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Delta Tau PMAC2 User's Manual

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2. 2 Pin Symbol Function Description Notes 1 5V Output Input 5V power For external circuit or from external supply 2 5V Output Input 5V power For external circuit or from external supply 3 GND Common Reference voltage 4 GND Common Reference voltage 5 CHA7 Input Encoder 7 positive A channel Also pulse input 6 CHAT Input Encoder 7 negative A channel Also pulse input 7 CHB7 Input Encoder 7 positive B channel Also direction input 8 CHB7 Input Encoder 7 negative B channel Also direction input 9 7 Input Encoder 7 positive C channel Index channel 10 CHC7 Input Encoder 7 negative channel Index channel 11 CHU7 Input Channel 7 U flag Hall effect fault code or sub count 12 CHV7 Input Channel 7 V flag Hall effect fault code or sub count 13 CHW7 Input Channel 7 W flag Hall effect fault code or sub count 14 CHT7 Input Channel 7 T flag Fault code or sub count 15 USER7 Input General purpose user flag Hardware capture flag or sub count 16 PLIM7 Input Positive overtravel limit Hardware capture flag 17 MLIM7 Input Negative overtravel limit Hardware capture flag 18 HOME7 Input Home switch input Hardware capture flag 19 ACCFLT7 Input Accessory fault flag For loss of ACC supply voltage 20 WD0 Output Watchdog output Low is PMAC watchdog fault 21 SCLK78 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 22 SCLK78 Input Output Encoder sample clo
3. Symbol Function Description Notes 1 2 DTR Bidirectional Data terminal ready Tied to DRR 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 Bidirectional Data set ready Tied to DTR 8 No connect 9 GND Common PMAC common 10 5V Output 10 5Vdc supply Power supply out The J8 connector on the Turbo CPU piggyback board present if Option 9T has been ordered provides a second independent port for serial communications at RS 232 levels CPU Board Connector Pinouts 21 Turbo 2 Hardware Reference Manual 22 CPU Board Connector Pinouts Turbo PMAC2 Hardware Reference Manual BASEBOARD CONNECTOR PINOUTS J1 JANA Analog Input Port Connector Present only if Option 12 ordered Pin Symbol Function Description Notes 1 100 Input Analog Input 0 0 5 2 5V range 2 101 Input Analog Input 1 0 5 2 5V range 3 102 Input Analog Input 2 0 5V or 2 5V range 4 103 Input Analog Input 3 0 5 2 5V range 5 104 Input Analog Input 4 0 5 or 2 5V range 6 105 Input Analog Input 5 0 5 or 2 5V range 7 106 Input Analog Input 6 0 5 2 5V r
4. Input Pack Pack Size Input Pack Pack Size Encoder 1 RP46 6 pin 1 and 2 RP60 8 pin Encoder 2 RP50 6 pin ADC 3 and 4 RP61 8 pin Encoder 3 RP47 6 pin ADC 5 and 6 RP121 8 pin Encoder 4 51 6 7 and 8 RP122 8 pin Encoder 5 RP107 6 pin Fault 1 and 2 RP63 6 pin Encoder 6 RP111 6 pin Fault 3 and 4 RP64 6 pin Encoder 7 RP108 6 pin Fault 5 and 6 RP124 6 pin Encoder 8 RP112 6 pin Fault 7 and 8 125 6 pin SCLK12 and 34 52 6 pin SCLK56 and 78 RP113 6 pin 6 Hardware Setup Turbo PMAC2 Hardware Reference Manual Pull Up Pull Down Resistors The differential input signal pairs to the PMAC2 PCI 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 detection of lost differential signals in another setting The inputs of each differential pair each have a hard wired 1 kohm pull up resistor to 5V This cannot be changed The inputs of each differential pair each have a hard wired 2 2 resistor to 5V each also has another 2 2 kohm 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 o
5. 34 s RM 37 2 4 Pin Terminal Block 40 TB2 3 Pin Terminal Block 40 BASE BOARD JUMPERS 2 41 SCHEMATICS m 43 Table of Contents Turbo PMAC2 Hardware Reference Manual INTRODUCTION The Turbo PMAC2 PCI part number 400 603367 TRx is a member of the Turbo PMAC family of boards optimized for interface to sinewave direct PWM servo drives to pulse and direction stepper drives Its software is capable of 32 axes of control It can have up to eight channels of on board axis interface circuitry It can also support up to 32 channels of off board axis interface circuitry through its expansion port connected to Acc 24P or 24 2 IS A format boards Acc 24 boards in PCI format are not yet available The Turbo PMAC2 PCI is a full sized PCI bus expansion with a small piggyback board containing the CPU board This piggyback board occupies part of the next slot but 12 sized boards are permitted in this next slot While the Turbo 2 PCI is capable of PCI bus communications with or without the optional on board dual ported RAM it does not need to be inserted into a PCI expansion slot Communications can be done through the standard RS 232 RS 422 serial port standalone operation is possible Board Configuration Base Version The base version of t
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8. Pin Symbol Function Description Notes 98 GND Common Reference voltage 99 5 Output Input 5V power For external circuit or from external supply 100 5V Output Input 5V power For external circuit or from external supply The 1 connector provides the interface pins for channels 1 and 2 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board Connector 100 pin male box header with center key 0050 pitch AMP part 1 04068 7 Delta Tau part 014 00010 J10 JMACH2 Connector Description J1 0 J 2 99 00000000000 0000000000 100 2 Symbol Function Description Notes 1 5V Output Input 5V power For external circuit or from external supply 2 5V Output Input 5V power For external circuit or from external supply 3 GND Common Reference voltage 4 GND Common Reference voltage 5 CHA3 Input Encoder 3 positive A channel Also pulse input 6 CHA3 Input Encoder 3 negative A channel Also pulse input 7 CHB3 Input Encoder 3 positive B channel Also direction input 8 CHB3 Input Encoder 3 negative channel Also direction input 9 CHC3 Input Encoder 3 positive C channel Index channel 10 CHC3 Input Encoder 3 negative channel Index c
9. 5 Input Home switch input Hardware capture flag 19 5 Input Accessory fault flag For loss of ACC supply voltage 20 WDO0 Output Watchdog output Low is PMAC watchdog fault 21 SCLK56 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 22 SCLK56 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 34 Baseboard Connector Pinouts Turbo 2 Hardware Reference Manual J11 Connector Description Continued Pin Symbol Function Description Notes 23 ADC_CLK5 Output A D converter clock Programmable frequency 24 ADC_CLKS Output A D converter clock Programmable frequency 25 ADC_STB5 Output A D converter strobe Programmable sequence 26 ADC 5 5 A D converter strobe Programmable sequence 27 ADC_DAA5 Input Channel A ADC serial data MSB first 28 ADC_DAAS Input Channel A ADC serial data MSB first 29 ADC_DAB5 Input Channel B ADC serial data MSB first 30 5 Input Channel B ADC serial data MSB first 31 5 Amplifier enable High is enable 32 AENAS Output Amplifier enable Low is enable 33 FAULT5 Input Amplifier fault Programmable parity 34 FAULT5 Input Amplifier fault Programmable parity 35 5 Phase top CMD Programmable function control DAC_CLK5 clock 36 PWMATOPS Output P
10. HARDWARE REFERENCE MANUAL Turbo 2 DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 A Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 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 support deltatau com 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
11. Optionally a second independent serial port can be added Option 9T adds an auxiliary RS 232 port on the CPU piggyback board The key components added are IC U22 and connector J8 on the CPU board Option 10 Firmware Version Specification Normally the Turbo PMAC2 PCI is provided with the newest released firmware version A label on the U10 flash memory IC on the CPU board shows the firmware version loaded at the factory e Option 10 provides for a user specified firmware version Option 12 Analog to Digital Converters Option 12 permits the installation of 8 or 16 channels of on board multiplexed analog to digital converters One or two of these converters are read every phase interrupt The analog inputs are not optically isolated and each can have a 0 5V input range or a 2 5V input range individually selectable e Option 12 provides an 8 channel 12 bit A D converter The key components on the board are U28 and connector 11 e Option 12A provides an additional 8 channel 12 bit A D converter The key component on the board is U29 Option 16 Battery Backed Parameter Memory The contents of the standard memory are not retained through a power down or reset unless they have been saved to flash memory first Option 16 provides supplemental battery backed RAM for real time parameter storage that is ideal for holding machine state parameters in case of an unexpected powerdown The battery is located at component BT1 e Option 1
