o4 2N7002 60723 E RP50 5V INRD l lt lt XIN 12 DERE XIN SDB BDO A anor A GND 2 o B2 BD02 19 2 e i 5 XiN S BDOS A 22294 1 2 XN 4 Ei 8004 A B4 BDO4 TBD i XIN S 97 005 A BD05 A 9 4 2 XN 188 3 XT Epor A 8D08 cs 18 500 cs 14 50 H cso cno H amp 4 cs 16 cst B10 cs1 cs HE 4 DP 19 DPRCS 12 DPRCS V
27. 9 BDIZ A TAACEAT AUF Dis 23 412 B12 on BDi3 A AUF AUF AUF Sind 50120 4 EtG ADC CS D13 zars B13 HA o GND GND Ni D7 27 22 BDA woo mL 4 TO ENABLE 01 96 015 14 B14 EDISA CHAT CHAT 5 1 25d gt 24 CHAT CHAZ 46 3 PWM A BT GND 1092 CHBT 2 45 A1 101747 164245 1 CHBZ PWM A T2 T 24 a 5 7 PWM A T2 TSSOPAB CHC2 PWM A B2 43 PWM A BZ Uia CHET CHEZ 12 BT T i adom mal 1 4 CHA4 PWM A T3 41 PWM A T3 D16 474 BD16 CHAJ CHAA PWM B3 10 4 PWM A B3 018 56 017 3640 5 BDI7 A CHEST 4 3 5 1 45 CHB3 CHBA PWM A T4 4 nig DT8 2 e 5 BDT8 A 357 CHC3 CHCA B4 Era 28 PWM A B4 ces bis ors 43 2 B2 F6 BD19 T 36 eps DIR TT 42 vece 7 DAC2 PWM C Bi 35 E24 2 2KSIP10C 1KSIP10C 2 2KSIP10C 1kSIP10C 027 41 BALA DACT DAC2 15 D20 GND GND 20 5 21_ AENAT ENAZ PWM C T2 36 DIR_2 pat 3945 85 EWNM C E2 32 10 Lay 027 38 SND 5522 DACA B11 pue 022 6 37 AS BD23_A DACI DA
28. CA PWM C T3 DIR_3 i CHET CHET CHB3 CHB3 b E sped BITE A 4 PWM_C_BS M MICE PUL 3 1 CHCTE AO 1 B13 4 0 96 35 AS rur 7 FALTS 315 38 ADENT ADON Z PWM T4 27 22 DIR 4 TEES 16 35 PWM 25 B14 Ez PULAT 2 E 32 410 810 17 BAOS A 1 WDO 252 A 1815 2 PUES 0 vees 19 tenor t HEADERZSXZ nen Sas 29 1 812 20 BAOS A E exc 5 999 o i 6 zt eer cm erem 40 Ses oe HI mew T i d RE Delta Tau Data Systems Inc 26 23 BRDA 3 CHEZ CHEZE 3 CHCA CHEAT m 8 set 7 tor P t 1 i JEX 25g 25 onnector Finouts 104 MACHINE I O amp JEXP SECTION D TSSOPAB lt 603670 320 Monday July 07 7001 Ent 7
29. M ECS 812 20 VMECS penca PWDO 22 BWDO A B14 BWDO A RESET 23 BRST A M PITAFCTTGZASAT 1550248 e Delta Tau Data Systems Inc PMAC PC104 DSP56311 CPU amp 104 I O SECTIO T Document Number ev 603670 320 Monday July 02 2001 Ehe 1 s 2 Connector Pinouts 39 PMAC2A PC104 Hardware Reference Manual
30. PMAC2A PC 104 CPU DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION 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 2008 Delta Tau Data Systems Inc 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 support deltatau com Website http www deltatau com Operating Conditions AII 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 el
31. Reference Manual By increasing 1900 we are essentially decreasing our PWM Frequency The two are related by the following equation I900 INT 117 964 8 4 PWMFreq KHz 1 Passing PWM signal through a 10KHz low pass filter creates the 10V signal output The duty cycle of the PWM signal is what generates the magnitude the voltage output The frequency of the PWM signal determines the magnitude and frequency of ripple on that 10V signal As you lower the PWM frequency and subsequently increase your output resolution you increase the magnitude of the ripple as well as slow down the frequency of the ripple as well Depending on the system this ripple can affect performance at different levels So what do we mean by ripple Ripple is the small signal that will you will see on top of the 10V signal if you put an oscilloscope on it In other words if I command a 4V signal out of the PMAC2PC104 and scope it I will see a small sinusoidal type wave centered on 4V At the default PWM frequency and output resolution this will have a magnitude of about 230mV and a frequency of about 33kHz This is typically faster than any of the control loops so the amplifier essentially filters it out of the system Say I wanted to double the resolution of my output signal I would merely double my 1900 value from 1001 to 2002 How does this affect the ripple From a test I calculated the ripple magnitude to increase from around 230mV to about 700mV The
32. _A A HEADER 20x2 FEM SSM 120 L DV LC CLS120LDDV THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU DATA SYSTEMS INC AND 18 LOANED SUBJECT TO RETURN UPON u23 DEMAND TITLE THIS DOCUMENT 18 NEVER SOLD OR JEXPB i ciis 16 TRANSFERRED FOR ANY REASON THIS DOCUMENT IS BE USED 26 T ONLY PURSUANT TO WRITTEN LICENSE OR WRITTEN INSTRUCTIONS PWM A T1 PWM B T1 PWM A T1 1 RPIZA 2 1 RPISA 2 aur 2 OF DELTA TAU DATA SYSTEMS INC ALL RIGHTS TO DESIGNS AND PWM A BT PWM B B1 28 220PF OUT A INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC EWM A TZ PWM E TZ wa bt CHAI POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE PWN AE PWM E B2 M R10 ues ABOVE AGREEMENT EA pene prod 2118946 meb t oma C108 LF347M 1 T4 PWN B T4 1 2 ren ENC A2 2 EWM A B7 PWM B B7 2 9154 T4 E QUI We ADC Sedo ep 0158 1 2 DACH 14 CHAS JEXPA y PWM CBT ADC AZ 2 RP14B 10 5 2 EWM GTZ ATKSIPBI ADC BI PWM A B1 12 4 RPISB 4 RP14D pum SEE EN B D GNDO Boon A BDOT A ene WM C B B2 M 1 2 3 4 BD02 7 BD03 A PWM C T4 ADC B3 ai IRSE aTKSICN A4 BDO4_A BDOS A