12. addresses 06xxxx from baseboard If using the Option 2 DPRAM on the baseboard jumper E2 must be in this setting Jumper E2 must connect pins 2 and 3 to access dual ported RAM addresses 06xxxx through the expansion port If using the DPRAM on an external accessory board jumper E2 must be in this setting On Turbo CPU boards with revision suffixes 109 and older there is no jumper for this purpose and the boards can access DPRAM from either source but with less robust buffering Power Up State Jumpers Jumper E4 on the Turbo CPU board must be OFF jumper E5 must be ON and jumper E6 must be ON in order for the CPU to copy the firmware from flash memory into active RAM on power up reset This is necessary for normal operation of the card Other settings are for factory use only Firmware Load Jumper If jumper E7 on the CPU board is ON during power up reset the board comes up in bootstrap mode which permits the loading of new firmware into the flash memory IC on the board When the PMAC Executive program tries to establish communications with a board in this mode it will detect that the board is in bootstrap mode automatically and ask what file to download as the new firmware Jumper E7 must be OFF during power up reset for the board to come up in normal operational mode Base Board Jumper Configuration Servo and Phase Clock Direction Control Jumper E1 should be OFF if the board is to use its own internally gen
13. 128k x 24 of user data memory and a 1M x 8 flash memory It is not compatible with Option 4C e Option 5D1 provides a 100 MHz CPU 120 MHz PMAC equivalent 128k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 2M x 8 flash memory Check with the factory for availability e Option 5D2 provides a 100 MHz CPU 120 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory 128k x 24 of user data memory and a 2M x 8 flash memory Check with the factory for availability e Option 5D3 provides a 100 MHz CPU 120 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 4M x 8 flash memory Check with the factory for availability Option 7 Plate Mounting Option 7 provides a mounting plate connected to the Turbo PMAC2 PCI with standoffs It is used to install the Turbo PMAC2 PCI in standalone applications 2 Introduction Turbo PMAC2 Hardware Reference Manual Option 8 High Accuracy Clock Crystal The Turbo PMAC2 PCI has a clock crystal component 1 of nominal frequency 19 6608 20 2 The standard crystal s accuracy specification is 100 ppm e Option 8A provides a nominal 19 6608 MHz crystal with a 15 ppm accuracy specification Option 9 Serial Port Configuration The Turbo PMAC2 PCI comes standard with a single serial port that can use either RS 232 or RS 422 transceivers
14. 15V required for Opt 12 ADCs used on J1 to supply analog inputs Note Unless Option 12 Analog to Digital Converters is included on the board only pins 1 and 2 will be provided on this terminal block TB2 3 Pin Terminal Block This terminal block provides the output for PMAC2 s watchdog timer relay both normally open and normally closed contacts Pin Symbol Function Description Notes 1 WD_NC Output Watchdog relay out Normally closed 2 COM Input Watchdog return V or OV 3 WD No Output Watchdog relay out Normally open Note The normally closed relay contact is open while is operating properly it has power and the watchdog timer is not tripped and closed when the PMAC is not operating properly either it has lost power the watchdog timer has tripped The normally open relay contact is closed while PMAC2 is operating properly and open when PMAC2 is not operating properly 40 Baseboard Connector Pinouts Turbo 2 Hardware Reference Manual BASE BOARD JUMPERS LAYOUT 1 JB N 51 5 e 855555 E o D E6 NO Ji N2 TB 14 Baseboard Jumpers Layout 41 Turbo 2 Hardware Reference Manual 42 Baseboard Jumpers Layout F SIDULAYIS
15. 3 I O02 In Out Digital I O 2 Software direction control 4 I O03 In Out Digital I O 3 Software direction control 5 1 004 In Out Digital 4 Software direction control 6 1 005 In Out Digital I O 5 Software direction control 7 1006 In Out Digital 6 Software direction control 8 1 007 In Out Digital I O 7 Software direction control 9 1 008 In Out Digital 8 Software direction control 10 1 009 In Out Digital 9 Software direction control 11 1 20 In Out Digital I O 10 Software direction control 12 I O11 In Out Digital 11 Software direction control 13 I O12 In Out Digital I O 12 Software direction control 14 1 013 In Out Digital 13 Software direction control 15 1014 In Out Digital I O 14 Software direction control 16 I O15 In Out Digital I O 15 Software direction control 17 I O16 In Out Digital I O 16 Software direction control 18 I O17 In Out Digital I O 17 Software direction control 19 I O18 In Out Digital I O 18 Software direction control 24 Baseboard Connector Pinouts Turbo 2 Hardware Reference Manual JI O General Input Output Connector Continued Pin Symbol Function Description Notes 20 1019 In Out Digital I O 19 Software direction control 21 1 020 In Out Digital I O 20 Software direction control 22 1 21 In Out Digital I O 21 Software direction control 23 1 022 In Out Digital
16. 5V Output Supply voltage To power external circuitry J8 JEQU Position Compare Output Connector Pin Symbol Function Description Notes 1 EQUI Output Encoder 1 Comp EQ Programmed polarity 2 EQU2 Output Encoder 2 Comp EQ Programmed polarity 3 EQU3 Output Encoder 3 Comp EQ Programmed polarity 4 EQU4 Output Encoder 4 Comp EQ Programmed polarity 5 5 Encoder 5 Comp Programmed polarity 6 EQU6 Output Encoder 6 Comp EQ Programmed polarity 7 EQU7 Output Encoder 7 Comp Programmed polarity 8 EQU8 Output Encoder 8 Comp Programmed polarity 9 V Supply Positive supply 5V 10 GND Common Digital ground This connector provides the position compare outputs for the eight encoder channels Baseboard Connector Pinouts 27 Turbo PMAC2 Hardware Reference Manual 49 JMACH1 Connector Description J9 JMACH1 YY 00000000000 0000000000 Connector Description n Ho ORTAM Pin Symbol Function Description Notes 1 45V Output Input 5V power For external circuit or from external supply 2 45V Output Input 5V power For external circuit or from external supply 3 GND Common Reference voltage 4 GND Common Reference voltage 5 1 Input Encoder 1 positive A channel
17. 78 RP123 Encoder 7 RP105 Encoder 8 RP110 Connections Mounting The Turbo PMAC2 PCI can be mounted in one of two ways in the PCI bus or using standoffs PCI bus To mount in the PCI bus simply insert the card edge connector into PCI socket If there is a standard PC style housing a bracket at the end of the PMAC2 PCI board can be used to screw into the housing to hold the board down firmly Standoffs At each of the four corners of the PMAC2 PCI board there are mounting holes that can be used to mount the board on standoffs Hardware Setup 7 Turbo 2 Hardware Reference Manual Power Supply Connection The standard PMAC2 PCI requires only 5V power 4 channel configuration 4A in 8 channel configuration with Option 1 If the Option 12 A D converters are installed a 12V supply is also required In this case a 12V supply can be passed through the card and out to the analog devices feeding the A D converters The power can be provided in several ways Bus connector If the PMAC2 PCI is mounted in an electrically active PCI bus slot it automatically draws its 5V and 12V power from the bus Terminal block The TB1 2 4 point terminal block can be used to bring in 5V power especially in standalone applications Point 1 is GND Point 2 is 5V Points 3 12V and 4 12V are needed only if the Option 12 A D converters are ordered JMACH connectors Up to 2A at 5V may be br
18. 80 operation ON Jump pin 1 to 2 for 60 MHz operation OFF standard or Option 5 Jumper installed Option 5B Normal Re Initializing Power Up Reset E Point and Location Description Default Physical Layout E3 C2 Jump pin 1 to 2 to re initialize on power up reset No jumper installed loading factory default settings Remove jumper for normal power up reset loading user saved settings E4 CPU Frequency Select E Point and Location Description Default Physical Layout E4 C2 Remove jumper for 40MH7 operation E2 OFF also for 60MHz operation Jump pin 1 to 2 for 80MH7 operation E2 OFF No jumper installed standard or Option 5 Jumper installed Option 5C E5 E6 Reserved for Future Use Baseboard Jumper Descriptions 15 Turbo 2 Hardware Reference Manual E13 E14 Encoder Sample Clock Direction Control E Point and Location Description Default Physical Layout E13 DI Remove jumper to output SCLK generated in first ASIC No jumper installed 1 SCLK 12 and 5 34 or to control direction by software 2 Jump pins 1 to 2 to input SCLK signal for first ASIC O SCLK_34 and output this signal on 5 12 Jump pins 2 to 3 to input SCLK signal for first ASIC on SCLK 12 and output this signal on