33. add a little headroom to assure a full 10V Effects of Changing 1900 on the System It should now be understood that a full 10 volts is output when the output register is equal to 1900 The output register is suggested m variable Mx02 102 gt Y C002 8 16 S OUTIA command value DAC or PWM With default setting of 1900 10Volts is output when m102 is equal to 1900 or 1001 Since the output register is an integer value the smallest increment of change is about 10mV 1 1001 10V Some users may want to calibrate their analog output using Ix29 29 is an integer similar to Mx02 except the value is added to the output register every servo cycle to apply a digital offset to the output register Therefore the resolution of our output signal affects how Ix29 should be set As mentioned earlier with the default parameters 1 bit change in the output register changes the analog output by about 10mV Therefore if there is an analog output offset less than 5mV Ix29 cannot decrease your offset By increasing 1900 you increase your resolution so if you double 1900 1 bit change in the output register corresponds to about 5mV So with Ix29 you can only change the offset in increments of 5mV You can see above that by increasing 1900 you increase the resolution of our command output register This sounds like a good thing right There are tradeoffs when you change 1900 between resolution and ripple 18 Software Setup PMAC2A PC104 Hardware
34. al Encoders Differential encoder signals 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 6 Hardware Setup PMAC2A PC104 Hardware Reference Manual Connect pin t Tie to 2 to tie differential line to 42 5 V H2 5V when no connection Tietod Connect 2 t 2 5V for single ended encoders o 3 to tie differential line to 5V e Don t for differential line driver encoders Tie to 5V for complementary open collector encoders obsolete Hardware Setup PMAC2A PC104 Hardware Reference Manual Hardware Setup PMAC2A PC104 Hardware Reference Manual MACHINE CONNECTIONS Typically the user connections are made to terminal blocks that attach 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 typically installed using standoffs when stacked to a PC 104 computer or as a stand alone controller At each of the four corners of the PMAC2A PC 104 board there are m
35. board has the capacity for eight separate banks of firmware only one of which can be used at any given time The eight combinations of settings for jumpers E15A 15 and E15C select which bank of the flash memory is used In the factory production process firmware is loaded only into Bank 0 which 1 selected by having all of these jumpers OFF E10 E12 Power Up State Jumpers Jumper E10 must be OFF jumper E11 must be ON and jumper E12 must be ON in order for the CPU to copy the firmware from flash memory into active RAM on power up reset This 1s necessary for normal operation of the card Other settings are for factory use only E14 Watchdog Timer Jumper Jumper E14 must be OFF for the watchdog timer to operate This is very important safety feature so it 15 vital that this jumper be OFF for normal operation E14 should only be put ON to debug problems with the watchdog timer circuit WI1 Flash chip select Jumper W1 in position 1 2 selects 28F320J3A part for the U10 flash chip Jumper W1 in position 2 3 selects a 28F320J5A part for the U10 flash chip This jumper is installed in the factory and must not be changed from its default state Communication Jumpers 18 19 PC 104 Bus Base Address Control Jumpers E18 and E19 on the PMAC2A PC 104 CPU determine the base address of the card in the I O space of the host PC Together they specify four consecutive addresses on the bus where the card can be found The jumpe
36. digital inputs on the machine connector PLIMn MLIMn overtravel limits HOMEn home flag FAULTn amplifier fault and USERn 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 JMACHI 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 JMACH2 JMACH2 Flag 12V Flag 1 2 V 5 24Vdc 5 24Vdc Power Supply Power Supply Dry Contact 15 24V proximity 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
37. e only 32 CONNECTOR PINOUT V 33 JPWR Power Supply 33 J4 785232 Serial Port 33 J3 JMACHI Machine Port Connector eese enne enne enne ennt nennen nnne nnne 34 13 IMACHT 50 Pim Header ERR Cu Ee Ru pe Ag bis 35 14 JMACH2 Machine Port CPU ener nennen 36 SCHEMATICS Pep 38 ii Table of Contents PMAC2A PC104 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 CPU 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 ports and either the USB or Ethernet interface for faster communications Board Configuration Base Version The base version of the PMAC2A PC 104 ordered with no options provides a 90mm x 95mm board with 40 MHz DSP563xx CPU 80 MHz 560xx equivalent 128k x 24 internal zero wait state SRAM 512k x 8 flash memory
38. ectrical 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 DESCRIPTION DATE CHG APPVD 1 UPDATED JUMPER DESCRIPTIONS PGS 6 amp 30 05 17 06 CP S MILICI 2 REVS J4 E20 23 CONNECTOR PINOUTS 10 04 06 CP P SHANTZ amp BOARD DIAGRAMS 3 CORRECTED TYPO IN I VARIABLE SETTINGS P 17 01 22 08 CP S MILICI 4 CORRECTED USER FLAGS FOR PINS 25 amp 26 P 36 07 29 08 CP C COKER PMAC2A PC104 Hardware Reference Manual Table of Contents TNTRODUC TION m 1 1 1 Board Options sheet titii ee ED ep AH 1 Option 2 PC I04 Bus Stack Interface uei t tte 1 Option Sx gt CRU Speed Options erret ve aedes eene 1 Option 6 Extended Firmware Algorithm 1 Option 6L Multi block Lookahead