19. CMD or DAC Programmable function control DACIB B serial data 43 PWMCTOP1 Output Phase B top CMD or PFM Programmable function control DIRI direction 44 PWMCTOPI Output Phase B top CMD or PFM Programmable function control DIRI direction 45 Output Phase B bottom CMD or PFM Programmable function control PULSE1 pulse 46 PWMCBOT I Output Phase B bottom CMD or PFM Programmable function control PULSE1 pulse 47 GND Common Reference voltage 48 GND Common Reference voltage 49 5V Output Input 5V Power For external circuit or from external supply 50 5V Output Input 5V Power For external circuit or from external supply 51 5V Output Input 5V Power For external circuit or from external supply 52 5V Output Input 5V Power For external circuit or from external supply 53 GND Common Reference voltage 54 GND Common Reference voltage 55 CHA2 Input Encoder 2 positive A Channel Also pulse input 56 CHA2 Input Encoder 2 negative A Channel Also pulse input 57 2 Input Encoder 2 positive B Channel Also direction input 58 2 Input Encoder 2 negative Channel Also direction input 59 CHC2 Input Encoder 2 positive C Channel Index channel 60 CHC2 Input Encoder 2 negative Channel Index channel 61 CHU2 Input Channel 2 U flag Hall effect fault code or sub count 62 CHV2 Input Channel 2 V flag Hall effect fault code or sub count 63 CHW2 Input Channel 2 W flag Hall effect fault code or sub count 64 CHT2 Inp
20. Encoder 8 negative Channel Index channel 61 CHU8 Input Channel 8 U flag Hall effect fault code or sub count 38 Baseboard Connector Pinouts Turbo 2 Hardware Reference Manual 912 JMACH4 Connector Description Continued Pin Symbol Function Description Notes 62 CHV8 Input Channel 8 V flag Hall effect fault code or sub count 63 CHW8 Input Channel 8 W flag Hall effect fault code or sub count 64 CHT8 Input Channel 8 T flag Fault code or sub count 65 USER8 Input General purpose user flag Hardware capture flag or sub count 66 PLIM8 Input Positive overtravel limit Hardware capture flag 67 MLIM8 Input Negative overtravel limit Hardware capture flag 68 Input Home switch input Hardware capture flag 69 ACCFLT8 Input Accessory fault flag For loss of ACC supply voltage 70 WD0 Output Watchdog output Low is PMAC watchdog fault 71 SCLK78 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLK78 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 ADC_CLK8 Output A D converter clock Programmable frequency 74 ADC_CLK8 Output A D converter clock Programmable frequency 75 ADC_STB8 Output A D converter strobe Programmable sequence 76 ADC_STB8 Output A D converter strobe Programmable sequence 77 ADC_DAA8 Input Channel A ADC ser
21. I O 22 Software direction control 24 1 023 In Out Digital 23 Software direction control 25 1 024 In Out Digital I O 24 Software direction control 26 1 025 In Out Digital 25 Software direction control 27 1 026 In Out Digital I O 26 Software direction control 28 1 027 In Out Digital 27 Software direction control 29 1 028 In Out Digital I O 28 Software direction control 30 1 029 In Out Digital 29 Software direction control 31 1 030 In Out Digital 30 Software direction control 32 In Out Digital I O 31 Software direction control 33 GND Common Reference voltage 34 GND Common Reference voltage 35 Phase Output Phase clock For latching data 36 Servo Output Servo clock For latching data 37 GND Common Reference voltage 38 GND Common Reference voltage To power external circuitry 39 5V Output Supply voltage To power external circuitry 40 5V Output Supply voltage The connector provides 32 input output pins at TTL levels Direction can be controlled in byte wide groups J5 JRS232 Serial Port Connector Pin Symbol Function Description Notes 1 PHASE Output Phasing clock 2 DTR Bidirectional Data terminal ready Tied to DSR 3 TXD Input Receive data Host transmit data 4 DTS 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 Bidirectional Data set ready Tied t
22. Low is enable 83 FAULT2 Input Amplifier fault Programmable polarity 84 FAULT2 Input Amplifier fault Programmable polarity 85 PWMATOP2 Output Phase A top CMD or DAC Programmable function control DAC_CLK2 clock 86 PWMATOP2 Output Phase A top CMD or DAC Programmable function control DAC CLK2 clock 87 PWMABOT2 Output Phase A bottom CMD or Programmable function control DAC2A A serial data 88 PWMABOT2 Output Phase A bottom CMD or DAC Programmable function control DAC2A A serial data 89 PWMBTOP2 Output Phase B top CMD or DAC Programmable function control DAC_STB2 strobe 90 PWMBTOP2 Output Phase B top CMD or DAC Programmable function control DAC_STB2 strobe 91 PWMBBOT2 Output Phase B bottom CMD or DAC Programmable function control DAC2B B serial data 92 PWMBBOT2 Output Phase B bottom CMD or DAC Programmable function control DAC2B B serial data 93 PWMCTOP2 Output Phase B top CMD or PFM Programmable function control DIR2 direction 94 PWMCTOP2 Output Phase B top CMD or PFM Programmable function control DIR2 direction 95 PWMCBOT2 Output Phase bottom CMD or PFM Programmable function control PULSE2 pulse 96 2 Phase bottom CMD or Programmable function control PULSE2 pulse 97 GND Common Reference voltage 30 Baseboard Connector Pinouts Turbo PMAC2 Hardware Reference Manual 49 JMACH1 Connector Description Continued
23. MSB first 29 ADC_DAB3 Input Channel B ADC serial data MSB first 30 ADC_DAB3 Input Channel B ADC serial data MSB first 31 AENA3 Output Amplifier enable High is enable 32 AENA3 Output Amplifier enable Low is enable 33 FAULT3 Input Amplifier fault Programmable parity 34 FAULT3 Input Amplifier fault Programmable parity 35 PWMATOP3 Output Phase A top CMD or DAC Programmable function control DAC_CLK3 clock 36 PWMATOP3 Output Phase A top CMD or DAC Programmable function control DAC_CLK3 clock 37 PWMABOT3 Output Phase A bottom CMD or DAC Programmable function control DAC3A A serial data 38 PWMABOT3 Output Phase A bottom CMD or DAC Programmable function control DAC3A A serial data 39 PWMBTOP3 Output Phase B top CMD or DAC Programmable function control DAC_STB3 strobe 40 PWMBTOP3 Output Phase B top CMD or DAC Programmable function control DAC_STB3 strobe 41 PWMBBOT3 Output Phase B bottom CMD or DAC Programmable function control DAC3B B serial data 42 PWMBBOT3 Output Phase B bottom CMD or DAC Programmable function control DAC3B B serial data 43 PWMCTOP3 Output Phase B top CMD or PFM Programmable function control DIR3 direction 44 PWMCTOP3 Output Phase B top CMD or PFM Programmable function control DIR3 direction 45 PWMCBOT3 Output Phase bottom CMD or Programmable function control PULSE3 pulse 46 PWMCBOT3 Output Phase bottom CMD or Programmable function control PULSE3 pulse 47 GND Common Refere
24. PWMBBOT6 Output Phase bottom CMD or DAC Programmable function control DAC6B B serial data 93 PWMCTOP6 Output Phase B top CMD or PFM Programmable function control DIR6 direction 94 PWMCTOP6 Output Phase B top CMD or PFM Programmable function control DIR6 direction 95 PWMCBOT6 Output Phase bottom CMD or Programmable function control PULSE6 pulse 36 Baseboard Connector Pinouts Turbo 2 Hardware Reference Manual 411 JMACH3 Continued Pin Symbol Function Description Notes 96 PWMCBOT6 Output Phase bottom CMD or Programmable function control PULSE6 pulse 97 GND Common Reference voltage 98 GND Common Reference voltage 99 5V Output Input 5V power For external circuit or from external supply 100 5V Output Input 5V power For external circuit or from external supply The 1 connector provides the interface pins for channels 5 and 6 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board Connector 100 pin male box header with center key 0050 pitch AMP part 1 04068 7 Delta Tau part 014 00010 J12 Only present if Option 1 ordered J12 JMACH4 porem dicem 100
25. aie e NARRA AA 13 E2 DPRAM Location Configure 13 EA E6 Power Up Reset Be 13 E7 Firmware Reload aa ANG tte 13 BASE BOARD JUMPER DESCRIPTIONS eese esses testen statuae ta suse sens suse ta sene ta sesto ense tasse tan 15 El Servo and Phase Clock Direction 15 E2 CPU Erequency Select t teet otn tette Ferte eo KINANG ANG RANA NAGANA ee 15 Normal Re Initializing Power Up Reset 15 F4 CPU Frequency E 15 E5 Reserved for Future Usei 15 E13 E14 Encoder Sample Clock Direction Control 16 Table of Contents i Turbo 2 Hardware Reference Manual E17 EIS Serial Port Selection ss NTIN GATING AT 16 E111 118 Command Output Disable 17 MATING CONNECTORS 19 eege Se SE 19 E 19 J8 232 EA KE EE 19 Base Board 19 JI JANA Analog Option 12 eese 19 J2 JTHW Multiplexer Pont 19 J3 JIO Qum mes 19 15 JRS232 RS 232 Serial 19 J5A 8422 5 422 Serial Communications 19 JO TDISE DISDIGY E 19 I7 TW E EE 19 J8 JEQ
26. 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 Turbo PMAC2 PCI Hardware Reference Manual Table of Contents INTRODUCTION NTEN 1 Board Suita On eed ien tete am ABA 1 Versi n ngk 1 Option 1 Additional Four Channels Axis Interface 1 Option 2 Dual Ported 1 Option 5 CPU and Memory Configurations treten trennen trente ener ener tene 2 Option 77 Plate Mounting 2 Option 8 High Accuracy Clock 3 Option 9 Serial Port Configuration NEEN 3 Option 10 Firmware Version Specification 3 Option 12 Analog to Digital Converters 3 Option 16 Battery Backed Parameter Memory mamamana 3 Option 18 Identification Number and Real Time Clock Calendar Module A 3 HARDWARE SETUP e H 5 Piggyback Turbo CPU Board Jumper Configuratio
27. high true 17 SCIO Bidirectional Special control Diff low true 18 SCIO Bidirectional Special control Diff high true 19 SCK Bidirectional Special clock Diff I O low true 20 SCK Bidirectional Special clock Diff high true 21 SERVO Bidirectional Servo clock Diff I O low true 22 SERVO Bidirectional Servo clock Diff I O high true 23 PHASE Bidirectional Phase clock Diff I O low true 24 PHASE Bidirectional Phase clock Diff I O high true 25 GND Common PMAC common 26 5V Output 5Vdc supply Power supply out E17 and E18 must connect pins 2 and 3 to use the RS 422 port for serial communications This connector could also be used to daisy chain interconnect multiple PMACs for synchronized operation J6 JDISP Display Connector Pin Symbol Function Description Notes 1 VDD Output 5V power Power supply out 2 VSS Common PMAC common 3 RS Output Read strobe TTL signal out 4 VEE Output Contrast adjustment VEE 0 to 5Vdc 5 E Output Display enable High is enable 6 R W Output Read or write TTL signal out 7 DBI Output Display Datal 8 DBO Output Display Data0 9 DB3 Output Display Data3 10 DB2 Output Display Data2 11 DB5 Output Display Data5 12 DB4 Output Display Data4 13 DB7 Output Display Data7 14 DB6 Output Display The JDISP connector is used to drive the 2 lines x 24 character Acc 12 2 x 40 Acc 12A L
28. 014 00 20 0 0 T amp B Ansley P N 609 2041 2 171 20 amp Ansley standard flat cable stranded 20 wire 3 Phoenix varioface modules type FLKM20 male pins Mating Connectors 19 Turbo 2 Hardware Reference Manual J8 JEQU Position Compare 1 Two 10 pin female flat cable connector Delta Tau P N 014 ROOFI10 0K0 T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 J9 JMACH1 Machine Port 1 1 Two 100 pin high density box header with center key 0 050 pitch AMP P N 1 04068 7 Delta Tau P N 014 00010 FPB 2 High density flat cable stranded 100 wire 910 JMACH2 Machine Port 2 1 Two 100 pin high density box header with center key 0 050 pitch AMP P N 1 04068 7 Delta Tau P N 014 00010 FPB 2 High density flat cable stranded 100 wire J11 JMACH3 Machine Port 3 1 Two 100 pin high density box header with center key 0 050 pitch P N 1 04068 7 Delta Tau P N 014 00010 FPB 2 High density flat cable stranded 100 wire J12 JMACH4 Machine Port 4 1 Two 100 pin high density box header with center key 0 050 pitch AMP P N 1 04068 7 Delta Tau P N 014 00010 FPB 2 High density flat cable stranded 100 wire 20 Mating Connectors Turbo PMAC2 Hardware Reference Manual CPU BOARD CONNECTOR PINOUTS J8 JAUX232 Auxiliary Serial Port
29. 12 Option 2 Dual Ported RAM Dual ported RAM provides a high speed communications path for bus communications with the host computer through a bank of shared memory DPRAM is advised if more than about 100 data items per second are to be passed between the controller and the host computer in either direction Option 2 provides a 32k x 16 bank of dual ported RAM The key component on the board is U92 Introduction 1 Turbo 2 Hardware Reference Manual Option 5 CPU and Memory Configurations The various versions of Option 5 provide different CPU speeds and main memory sizes on the piggyback CPU board Only one Option 5 may be selected for the board The CPU is a DSP5630x IC as component U1 It is currently available only as 80 MHz device with computational power equivalent to a 120 MHz non Turbo PMAC but higher speed versions will be available shortly The compiled assembled program memory SRAM ICs are located 014 U15 and U16 These ICs form the active memory for the firmware compiled PLCs and user written phase servo algorithms These can be 128k x 8 ICs for a 128k x 24 bank fitting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint The user data memory SRAM ICs are located in U11 U12 and U13 These ICs form the active memory for user motion programs uncompiled PLC programs and user tables and buffers These can be 128k
30. 12 provides eight analog inputs at 0 5V or 2 5V levels Option 12A provides eight additional analog inputs at these levels The 12V and 12V supplies can either be brought in on this connector or brought out on it for the external analog circuitry if they have been brought in through TB1 or P1 Handwheel Port The J7 JHW handwheel port provides two limited supplemental channels each with a 2 channel encoder input and a pulse and direction or PWM top and bottom pair output All inputs and outputs are digital 5V differential line driver pairs Hardware Setup 9 Turbo 2 Hardware Reference Manual 10 Hardware Setup Turbo PMAC2 Hardware Reference Manual COMMUNICATIONS SETUP Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32 bits Windows based computers Starting with MOTIONEXE EXE version 10 32 00 which is included in Pewin 32 version 2 32 and newer a PMAC2 PCI board plugged in a PCI bus slot will be recognized by the operating system when the computer is boot up The available PCI address dual ported RAM address and Interrupt lines are set automatically by the operating system and can be checked but not modified in the MOTIONEXE EXE application Motion Controls control L Open MOTIONEXE and press Setup for the PCI device Setup The 2 PCI board could have the optional on board Dual Ported
31. 6A provides a 32k x 24 bank of battery backed parameter RAM in components U17 U18 and U19 on the CPU board fitting in the smaller footprint for those locations e Option 16B provides a 128k x 24 bank of battery backed parameter RAM in components U17 U18 and U19 on the CPU board filling the full footprint for those locations Option 18 Identification Number and Real Time Clock Calendar Module Option 18 provides a module at location U5 on the CPU board that contains an electronic identification number and possibly a real time clock calendar e Option 18A provides an electronic identification number module e Option 18B provides an electronic identification number module with a real time clock and calendar The year representation in the calendar is a 4 digit value so there are no Year 2000 problems Introduction 3 Turbo 2 Hardware Reference Manual Introduction Turbo PMAC2 PCI Hardware Reference Manual HARDWARE SETUP Piggyback Turbo CPU Board Jumper Configuration Watchdog Timer Jumper Jumper E1 on the Turbo CPU board must be OFF for the watchdog timer to operate This is a very important safety feature so it is vital that this jumper be OFF in normal operation E1 should only be put ON to debug problems with the watchdog timer circuit Dual Ported RAM Source Jumper On Turbo CPU boards with revision suffixes 10 and newer jumper E2 must connect pins 1 and 2 to access dual ported RAM
32. Also pulse input 6 Input Encoder 1 negative A channel Also pulse input 7 1 Input Encoder 1 positive B channel Also direction input 8 CHBI Input Encoder 1 negative B channel Also direction input 9 1 Input Encoder 1 positive C channel Index channel 10 Input Encoder 1 negative C channel Index channel 11 CHUI Input Channel 1 U flag Hall effect fault code or sub count 12 CHVI Input Channel 1 V flag Hall effect fault code or sub count 13 CHWI Input Channel 1 W flag Hall effect fault code or sub count 14 CHTI Input Channel 1 T flag Fault code or sub count 15 USERI Input General purpose user flag Hardware capture flag or sub count 16 PLIMI Input Positive overtravel limit Hardware capture flag 17 MLIMI Input Negative overtravel limit Hardware capture flag 18 HOMEI Input Home switch input Hardware capture flag 19 ACCFLTI Input Accessory fault flag For loss of ACC supply voltage 20 WD0 Output Watchdog output Low is PMAC watchdog fault 21 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 22 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 23 ADC_CLK1 Output A D converter clock Programmable frequency 24 ADC CLKI Output A D converter clock Programmable frequency 25 ADC_STB1 Output A D converter strobe Programmable sequence 26 ADC STBI Output A D converter strobe Programmable sequence 27 ADC_DAA1 Input Channel A ADC serial data MSB first 28 ADC_DAAI
33. CD or the 2 x 40 vacuum fluorescent Acc 12C display unit The Display command may be used to send messages and values to the display 26 Baseboard Connector Pinouts Turbo 2 Hardware Reference Manual J7 JHW Handwheel Encoder Connector Pin Symbol Function Description Notes 1 GND Common Reference voltage 2 5V Output Supply voltage To power external circuitry 3 HWAL Input HW positive A Channel Also pulse input 4 HWAL Input HW negative A Channel Also pulse input 5 HWBL Input HW negative B Channel Also direction input 6 HWBL Input HW negative B Channel Also direction input 7 HWA2 Input HW positive A Channel Also pulse input 8 HWA2 Input HW negative A Channel Also pulse input 9 HWB2 Input HW positive B Channel Also direction input 10 2 HW negative Channel Also direction input 11 PULI Output PFM negative pulse Also PWM bottom output 12 PULI Output PFM negative pulse Also PWM bottom output 13 DIR1 Output positive direction out Also PWM top output 14 DIRI Output PFM negative direction out Also PWM top output 15 PUL2 Output PFM positive pulse Also PWM bottom output 16 PUL2 Output PFM negative pulse Also PWM bottom output 17 DIR2 Output positive direction out Also PWM top output 18 DIR2 Output negative direction out Also PWM top output 19 GND Common Reference voltage 20