39. eference Manual E18 E19 PC 104 Bus Address E Point SIRE Location Description Default Layout D4 Jumpers E18 and E19 select the PC 104 bus No E18 jumper installed address for communications according to Jumper E19 installed Eis the following table Address Address OFF OFF 200 512 OFF ON 210 528 E19 ON OFF 220 544 ON ON 230 560 Note Jumper E18 must be removed and jumper E19 must be installed for using either the Ethernet or USB optional methods of communication E20 E23 ENCODER SINGLE ENDED DIFFERENTIAL SELECT Note v107 and above only E Point and Physical Layout Location Description Default E20 Jump pin 2 to 3 to obtain differential 1 2 Jumper installed encoder input mode This will bias encoder negative inputs to VCC 5V Jump pin 1 to 2 to obtain non differential encoder input mode This will bias encoder negative inputs to 1 2 2 5V YY E23 5 32 E Point Jumper Descriptions PMAC2A PC104 Hardware Reference Manual CONNECTOR PINOUTS TB1 JPWR Power Supply 4 Pin Terminal Block Edge of Board Top View Pin Symbol Function Description Notes 1 GND Common Digital Common 2 T5V Input Logic Voltage Supplies all PMAC digital circuits 3 12V Input DAC Supply Voltage Ref to Digital GND 4 12V Input DAC Sup
40. er the proportional gain in order to achieve similar performance The reason you increased the frequency in the first place was more likely to achieve a higher performance so relations here are not very helpful If you desire to change servo interrupt frequency in order to have your foreground PLCs execute more often you can also adjust Ix60 to keep your gains the same see the Pmac1 2 Software Reference Manual for a further description of this parameter Software Setup 21 PMAC2A PC104 Hardware Reference Manual Using I O as General Purpose 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 Channel Number 1 2 3 4 5 24 VDC Input M120 M220 M320 M420 PLIM 5 24 VDC Input M121 M221 M321 M421 MLIM 5 24 VDC Input M122 M222 M322 M422 USER 5 24 VDC Input M115 M215 M315 M415 AENA 5 24 VDC Output M114 M214 M314 M414 Note When using these lines as regular I O points the appropriate setting of the 1 25 variable must be used to enable or disable the safety flags feature Analog Inputs Setup The optional analog to digital converter inputs are ordered either throug
41. erate the Flex CPU board at a frequency below its rated maximum 146 is used only at power up reset so to change the operational frequency set a new value of 146 issue a SAVE command to store this value in non volatile flash memory then issue a command to reset the controller To determine the frequency at which the CPU 15 actually operating issue the TYPE command to the PMAC The PMAC will respond with five data items the last of which is CLK Xn where n is the multiplication factor from the 20 MHz crystal frequency not 10 MHz n should be equivalent to 146 1 2 if 146 is not requesting a frequency greater than the maximum rated for that CPU board will be 2 for 40 MHz operation 4 for 80 MHz operation and 8 for 160 MHz operation Software Setup 15 PMAC2A PC104 Hardware Reference Manual If the CPU s operational frequency has been determined by a non zero setting of 146 the serial communications baud rate is determined at power up reset by variable 154 alone according to the following table I54 Baud Rate I54 Baud Rate 0 600 8 9600 1 900 9 14 400 2 1200 10 19 200 3 1800 11 28 800 4 2400 12 38 400 5 3600 13 57 600 6 4800 14 76 800 7 7200 15 115 200 For a saved value of for 146 the serial baud rate 15 determined by the combination of 154 and the CPU frequency as shown in the following table
42. for user backup and firmware Latest released firmware version RS 232 serial interface Four channels axis interface circuitry each including e 12 bit 10V analog output e Pulse and direction digital outputs e 3 channel differential single ended encoder input e Four input flags two output flags e Three PWM top and bottom pairs unbuffered PMAC2A PC 104 Base Board shown 50 pin IDC header for amplifier encoder interface 34 pin IDC header for flag interface PID notch feed forward servo algorithms 1 warranty from date of shipment One CD ROM per set of one to four PMACs in shipment Cables mounting plates mating connectors not included Board Options Option 2A PC 104 Bus Stack Interface Option 2A provides the PC 104 bus interface allowing bus communications between a PC 104 type computer and the PMAC2A PC 104 motion controller Option 5xF CPU Speed Options e Option 5CF 80 MHz DSP563xx CPU 160 MHz 56002 equivalent e Option 5EF 160 MHz DSP563xx CPU 320 MHz 56002 equivalent Option 6 Extended Firmware Algorithm Option 6 provides an Extended Pole Placement Servo Algorithm firmware instead of the regular servo algorithm firmware This is required only in difficult to control systems resonances backlash friction disturbances changing dynamics Option 6L Multi block Lookahead Firmware Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles execution Wi