34. Input Channel A ADC serial data MSB first 29 ADC_DABI1 Input Channel B ADC serial data MSB first 30 ADC_DABI Input Channel B ADC serial data MSB first 31 1 Amplifier enable High is enable 32 1 Amplifier enable Low is enable 33 FAULTI Input Amplifier fault Programmable parity 34 FAULTI Input Amplifier fault Programmable parity 28 Baseboard Connector Pinouts Turbo 2 Hardware Reference Manual 49 JMACH1 Connector Description Continued Pin Symbol Function Description Notes 35 PWMATOP 1 Output Phase A top CMD or DAC Programmable function control DAC clock 36 Output Phase A top CMD or DAC Programmable function control DAC clock 37 Output Phase A bottom CMD or DAC Programmable function control DACIA A serial Data 38 Phase bottom CMD or Programmable function control DACIA A serial Data 39 PWMBTOP1 Output Phase B top CMD or DAC Programmable function control DAC_STB1 strobe 40 Programmable function control DAC STBI strobe 41 Output Phase B bottom CMD or DAC Programmable function control 1 42 Output Phase B bottom
35. RAM circuitry which is ordered through Option 2 If the dual ported RAM circuitry is not on board manually disable the automatically assigned use through the setup page of MOTIONEXE PMAC Devicef0 Configuration Win32 Communications Library MOTIONEXE Version 10 32 0 0 Copyright 1984 38 Delta Tau Data Systems Inc Device Location In PC Bus Bus Serial Port Port Address Host Computer Serial Port Please use hexadecimel OxC000 YMIC10 Works C format E 0M2 Disable Ena Intr Mail Box Base Adi Address Modifier IAQ Level Baudrate Interrupts 5 FFAODO E v 1 3600 Ena ont Care Bits IRQ Vector Parity 1800000 Mone 1 Eancel Advanced The MOTIONEXE application will first look for PMAC PCI boards on the PCI bus and will sequentially assign device numbers from Device0 to each PMAC PCI until all the PMAC PCI boards found have a device number assigned Then manually add other devices for either ISA bus or Serial port communications After each PMAC has a device number assigned to it communications through the PCI bus are identical to the ISA bus Any application written for the ISA bus using the Delta Tau provided 32 bits communication libraries will not require any further change and the process is transparent Communications Setup 11 Turbo PMAC2 Hardware Reference Manual Note For example if a DeviceO fo
36. SCLK 34 E14 D2 Remove jumper to output SCLK generated in second No jumper installed 3X 2 ASIC SCLK 56 and SCLK 78 to control direction by software Jump pins 1 to 2 to input SCLK signal for second ASIC on SCLK 78 and output this signal on SCLK 56 Jump pins 2 to 3 to input SCLK signal for second ASIC on SCLK 56 and output this signal on SCLK 78 Note E14 15 installed only if Option 1 has been ordered E17 E18 Serial Port Type Selection E Point and Location Description Default Physical Layout E17 CI Connect pins 1 and 2 to use the RS 232 port on the J5 Jumper installed in 1 2 connector position Connect pins 2 and 3 to use the RS 422 port on the JSA connector connector position Connect pins 2 and 3 to use the RS 422 port on the JSA connector E18 CI Connect pins 1 and 2 to use the RS 232 port on the J5 Jumper installed in 1 2 Serial Port Choice Because both RS 232 and RS 422 ports are always provided jumpers must be set correctly to use the port of your choice Jumpers E17 and E18 must connect pins 1 and 2 to use the RS 232 port on the J5 connector they must connect pins 2 and 3 to use the RS 422 port the 5 connector 16 Baseboard Jumper Descriptions Turbo PMAC2 Hardware Reference Manual E111 118 Command Output Disable State E Point and Physical Layout Location Description Defau
37. U Position Compare 01 20 J9 JMACHI Machine Port 20 J10 JMACH2 Machine Port 2 20 JMACH3 Machine Port 3 20 J12 JMACH4 Machine Port 20 CPU BOARD CONNECTOR 21 78 JAUX232 Auxiliary Serial Port 21 BASEBOARD CONNECTOR 8 1 9 1 1 23 GANA Analog Input Comme ctor 23 12 JTHW Multiplexer Port 24 3 General Input Output Connector a ANG A NIDA KANG 24 15 7 5232 5 Port Connector ier ced tke nter tenero Sie o qoa DM ka secu ege EES AEN 25 JSAeRS422 Serial Port Connector entente per rae pud gest ce Ce sus ee a phan 26 JIDISP Display Connector inim LII sibs aided Aa tedio bu cp GANG 26 J7 JHW Handwheel Encoder Connector 4 02 400000000000 27 78 JEQU Position Compare Output Connector 4 27 J9 Connector Description 28 JMACH2 Connector Description 31 1
38. able function control DAC_STB7 strobe 40 PWMBTOP7 Output Phase B top CMD or DAC Programmable function control DAC STB7 strobe 41 PWMBBOT7 Output Phase B bottom CMD or DAC Programmable function control DAC7B B serial data 42 PWMBBOT7 Output Phase B bottom CMD or DAC Programmable function control DAC7B B serial data 43 PWMCTOP7 Output Phase B top CMD or PFM Programmable function control DIR7 direction 44 PWMCTOP7 Output Phase B top CMD or PFM Programmable function control DIR7 direction 45 PWMCBOT7 Output Phase bottom CMD or Programmable function control PULSE7 pulse 46 PWMCBOT7 Output Phase B bottom CMD or PFM Programmable function control PULSE7 pulse 47 GND Common Reference voltage 48 GND Common Reference voltage 49 5V Output Input 5V Power For external circuit or from external supply 50 5V Output Input 5V Power For external circuit or from external supply 51 5V Output Input 5V Power For external circuit or from external supply 52 5V Output Input 5V Power For external circuit or from external supply 53 GND Common Reference voltage 54 GND Common Reference voltage 55 CHA8 Input Encoder 8 positive A Channel Also pulse input 56 CHA8 Input Encoder 8 negative A Channel Also pulse input 57 8 Input Encoder 8 positive B Channel Also direction input 58 CHB8 Input Encoder 8 negative B Channel Also direction input 59 CHC8 Input Encoder 8 positive Channel Index channel 60 CHC8 Input
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40. ange 8 107 Input Analog Input 7 0 5 2 5V range 9 108 Input Analog Input 8 0 5 or 2 5V range 10 109 Input Analog Input 9 0 5 or 2 5V range 11 Input Analog Input 10 0 5 or 2 5V range 12 1 Input Analog Input 11 0 5 or 2 5V range 13 ANAII2 Input Analog Input 12 0 5 or 2 5V range 14 ANAII3 Input Analog Input 13 0 5 or 2 5V range 15 4 Input Analog Input 14 0 5 or 2 5V range 16 5 Input Analog Input 15 0 5 or 2 5V range 17 GND Common PMAC common Not isolated from digital 18 12V Output Positive supply voltage To power external circuitry 19 GND Common PMAC common Not isolated from digital 20 12V Output Negative supply voltage To power external circuitry The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2 Only present if Option 12A ordered Baseboard Connector Pinouts 23 Turbo PMAC2 Hardware Reference Manual J2 JTHW Multiplexer Port Connector Pin Symbol Function Description Notes 1 GND Common PMAC common 2 GND Common PMAC common 3 DATO Input Data 0 input Data input from MUX port accessories 4 SELO Output Select 0 output Address Data output for MUX port accessories 5 DATI Input Data 1 input Data input from MUX port accessories 6 SEL1 Output Select 1 ou
41. ano fa AA v DY Wand NOILDAS LNALNO igl oN SS T zs 7 ayie PANG IN E T I I D 3 I gt I x I SOILVIN3HOS jonuviy 22u242f24 2 124 COVWAd OQNI 25 282505 85 O FSIXV 1992 2VMWd 99 a gei o n CRU TTE MO sprsecepe prn E 5 5 5 5 e EE 256 NOILOAS LNALNO 5 e EE 5 5 8 8 x NP Hi vw WHY d S 7 2018153 SO ISHS Om We enee PInay Den Om on NI BEE EA DW TES 798717797 85777707 20v HALA 00708 pe p Dei 02709 08 98
42. ck Direction controlled by PMAC2 jumper 23 ADC_CLK7 Output A D converter clock Programmable frequency 24 ADC CLK7 Output A D converter clock Programmable frequency 25 ADC 5 7 Output A D converter strobe Programmable sequence 26 STB7 Output A D converter strobe Programmable sequence 27 ADC_DAA7 Input Channel A ADC serial data MSB first Baseboard Connector Pinouts 37 Turbo 2 PCI Hardware Reference Manual 912 JMACH4 Connector Description Continued Pin Symbol Function Description Notes 28 ADC DAAT Input Channel serial data MSB first 29 ADC_DAB7 Input Channel B ADC serial data MSB first 30 ADC_DAB7 Input Channel B ADC serial data MSB first 31 AENA7 Output Amplifier enable High is enable 32 AENA7 Output Amplifier enable Low is enable 33 FAULT7 Input Amplifier fault Programmable parity 34 FAULT7 Input Amplifier fault Programmable parity 35 PWMATOP7 Output Phase A top CMD or DAC Programmable function control DAC_CLK7 clock 36 PWMATOP7 Output Phase A top CMD or DAC Programmable function control DAC CLK7 clock 37 PWMABOT7 Output Phase A bottom CMD or DAC Programmable function control serial data 38 PWMABOT7 Output Phase A bottom CMD or DAC Programmable function control DAC7A A serial data 39 PWMBTOP7 Output Phase B top CMD or DAC Programm