43. g PMAC channel 1 connect 1 pin 29 to the command input on the amplifier Connect amplifier s command signal return line to PMAC s GND pin 48 In this setup leave the DACI pin floating do not ground it For a differential command using PMAC channel 1 connect DACI pin 29 to the plus command input on the amplifier Connect DACI 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 2200 output resistors will keep the current draw lower than 50 mA all cases and prevent damage to the output circuitry but any current draw above 10 mA can result in noticeable signal distortion Example JMACH1 Connect to the amplifier 10V command input 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 JMACH2 PUL 1 Connect to the stepper 15 DIR 1 driver command input GND Amplifier Enable Signal AENAx DIRn Most amplifiers have an enable disable input that permits complete shutdown of
44. g picked up by the slower PWM frequency For high response systems we suggest using Acc8es and a true 18bit DAC However the filtered PWM technique will be more than adequate for most applications Software Setup 19 PMAC2A PC104 Hardware Reference Manual How does changing 1900 effect other settings in PMAC I900 is does not only set the PWM frequency for the PWM outputs but it also sets the Max Phase Frequency MaxPhase Frequency 117 964 8 kHz 2 1900 3 PWM Frequency 117 964 8 kHz 4 1900 6 The Max Phase Frequency is then divided by 1901 to generate the frequency for the phase interrupt and its routines If you change 1900 you have to change 1901 to keep the same phase interrupt PHASE Clock Frequency MaxPhase Frequency 1901 1 The Phase Clock Frequency setting also effects the servo interrupt frequency If you change the phase interrupt frequency then you must change 1902 to keep the same servo interrupt Servo Clock Frequency PHASE Clock Frequency 19024 1 When you change the servo interrupt you must always change the servo interrupt time 110 to match or all of your timing will be off in PMAC 110 8388608 Servo Frequency KHz 8388608 ServoTime msec If you decide to change 1900 be sure to reset Ix69 to the proper safety setting per the following formula Ix69 MaxVolts 10 1900 Examples Default Example 1900 1001 1901 2 1902 3 1 69 1024 110 1710933 MaxPhase Frequency 117 964 8
45. h Option 12 on the CPU or Option 2 on the axes expansion board Each option provides two 12 bit analog inputs with a 4 t10Vdc range 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 CPU Analog Inputs 1903 1746 WX C014 51 105 gt 50710 12 12 5 205 gt 50711 12 12 5 ADC clock frequency at 4 9152 MHz Clock strobe set for bipolar inputs ADCIN 1 on JMACH1 connector pin 45 ADCIN 2 on JMACH1 connector pin 46 22 Software Setup PMAC2A PC104 Hardware Reference Manual HARDWARE REFERENCE SUMMARY The following information is based on the PMAC2A PC 104 board part number 603670 100 Board Dimensions From v106 to 107 E20 23 added and 15 is in a different location on 9 66090009000900002000000008 2 mmm eee MACHI HONN 020000000060 Heeecooatosc IT ae ole Hardware Reference Summary PMAC2A PC104 Hardware Reference Manual
46. he multiplexed I O boards may be daisy chained on the port in any combination e TO 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 Acc 2P Communications Board Without any options the PMAC2A PC 104 communicates through the RS 232 serial interface using the optional Acc 3L flat cable or PC 104 bus This board provides added communication and I O features Acc 2P Option 1A USB Interface Option it provides a 480 Mbit sec USB 2 0 interface Acc 2P Option 1B Ethernet Interface Option 1B provides a 100 Mbit sec Ethernet Acc 2P Option 2 DPRAM Circuitry Option 2 provides an 8K x 16 dual ported RAM used with USB Ethernet or PC 104 bus applications If using for USB or Ethernet communications Acc 2P Opt 1A or Acc 2P Opt 1B must be ordered If used 2 Introduction PMAC2A PC104 Hardware Reference Manual
47. herefore as we change 1900 we will also have to change 1901 phase clock divider 1902 servo clock divider and 110 servo interrupt time These four variables are all related and must be understood before adjusting parameters 16 Software Setup PMAC2A PC104 Hardware Reference Manual Since the PMAC2PC104 uses standard PMAC2 firmware the following I variables must be set properly to use the digital to analog filtered DAC outputs Ix69 1001 110 3421867 channel number from 1 to 8 x motor number from 1 to 8 DAC limit 10Vdc Servo interrupt time I900 1001 PWM frequency 29 4kHz PWM 1 4 1901 5 Phase Clock 9 8059kHz 1902 2 3 Servo frequency 2 451kHz 1903 1746 ADC frequency 1906 1001 frequency 29 4kHz 5 8 1907 1746 ADC frequency 1906 0 Output mode PWM Parameters to Set up Global Hardware Signals 1900 1900 determines frequency of MaxPhase clock signal from which actual phase clock signal is derived It also determines the PWM cycle frequency for Channels 1 to 4 This variable 15 set according to the equation 1900 INT 117 964 8 4 PWMFreq KHz 1 The PMAC2 PC 104 filtered PWM circuits were optimized for 30KHz 1900 should be set to 1088 calculated as 27 06856K Hz 1901 1901 determines how the actual phase clock is generated from the MaxPhase clock using the equation PhaseFreq kHz MaxPhaseFreg kHz 190141 1901 is an intege