43. ck Direction controlled by PMAC2 jumper 72 SCLK56 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 ADC_CLK6 Output A D converter clock Programmable frequency 74 ADC_CLK6 Output A D converter clock Programmable frequency 75 ADC 5 6 A D converter strobe Programmable sequence T6 ADC STB6 Output A D converter strobe Programmable sequence 71 ADC_DAA6 Input Channel A ADC serial data MSB first 78 ADC_DAA6 Input Channel A ADC serial data MSB first 719 ADC_DAB6 Input Channel B ADC serial data MSB first 80 ADC_DAB6 Input Channel B ADC serial data MSB first 81 AENAG Output Amplifier enable High is enable 82 AENA6 Output Amplifier enable Low is enable 83 FAULT6 Input Amplifier fault Programmable polarity 84 FAULT6 Input Amplifier fault Programmable polarity 85 PWMATOP6 Output Phase A top CMD or DAC Programmable function control DAC_CLK6 clock 86 PWMATOP6 Output Phase A top CMD or DAC Programmable function control DAC CLK6 clock 87 PWMABOT6 Output Phase A bottom CMD or DAC Programmable function control DAC6A A serial data 88 PWMABOT6 Output Phase A bottom CMD or DAC Programmable function control DAC6A A serial data 89 PWMBTOP6 Output Phase B top CMD or DAC Programmable function control DAC_STB6 strobe 90 PWMBTOP6 Output Phase B top CMD or DAC Programmable function control DAC STB6 strobe 91 PWMBBOT6 Output Phase bottom CMD or DAC Programmable function control DAC6B B serial data 92
44. der with center key 0050 pitch AMP part 1 04068 7 Delta Tau part 014 00010 FPB J11 JMACH3 This connector is present only if Option 1 was ordered J11 JMACH3 99 100 00000000000 2 Pin Symbol Function Description Notes 1 5V Output Input 5V power For external circuit or from external supply 2 5V Output Input 5V power For external circuit or from external supply 3 GND Common Reference voltage 4 GND Common Reference voltage 5 5 Input Encoder 5 positive channel Also pulse input 6 5 Input Encoder 5 negative A channel Also pulse input 7 5 Input Encoder 5 positive B channel Also direction input 8 CHB5 Input Encoder 5 negative B channel Also direction input 9 5 Input Encoder 3 positive C channel Index channel 10 CHC5 Input Encoder 5 negative C channel Index channel 11 CHU5 Input Channel 5 U flag Hall effect fault code or sub count 12 CHV5 Input Channel 5 V flag Hall effect fault code or sub count 13 CHW5 Input Channel 5 W flag Hall effect fault code or sub count 14 5 Input Channel 5 T flag Fault code or sub count 15 USER5 Input General purpose user flag Hardware capture flag or sub count 16 PLIM5 Input Positive overtravel limit Hardware capture flag 17 MLIM5 Input Negative overtravel limit Hardware capture flag 18
45. eboard Connector Pinouts 39 Turbo PMAC2 Hardware Reference Manual 912 JMACH4 Connector Description Continued Pin Symbol Function Description Notes 96 8 Phase bottom CMD Programmable function control PULSE8 pulse 97 GND Common Reference voltage 98 GND Common Reference voltage 99 5V Output Input 5V power For external circuit or from external supply 100 5V Output Input 5V power For external circuit or from external supply The JMACHI connector provides the interface pins for channels 3 and 4 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board TB1 2 4 Pin Terminal Block This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2 board when it is not in a bus configuration When the 2 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 Pin Symbol Function Description Notes 1 GND Common Reference voltage 2 5V Input Positive supply voltage Supplies all PMAC digital circuits 3 12V Input Positive supply voltage 12V to 15V not required onboard used on JI to supply analog inputs 4 12V Input Negative supply voltage 12V to
46. erated phase and servo clock signals In this case these signals are output on spare pins on the 15 RS 422 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 is to use externally generated phase and servo clock signals brought in on the J5A RS 422 serial port connector In this case the clock signals are generated by another PMAC controller and output on its serial port connector Commonly serial communications are also shared over a multi drop RS 422 cable with software addressing of the cards matching 10 serial card number for each controller Alternately the phase and servo clock signals can come from clock signals involved in the process 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 In order to change the state of the card between use of internal clock and use of external clock the card must be re initialized either powered up with jumper ON or given command with jumper 1 in the new state Before the card is reset again a SAVE command must be issued to store the new internal settings Hardware Setup 5 Turbo 2 Hardware Reference Manual Re Initialization Jumper If E3 is OFF during power up reset the controller will load its la
47. f 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 thetwo parallel 2 2 resistors act as a single 1 1 kohm pull up resistor holding the line at 5V in absence of an external signal This configuration is required if encoder loss detection is desired it is required if complementary open collector drivers are used it is permissible for differential line driver inputs even without encoder loss detection If Pin 1 of the resistor pack marked by a dot on the pack matches Pin 1 of the socket marked by a wide white line on the front side of the board and a square solder pin on the back side of the board 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 Device Resistor Pack Device Resistor Pack Encoder 1 RP43 ADC Fault1 622 RP58 Encoder 2 RP48 ADC Fault3 amp 4 RP59 Encoder 3 RP44 ADC Fault5 amp 6 RP119 Encoder 4 RP49 ADC Fault7 amp 8 RP120 Encoder 5 RP104 SCLK12 amp 34 RP62 Encoder 6 RP109 SCLK56 amp
48. hannel 11 CHU3 Input Channel 3 U flag Hall effect fault code or sub count 12 CHV3 Input Channel 3 V flag Hall effect fault code or sub count 13 CHW3 Input Channel 3 W flag Hall effect fault code or sub count 14 CHT3 Input Channel 3 T flag Fault code or sub count 15 USER3 Input General purpose user flag Hardware capture flag or sub count 16 PLIM3 Input Positive overtravel limit Hardware capture flag 17 MLIM3 Input Negative overtravel limit Hardware capture flag 18 HOME3 Input Home switch input Hardware capture flag 19 ACCFLT3 Input Accessory fault flag For loss of ACC supply voltage 20 WDO0 Output Watchdog output Low is PMAC watchdog fault 21 SCLK34 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 22 SCLK34 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 23 ADC_CLK3 Output A D converter clock Programmable frequency 24 ADC_CLK3 Output A D converter clock Programmable frequency 25 ADC_STB3 Output A D converter strobe Programmable sequence 26 ADC_STB3 Output A D converter strobe Programmable sequence 27 ADC_DAA3 Input Channel A ADC serial data MSB first Baseboard Connector Pinouts 31 Turbo 2 PCI Hardware Reference Manual 410 JMACH2 Continued Pin Symbol Function Description Notes 28 ADC DAA3 Input Channel serial data
49. hase A top CMD or DAC Programmable function control DAC_CLKS clock 37 5 Phase bottom CMD Programmable function control DACSA A serial data 38 PWMABOTS5 Output Phase A bottom CMD or DAC Programmable function control DAC5A A serial data 39 5 Programmable function control DAC 5 5 strobe 40 PWMBTOPS Output Phase B top CMD or DAC Programmable function control DAC 5 5 strobe 41 5 Phase bottom CMD or Programmable function control 5 serial data 42 5 Phase bottom CMD or Programmable function control DACSB B serial data 43 PWMCTOP5 Output Phase B top CMD or PFM Programmable function control DIR5 direction 44 PWMCTOPS Output Phase B top CMD or PFM Programmable function control DIR5 direction 45 5 Phase bottom CMD or Programmable function control PULSE5 pulse 46 5 Phase bottom CMD or Programmable function control PULSES pulse 47 GND Common Reference voltage 48 GND Common Reference voltage 49 5V Output Input 5V power For external circuit or from external supply 50 45V Output Input 5V power For external circuit or from external supply 51 45V Output Input 5 power For external circuit or from external supply 52 45V Output Input 5V power For external circuit or from e