48. ignals for sinusoidal commutation Acc 8FS Four Channel Direct PWM Stack Breakout Board Acc 8FS it 15 a 4 channel direct PWM stack breakout board for PMAC2A PC 104 This is used for controlling digital amplifiers that require direct PWM control signals When a digital amplifier with current feedback is used the analog inputs provided by the Option 12 of the PMAC2A PC 104 the Option 2 of the Acc 1P or the Acc 28B could not be used Introduction 3 PMAC2A PC104 Hardware Reference Manual Introduction PMAC2A PC104 Hardware Reference Manual HARDWARE SETUP On the PMAC2 PC 104 CPU 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 15 an overview grouped in appropriate categories For an itemized description of the jumper setup configuration refer to the E Point Descriptions section Clock Configuration Jumpers Servo and Phase Clock Direction Control Jumper should be OFF if the board is to use its own internally generated phase and servo clock signals In this case these signals are output on spare pins on the J8 RS 232 serial port connector where they can be used by other PMAC controllers set up to take external phase and servo clock signals Jumper E1 should be ON if the board 1 to use externally generated phase and servo clock signals brought in on the J8 RS 232 serial
49. on the simplest method of quickly bringing down the power rail is to add a bleed down resistor between VCC and GND The resistor should be large enough that it does not cause unnecessary power consumption while still discharging the bulk capacitance as quickly as possible Specific resistor values will depend on the overall design of the system but in general the voltage drop off time should not exceed 20 msec A value that has been found to work for some systems is 18k DAC Outputs Power Supply 0 3A 12 to 15 4 5W 0 25A 12 to 15V 3 8W Eight channel configuration e 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 Machine Connections 9 PMAC2A PC104 Hardware Reference Manual supply or the two supplies will fight each other possibly causing damage This voltage could be measured on the 1 terminal block e Ina 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 1 terminal block or from the JMACHI connector Flags Power Supply Each channel of PMAC has five dedicated
50. otor 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 The programming features and configuration variables for the PMAC2A PC 104 are described fully in the PMAC2 User and Software manuals 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 15 the most important in the series of software accessories and it allows configuring and programming the PMAC for any particular application Operational Frequency and Baud Rate Setup Note Older PMAC boards required a start up PLC for setting the operational frequency at 80 MHz That method is not compatible with the PMAC2A PC 104 board and will shutdown the board when used The operational frequency of the CPU can be set in software by the variable I46 If this variable is set to 0 PMAC firmware looks at the jumpers E2 and 4 to set the operational frequency for 40 60 and 80 MHz operation If 146 is set to a value greater than 0 the operational frequency is set to 10MHz 146 1 regardless of the jumper setting If the desired operational frequency is higher than the maximum rated frequency for that CPU the operational frequency will be reduced to the rated maximum It is always possible to op
51. ounting holes that can be used for this The PMAC2A PC 104 CPU is placed always at the bottom of the stack The order of the Acc 1P or Acc 2P with respect to the CPU does not matter Baseboard mounted at the bottom of the stack Power Supplies Digital Power Supply 5 45 15 with a minimum 5 msec rise time Eight channel configuration with a typical load of encoders The PMAC2A PC 104 the Acc 1P and the Acc 2P each require a 5VDC power supply for operation Therefore a 5VDC power supply is recommended for a PMAC2A PC 104 board stack with Acc 1P and Acc 2P boards e The host computer provides the 5 Volts power when installed in the PC 104 bus and 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 TBI terminal block or the JMACHI connector stand alone configuration when 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 JMACHI connector When an ACC 2P is used a minimum rise time of 5 msec is a requirement of the power supply In addition the power supply ramp down time should not exceed 20 msec While solutions to this issue can involve complex circuitry that minimizes power loss during normal operati