50. he Turbo 2 PCI provides a 1 1 2 slot board with 80 MHz DSP56303 CPU 120 MHz PMAC equivalent 128k x 24 SRAM compiled assembled program memory 5 0 128k x 24 SRAM user data memory 5C0 1M x 8 flash memory for user backup and firmware 5 0 Latest released firmware version RS 232 serial interface PCI PC bus interface One 16 node MACRO interface IC Four channels axis interface circuitry each including e Three output command signal sets configurable as either Two serial data streams to external DACs one pulse and direction Three PWM top and bottom pairs 3 channel differential single ended encoder input Nine input flags two output flags Interface to two external serial ADCs 8 to 18 bits Two channels supplemental interface circuitry each including 2 channel differential single ended encoder input One output command signal set configurable as pulse amp direction or PWM top and bottom pair Display MACRO muxed I O direct I O interface ports PID notch feedforward servo algorithms Extended pole placement servo algorithms 1 year warranty from date of shipment One manual per set of one to four PMACs in shipment Cables mounting plates mating connectors not included Option 1 Additional Four Channels Axis Interface Circuitry Option 1 provides an additional four channels of on board axis interface circuitry identical to the standard first four channels The key components are the DSPGATEI IC at U7 and connectors J11 and 1
51. hoenix varioface modules type FLKM14 male pins P N 22 81 02 1 J2 JTHW Multiplexer Port 1 Two 26 pin female flat cable connector Delta Tau P N 014 00 26 0 0 T amp B Ansley P N 609 2641 2 171 26 amp Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins DIN 22 81 05 0 93 JIO Digital UO 1 Two 40 pin female flat cable connector Delta Tau P N 014 00 40 0 T amp B Ansley P N 609 4041 2 171 40 amp Ansley standard flat cable stranded 40 wire 3 Phoenix varioface module type FLKM 40 male pins 95 JRS232 RS 232 Serial Communications 1 Two 10 pin female flat cable connector Delta Tau P N 014 10 0 T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 JRS422 RS 422 Serial Communications 1 Two 26 pin female flat cable connector Delta Tau P N 014 00 26 0 0 T amp B Ansley P N 609 2641 2 171 26 amp Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 J6 JDISP Display 1 Two 14 pin female flat cable connector Delta Tau P N 014 00 14 0 T amp B Ansley P N 609 1441 2 171 14 amp Ansley standard flat cable stranded 14 wire 3 Phoenix varioface modules type FLKM14 male pins P N 22 81 02 1 97 JHW Auxiliary Channel 1 Two 20 pin female flat cable connector Delta Tau P N
52. ial data MSB first 78 ADC_DAA8 Input Channel A ADC serial data MSB first 79 ADC_DAB8 Input Channel B ADC serial data MSB first 80 ADC_DAB8 Input Channel B ADC serial data MSB first 81 AENA8 Output Amplifier enable High is enable 82 AENA8 Output Amplifier enable Low is enable 83 FAULT8 Input Amplifier fault Programmable polarity 84 FAULTS Input Amplifier fault Programmable polarity 85 PWMATOP8 Output Phase A top CMD or DAC Programmable function control DAC_CLK8 clock 86 8 Phase top CMD Programmable function control DAC CLK8 clock 87 PWMABOT8 Output Phase A bottom CMD or DAC Programmable function control DAC8A A serial data 88 PWMABOTS Output Phase A bottom CMD or DAC Programmable function control DACS8A A serial data 89 PWMBTOP8 Output Phase B top CMD or DAC Programmable function control DAC_STB8 strobe 90 PWMBTOPS Output Phase B top CMD or DAC Programmable function control DAC 5 8 strobe 91 PWMBBOT8 Output Phase bottom CMD or Programmable function control DAC8B B serial data 92 PWMBBOTS Output Phase B bottom CMD or DAC Programmable function control DAC8B B serial data 93 PWMCTOP8 Output Phase B top CMD or PFM Programmable function control DIR8 direction 94 PWMCTOPS Output Phase B top CMD or PFM Programmable function control DIR8 direction 95 PWMCBOT8 Output Phase bottom CMD or Programmable function control PULSE8 pulse Bas
53. inations are for factory use only the board will not operate in any other configuration No jumper installed 5 and E6 jump pin to 2 E7 Firmware Reload Enable E Point and Physical Layout Description Default E7 Jump pin 1 to 2 to reload firmware through serial bus port Remove jumper for normal operation No jumper installed CPU Board E Point Descriptions 13 Turbo 2 Hardware Reference Manual 14 CPU Board E Point Descriptions Turbo 2 Hardware Reference Manual BASE BOARD JUMPER DESCRIPTIONS E1 Servo and Phase Clock Direction Control E Point and Location Description Default Physical Layout E1 C2 Remove jumper for PMAC2 PCI to use its internally generated servo and phase clock signals and to output these signals on the J5A serial port connector Jump pins 1 and 2 for PMAC2 PCI to expect to receive its servo and phase clock signals on the J5A serial port connector No jumper installed Note If the E1 jumper is ON and the servo and phase clocks are not brought in on the J5A serial port the watchdog timer will trip immediately E2 CPU Frequency Select E Point and Location Description Default Physical Layout 2 2 Remove jumper 40 MHz operation E4 OFF also No jumper installed for
54. l limit Hardware capture flag 67 MLIM4 Input Negative overtravel limit Hardware capture flag 68 Input Home switch input Hardware capture flag 69 ACCFLT4 Input Accessory fault flag For loss of ACC supply voltage TO WD0 Output Watchdog output Low is PMAC watchdog fault 71 SCLK34 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLK34 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 ADC_CLK4 Output A D converter clock Programmable frequency 74 ADC_CLK4 Output A D converter clock Programmable frequency 75 ADC 5 4 A D converter strobe Programmable sequence 76 ADC STB4 Output A D converter strobe Programmable sequence 77 ADC_DAA4 Input Channel A ADC serial data MSB first 78 ADC_DAA4 Input Channel A ADC serial data MSB first 79 ADC_DAB4 Input Channel B ADC serial data MSB first 80 ADC_DAB4 Input Channel B ADC serial data MSB first 81 AEN AAA Amplifier enable High is enable 82 AENA4 Output Amplifier enable Low is enable 83 FAULT4 Input Amplifier fault 83 Programmable polarity 84 FAULT4 Input Amplifier fault Programmable polarity 85 PWMATOP4 Output Phase A top CMD or DAC Programmable function control DAC_CLK4 clock 86 PWMATOP4 Output Phase A top CMD or DAC Programmable function control DAC_CLK4 clock 87 PWMABOT4 Output Phase A bottom CMD or DAC Programmable function control DAC4A A serial data 88 PWMABOT4 Output Phase A bottom CMD or DAC Program
55. lt meo ec cu DO DO DO gus DO CI Jump pin 1 to 2 of El 1n for digital servo command output signals of Channel n to tri state when amplifier enable signal for Channel n is in disable state Remove jumper for digital servo command output signals of Channel n to remain active but typically with zero command value when amplifier enable signal for Channel n is in disable state No jumper installed Baseboard Jumper Descriptions 17 Turbo 2 Hardware Reference Manual 18 Baseboard Jumper Descriptions Turbo PMAC2 Hardware Reference Manual MATING CONNECTORS CPU Board Connectors J2 JEXP Expansion 1 Two 50 pin female flat cable connector Delta Tau P N 014 00 50 0 0 T amp B Ansley P N 609 5041 2 171 50 amp Ansley standard flat cable stranded 50 wire 3 Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 48 JAUX232 Auxiliary 5232 1 Two 10 pin female flat cable connector Delta Tau P N 014 10 0 T amp B Ansley P N 609 1041 2 171 10 T amp B Ansley standard flat cable stranded 10 wire 3 Phoenix varioface module type FLKM 10 male pins P N 22 81 01 8 Base Board Connectors 91 JANA Analog Option 12 1 Two 14 pin female flat cable connector Delta Tau P N 014 00 14 0 T amp B Ansley P N 609 1441 2 171 14 amp Ansley standard flat cable stranded 14 wire 3 P
56. mable function control DAC4A A serial data 89 PWMBTOP4 Output Phase B top CMD or DAC Programmable function control DAC_STB4 strobe 90 PWMBTOP4 Output Phase B top CMD or DAC Programmable function control DAC_STB4 strobe 91 PWMBBOT4 Output Phase B bottom CMD or DAC Programmable function control DAC4B B serial data 92 PWMBBOT4 Output Phase B bottom CMD or DAC Programmable function control DAC4B B serial data 93 PWMCTOP4 Output Phase B top CMD or PFM Programmable function control DIR4 direction 94 PWMCTOP4 Output Phase B top CMD or PFM Programmable function control DIR4 direction Baseboard Connector Pinouts 33 Turbo 2 PCI Hardware Reference Manual 410 JMACH2 Continued Pin Symbol Function Description Notes 95 PWMCBOT4 Output Phase bottom CMD or Programmable function control PULSE4 pulse 96 PWMCBOT4 Output Phase bottom CMD or Programmable function control PULSE4 pulse 97 GND Common Reference voltage 98 GND Common Reference voltage 99 5V Output Input 5V power For external circuit or from external supply 100 5V Output Input 5V power For external circuit or from external supply The 1 connector provides the interface pins for channels 3 and 4 Usually it is connected to a breakout board such as one of the Acc 8x family of boards or an application specific interface board Connector 100 pin male box hea
57. n 5 Watchdog enne teen enne 5 Dual Ported RAM Source Jumper 5 POWer Up State JUMPers nna GR BABA ANA BINAN AA 5 Firmware Load Jumper eee 5 Base Board Jumper Configuration 5 Servo and Phase Clock Direction Control 5 Re Ininalization JUMPer GANG AA 6 Encoder Sample Clock Source Jumpers 6 Serial Port Selection Jumper Output Disable State Jumpers eese 6 Resistor Pack Configuration 6 BA E AA 6 Pull Up Pull Down 5 5 0 5 7 COMMECHONS ET 7 W nnm Kha wa 7 Power Supply Connection a uo iiion GA a ANG BAGAN Aa 8 Machine Port 8 Display aa GANG a ALA a Nai AWAN 8 Multiplexer 8 a R R 8 Serial 9 A 9 NAAN eet aee RG ABG i E DEDI eg 9 COMMUNICATIONS SETUP AA 11 CPU BOARD E POINT DESCRIPTIONS 13 El Watchdog Disable edet ride eaaa ain