52. ove jumper for normal power up reset loading user saved settings E Point Jumper Descriptions 29 PMAC2A PC104 Hardware Reference Manual E4 CPU Frequency Select E Point and 52 Physical Layout Location Description Default E4 Remove jumper for 40 MHz operation E2 jumper installed OFF also or for 60 MHz operation E4 ON Jump pin 1 to 2 for 80 MHz operation E2 OFF standard or Option 5 Jumper installed Option 5CF E8 Phase Clock Lines Output Enable E Point and is Physical Layout Location Description Default Bl Jump pin to 2 to enable the PHASE clock No Jumper E8 line on the 18 connector allowing synchronization with another PMAC Remove jumper to disable the PHASE clock line on the J8 connector E9 Servo Clock Lines Output Enable E Point and ee Physical Layout Location Description Default Jump pin to 2 to enable the SERVO clock No Jumper E9 line on J8 connector allowing Bl synchronization with another PMAC Remove jumper to disable the SERVO clock line on the J8 connector E10 E12 Power Up State Jumpers E Point and T Physical Layout Location Description Default E10 5 Remove jumper E10 No E10 jumper installed Jump E11 Jump E12 Jump E11 and E12 To read flash IC on power up reset Other combinations a
53. ply 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 J4 JRS232 Serial Port Connector 10 PIN CONNECTOR 9 11 2 Front View Pin Symbol Function Description Notes 1 PHASE Output Phasing Clock 2 DTR Bidirect Data Terminal Ready Tied to DSR 3 TXD Input Receive Data Host transmit data 4 CTS Input Clear to Send Host ready bit 5 RXD Output Send Data Host receive data 6 RTS Output Request to Send PMAC ready bit 7 DSR Bidirect Data Set Ready Tied to DTR 8 SERVO Output Servo Clock 9 GND Common Digital Common 10 5 Output 5Vdc Supply Power supply out Connector Pinouts 33 PMAC2A PC104 Hardware Reference Manual JMACH1 Machine Port Connector PAN ESANEM 50 Pin Header 50 2 Top View Pin Symbol Function Description Notes 1 T5V Output 5V Power For encoders 1 2 T5V Output 5V Power For encoders 1 3 GND Common Digital Common For encoders 1
54. port connector In this case typically the clock signals are generated by another PMAC controller and output on its serial port connector If 1 is ON for external phase and clock signals and these clock signals are not brought in on the serial port connector the watchdog timer will trip almost immediately and shut down the board E2 and E4 CPU Frequency Control Jumpers When the PMAC 146 I variable is set to zero jumpers E2 and E4 on the base PMAC2A PC 104 board control the frequency at which the CPU will operate or attempt to operate Generally this will be the highest frequency at which the CPU 1 rated to operate Note that it is always possible to operate a CPU at a frequency lower than its maximum rating While it may be possible to operate an individual processor at a frequency higher than its maximum rating particularly at low ambient temperatures performance cannot be guaranteed at such a setting and this operation is done completely at the user s own risk Ifjumpers E2 and E4 are both OFF the CPU will operate at a 40 MHz frequency IfE2 is ON and EA is OFF the CPU will operate at a 60 MHz frequency If E2is OFF and 4 is ON the CPU will operate at an 80 MHz frequency If 146 is set to a value greater than 0 the operational frequency is set to 10M Hz 146 1 regardless of the jumper setting See the Software Setup section for details on this E8 Phase Clock Lines Output Enable Jump pin 1 to 2 to enable
55. r value with a range of 0 to 15 permitting a division range of 1 to 16 Typically the phase clock frequency is in the range of 8 kHz to 12 kHz 9KHz is standard set 1901 5 calculated as 9 02285 KHz 1902 1902 determines how servo clock is generated from phase clock using equation ServoFreq KHz PhaseFreq KHz 1902 41 1902 is an integer value with a range of 0 to 15 permitting a division range of 1 to 16 On the servo update which occurs once per servo clock cycle PMAC2 updates commanded position interpolates and closes the position velocity servo loop for all active motors whether or not commutation and or a digital current loop is closed by 2 Typical servo clock frequencies are 1 to 4 kHz The PMAC standard is 2 26 KHz set 1902 3 calculated as 2 25571 KHz 110 tells the PMAC2 interpolation routines how much time there is between servo clock cycles It must be changed any time 1900 1901 or 1902 is changed 110 can be set according to the formula 110 2 1900 3 1901 1 1902 1 640 9 I10 should be set to 3718827 Software Setup 17 PMAC2A PC104 Hardware Reference Manual 1903 1903 determines the frequency of four hardware clock signals used for machine interface channels 1 4 This can be left at the default value 1903 The four hardware clock signals are SCLK encoder sample clock PFM CLK pulse frequency modulator clock DAC CLK digital to analog converter clock
56. re for factory use only the board will not operate in any other configuration 30 E Point Jumper Descriptions PMAC2A PC104 Hardware Reference Manual E13 Power Up Reset Load Source E Point and A ave Physical Layout Location Description Default E13 5 Jump pin 1 to 2 to reload firmware through No jumper serial or bus port Remove jumper for normal operation E14 Watchdog Disable Jumper E Point and Physical Layout Location Description Default E14 B3 Jump pin 1 to 2 to disable Watchdog timer No jumper for test purposes only Remove jumper to enable Watchdog timer E15A B C Flash Memory Bank Select E Point and NUM Physical Layout Location Description Default 15 4 Remove all 3 jumpers to select flash memory No jumpers installed COO E15C 552 bank with factory installed firmware Use other configuration to select one of the 7 other flash memory banks E16 ADC Inputs Enable E Point and n Physical Layout Location Description Default D1 Jump pin 1 to 2 to enable the Option 12 No jumper E16 ADC inputs COO Remove jumper to disable the ADC inputs which might be necessary for reading current feedback signals from digital amplifiers E Point Jumper Descriptions PMAC2A PC104 Hardware R
57. rs einn eere nenas entree enar entree enar eere nnn 27 E POINT JUMPER 5 29 E0 Forced Reset 5 tee nemen pie ree tentent 29 El Servo and Phase Clock Direction 29 2 CPU Frequency Select eddie suede tette 29 Normal Re Initializing ee nne n ener 29 CPU Frequency Select tese E un perdre pide vena Dare ER PU aes ES EFIE ERE 30 E8 Phase Clock Lines Output Enable essere enne ener 30 E9 Servo Clock Lines Output 30 E10 E12 Power Up State Jumpers nest tenen nennen enne 30 E13 Power Up Reset Load Source sess nennen enne ener ener rene ennt 31 E14 Watchdog Disable 31 15 B C Flash Memory Bank Select esses enne 31 E16 ADC Inputs Enable repete DU re Do eU Re n Cr Re 31 E18 E19 PC 104 Bus 99 32 E20 E23 ENCODER SINGLE ENDED DIFFERENTIAL SELECT Note v107 and abov
58. rs form the base address in the following fashion E18 E19 Address hex Address dec OFF 512 OFF 528 ON 544 ON ON 230 560 The default base address is 528 210 formed with jumper E18 removed and E19 installed This setting Is necessary when using the USB or Ethernet ports of the Acc 2P communications board ADC Configuration Jumpers E16 ADC Enable Jumper Install E16 to enable the analog to digital converter circuitry ordered through Option 12 Remove this jumper to disable this option which might be necessary to control motor 1 through a digital amplifier with current feedback Encoder Configuration Jumpers E20 E23 Encoder Single Ended Differential Select PMAC 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 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 Differenti
59. ry useful for scanning and measurement applications Instructions for use of these outputs are covered in detail in the PMAC2 User Manual JMACH2 17 EQU_1 TTL level output 3 GND Serial Port JRS232 Port For serial communications use a serial cable to connect your PC s COM port to the J8 serial port connector present on the PMAC2A PC 104 CPU Delta Tau provides the Acc 3L cable for this purpose that connects the PMAC to a DB 9 connector Standard DB 9 to DB 25 or DB 25 to DB 9 adapters may be needed for your particular setup 12 Machine Connections PMAC2A PC104 Hardware Reference Manual If a cable needs to be made the easiest approach is to use a flat cable prepared with flat cable type connectors as indicated in the following diagram PMAC DB 9S PC DB 9 No connect No connect DB 9 Female DB 9 Male 2 TXD 2 RXD 1 1 3 RXD 3 TXD 4 DSR 4 5 Gnd 5 Gnd 6 6 DSR 7 CTS 7 RTS 8 RTS 8 CTS 9 No connect 9 No connect Machine Connections Example Using Analog 10V Amplifier Armlfier 5 Volts Power Supply IR am Pins Pin Sts ee 2 PLIMn E Ping pint ping ping on La I T Lx SW 5 6 t7 18 CHAn 2 8 21 22 CHBn
60. s gl 9 B4 1UF mer 17 2 12 2205iP8l C104 p A id EA 5 34 86 16 8 PWM A TS 3 8 2 1 2 aur 5016 75 220PF em 33K Ris m EY GND SCLK DIR T AUF cnoo a plera 2050 33K 1 o CUR 1 ds MIU 1H 5 20 Niram 2 5 1 2 2 2 AENA 1 2 om aim 47KSIP8l 0176 OUT A INA z p eui kr d PWM A B3 1 4 19 RP20D T je we bL 2 2 TookSied arkipel 1 2 2 RP22B 4 p cios m aries ourc 4 socken A 4 1 9 0 7 C113 ENC 14 WDO DS75452N EY RP238 4 DAC3 12 2205181 pi DIPB C106 24K 8014 EN B D wo CHC4 AENA 3 2 heo nz ENC C4 10 PWM A TA 5 BPISC s RISC aur BETIAN 34 AENA 4 ET ies 4 s STSACESCFTG 66 3 LEM C114 99 DS75452N 1 1 2 n uL F347M 1 U18A OG Tl z 7 5 RP2IC 6 9 1UF 5 D 2 E 3 014
61. see 17 Parameters to Set Up Per Channel Hardware 18 Table of Contents i PMAC2A PC104 Hardware Reference Manual Effects of Changing 1900 on the System 18 How does changing 1900 effect other settings in sss eee nee 20 Effects of Output Resolution and Servo Interrupt Frequency on Servo Gains esee 21 Using Flag I O as General Purpose 22 n ESE Enna NERS 22 CPU 22 HARDWARE REFERENCE SUMMARY sccssssssscssssecsscsecssccscssccssssccsscsecescsecssccscsscssccsessccsscsecssssecsscessssessesssses 23 Board Dimensions 23 Prom VLOG cce ei 23 PHOMVIO7 10 06 annone nami 24 Prom VIOS to 109 d onte o me FERE Eres teda 25 B ard Lay 26 Connectors and Indicators 27 J3 Machine Connector 27 Machine Connector JMACH2 27 J8 Serial Port 788232 27 TBI Power Supply Terminal Block JPWR Connector essent rennes 27 LED Indicato
62. t Analog Output Positive 3 4 38 DAC4 Output Analog Output Positive 4 4 39 DAC3 Output Analog Output Negative 3 4 5 34 Connector Pinouts PMAC2A 104 Hardware Reference Manual J3 JMACH1 50 Header 49 1 Continued COO OC CHOCO 50 2 Top View Pin Symbol Function Description Notes 40 DAC4 Output Analog Output Negative 4 4 5 41 AENA3 Output Amplifier Enable 3 42 AENA4 Output Amplifier Enable 4 43 FAULT3 Input Amplifier Fault 3 6 44 FAULT4 Input Amplifier Fault 4 6 45 ADCIN 1 Input Analog Input 1 Option 12 required 46 ADCIN 2 Input Analog Input 2 Option 12 required 47 FLT FLG V Input Amplifier Fault pull up V 48 GND Common Digital Common 49 12V Input DAC Supply Voltage I 50 12V Input DAC Supply Voltage 7 and encoders The J3 connector is used to connect PMAC to the first 4 channels Channels 1 2 3 and 4 of servo amps digital circuitry complement Note 2 Referenced to digital common GND Maximum of 4 Note 1 In standalone applications these lines can be used as 5V power supply inputs to power PMAC s 12V permitted between this signal and its Note 3 Leave this input floating if not used i e digital single ended encoders Note 4 10 10 mA max referenced to common ground GND Note 5 Leave floating if not used Do
63. th the lookahead firmware PMAC controls the speed along the path automatically but without changing the path to ensure that axis limits are not violated Introduction 2 PMAC2A PC104 Hardware Reference Manual Option 10 Firmware Version Specification Normally the PMAC2A PC 104 is provided with the newest released firmware version A label on the memory IC shows the firmware version loaded at the factory Option 10 provides for a user specified firmware version Option 12 Analog to Digital Converters Option 12 permits the installation of two channels of on board analog to digital converters with 10V input range and 12 bits resolution The key component installed with this option is U20 Additional Accessories Acc 1P Axis Expansion Piggyback Board 1 provides four additional channels axis interface circuitry for a total of eight servo channels each including 12 bit 10V 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 Option 1 provides the following ports on the Acc 1P axes expansion board for digital I O connections e 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 t
64. the Phase clock line on 18 connector Remove jumper to disconnect the Phase clock line on the J8 connector E9 Servo Clock Lines Output Enable Jump pin 1 to 2 to enable the Servo clock line on the J8 connector Remove jumper to disconnect the Servo clock line on the J8 connector Reset Jumpers E0 Forced Reset Control Remove for normal operation Installing EO forces PMAC to a reset state this configuration 1s for factory use only the board will not operate with EO installed E3 Re Initialization on Reset Control If E3 is OFF default PMAC executes a normal reset loading active memory from the last saved configuration in non volatile flash memory If E3 is ON PMAC re initializes on reset loading active memory with the factory default values E13 Firmware Load Jumper If jumper E13 is ON during power up reset the board comes up in bootstrap mode which permits loading of firmware into the flash memory IC When the PMAC Executive program tries to establish communications with a board in this mode it will detect automatically that the board 1s in bootstrap mode and ask what file to download as the new firmware Jumper E13 must be OFF during power up reset for the board to come up in normal operational mode Hardware Setup 5 PMAC2A PC104 Hardware Reference Manual CPU Configuration Jumpers E15A E15C Flash Memory Bank Select Jumpers The flash memory IC in location U10 on the PMAC2A PC 104 base
65. tor is labeled 2 14 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 amp B Ansley P N 609 3441 2 Standard flat cable stranded 34 wire T amp B Ansley P N 171 34 3 Phoenix varioface module type FLKM 34 male pins P N 22 81 06 3 J8 Serial Port JRS232 Port This connector allows communicating with PMAC from a host computer through a RS 232 port Delta Tau provides the Accessory 3L cable that connects the PMAC to a DB 9 connector 1 10 pin female flat cable connector T amp B Ansley P N 609 1041 2 Standard flat cable stranded 10 wire T amp B Ansley P N 171 10 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 JMACHI connector This terminal block may be used as an alternative power supply connector or to easily measure the voltages applied to the board 1 4 pin terminal block 0 150 pitch LED Indicators 01 when this red LED is lit it indicates that the watchdog timer has tripped and shut down the PMAC D2 when this green LED is lit it indicates that power is applied to the 5V input Hardware Reference Summary 27 PMAC2A PC104 Hardware Reference Manual
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