58. n the amplifier enable signal is in the disable state The Turbo PMAC software should be commanding a net zero command to be output on these signals and the amplifier enable signal should be used by the amplifier so that no command output will cause action if it is receiving a disable signal This OFF setting should be definitely be used when DAC output format is selected for the channel If E11n is ON the command output signals for Channel n are tri stated when amplifier enable signal is in the disable state Typically this setting is only used with direct PWM power block amplifiers that do not use amplifier enable to gate signals and in which the zero command format of 5090 top on time and 5096 bottom on time cannot be tolerated in the disable state Resistor Pack Configuration Termination Resistors The PMAC2 PCI provides sockets for termination resistors on differential input pairs coming into the board As shipped there are no resistor packs in these sockets If these signals are brought long distances into the PMAC2 PCI board and ringing at signal transitions is a problem SIP resistor packs may be mounted in these sockets to reduce or eliminate the ringing All termination resistor packs are the type that has independent resistors no common connection with each resistor using two adjacent pins The following table shows which packs are used to terminate each input device
59. nce voltage 48 GND Common Reference voltage 49 5V Output Input 5V power For external circuit or from external supply 50 5V Output Input 5V power For external circuit or from external supply 51 45V Output Input 5 power For external circuit or from external supply 52 45V Output Input 5 power For external circuit or from external supply 53 GND Common Reference voltage 54 GND Common Reference voltage 55 CH AA Input Encoder 4 positive A Channel Also pulse input 56 4 Input Encoder 4 negative A Channel Also pulse input 37 CHB4 Input Encoder 4 positive Channel Also direction input 58 CHB4 Input Encoder 4 negative B Channel Also direction input 59 CHC4 Input Encoder 4 positive Channel Index channel 60 CHC4 Input Encoder 4 negative C Channel Index channel 32 Baseboard Connector Pinouts Turbo PMAC2 Hardware Reference Manual 410 JMACH2 Continued Pin Symbol Function Description Notes 61 CHU4 Input Channel 4 U flag Hall effect fault code or sub count 62 CHV4 Input Channel 4 V flag Hall effect fault code or sub count 63 CHW4 Input Channel 4 W flag Hall effect fault code or sub count 64 CHT4 Input Channel 4 T flag Fault code or sub count 65 USER4 Input General purpose user flag Hardware capture flag or sub count 66 PLIM4 Input Positive overtrave
60. o a H Sam zen 1 gee 3 ees 3 aan 508 PEEREREREE E b on wg an mi ack mnm H Ted Gees paa uove z o 2078 MG I E I I I E I I E 1 2 124 TIVWd OQNI
61. o DTR 8 SERVO Output Servo clock 9 GND Common PMAC common 10 5V Output 5Vdc supply Power supply out The JRS232 connector provides the PMAC2 PC with the ability to communicate serially with an RS232 port This connector cannot be used for daisy chain interconnection of multiple PMACs The J5A RS 422 port must be used for daisy chaining E17 and E18 must connect pins 1 and 2 to use the RS 232 port for serial communications Baseboard Connector Pinouts 25 Turbo PMAC2 PCI Hardware Reference Manual J5A RS422 Serial Port Connector JRS422 26 Pin Connector 25 1 28 0000000000000 2 Pin Symbol Function Description Notes 1 CHASSI Common PMAC common 2 S 5V Output 5Vdc supply 3 RD Input Receive data Diff low true 4 RD Input Receive data Diff high true 5 SD Output Send data Diff low true 6 SD Output Send data Diff high true 7 CS Input Clear to send Diff I O high true 8 CS Input Clear to send Diff I O low true 9 RS Output Request to send Diff high true 10 RS Output Request to send Diff low true 11 DTR Bidirectional Data terminal ready Tied to DSR 12 INIT Input PMAC reset Low is reset 13 GND Common PMAC common 14 DSR Bidirectional Data set ready Tied to DDTR 15 SDIO Bidirectional Special data Diff I O low true 16 SDIO Bidirectional Special data Diff I O
62. ought in through each 100 pin JMACH connector from an Acc 8 board or its equivalent provided the cable is 500 mm 20 in or less in length Machine Port Connections The Turbo PMAC2 PCI has a 100 pin high density header for each pair of servo interface channels Through this connector pass all of the digital signals to and from the amplifier encoder and flags for the two channels Typically this header is connected with a matching Delta Tau Acc 8 family 2 channel breakout board or equivalent through a provided 100 pin flat cable The machine port connectors are J9 JMACH1 Board Channels 1 and 2 JMACH2 Board Channels and 4 e Board Channels 5 and 6 Option 1 required 2 Board Channels 7 and 8 Option 1 required Display Port The J6 JDISP display port provides a 14 pin IDC header for connection to Delta Tau s Acc 12 family of displays Flat cables are provided with each of the Acc 12 displays for direct connection between the display and this port Multiplexer Port The J2 JTHW multiplexer port provides eight TTL compatible 5V CMOS inputs and eight TTL compatible 5V CMOS outputs on a 26 pin IDC header These can be used directly as general purpose digital I O or with PMAC2 s special M variable support TWB TWD TWS formats they can be used to support hundreds or even thousands of multiplexed I O points on accessory boards Delta Tau provides the following acce
63. r serial RS 232 communications was defined before a PMAC board was installed in the computer its setup information will be overwritten by the MOTIONEXE application when the 2 PCI board is found Therefore it is very important to take note of the all the devices and its parameters defined in MOTIONEXE before installing a new PMAC board in the computer 12 Communications Setup Turbo PMAC2 Hardware Reference Manual CPU BOARD E POINT DESCRIPTIONS E1 Watchdog Disable Jumper E Point and Description Default Physical Layout E1 E Jump pin 1 to 2 to disable Watchdog timer for test purposes only Remove jumper to enable Watchdog timer No jumper installed E2 DPRAM Location Configure E Point and Physical Layout Description Default E2 Jump pin 1 to 2 to access the dual ported RAM on baseboard Jump pin 2 to 3 to access the dual ported RAM through JEXP expansion port Jumper connects pins 1 and 2 Note Jumper E2 is present on 108 and newer boards only Older versions could access DPRAM from either source without a jumper configuration but with less robust buffering E4 E6 Power Up Reset Load Source E Point and Physical Layout Description Default HRS Remove jumper 4 Jump 5 pin 1 to 2 Jump E6 pin 1 to 2 To read flash IC on power up reset Other comb
64. ssory boards that can be connected to the multiplexer port Each comes with a flat cable for direct connection to the port Acc 8D Option 7 Resolver to Digital Converter Board Acc 18 Thumbwheel Board Acc 34 family of Digital I O boards 35 and B Extender Board UO Port The J3 port provides 32 TTL compatible 5V CMOS I O points on a 40 pin IDC header Direction is selectable by byte These are intended for use as general purpose digital I O points 8 Hardware Setup Turbo PMAC2 PCI Hardware Reference Manual Serial Ports The 2 has two serial port connectors Only one of these can be used in an application 15 is a 10 pin IDC header for RS 232 communications It can be connected to a standard DB9 RS 232 connector on a host computer or terminal via a flat cable such as the Acc 3L A commercially available DB9 to DB25 adapter can be added to such a flat cable if the host computer or terminal has a DB25 serial connector Jumpers E17 and E18 on the PMAC2 PCI must connect pins 1 and 2 to use this port J5A is 26 pin IDC header for RS 422 communications It can be connected to a standard DB25 RS 422 connector on a host computer or terminal via a flat cable such as the Acc 3D Jumpers E17 and E18 on the PMAC2 PCI must connect pins 2 and 3 to use this port A D Converter Port If the Option 12 A D converters are ordered the J1 JANA analog input port is provided on the PMAC2 on 20 IDC header Option
65. st saved set up parameters from flash memory into active memory T his is the setting for normal operation If E3 is ON during power up reset the controller will load its factory default set up parameters from firmware into active memory Generally this is only done if communications cannot be established with the card when in comes up in normal operational mode Encoder Sample Clock Source Jumpers Jumpers E13 and E14 control the source of the SCLK encoder sampling clock for each servo IC The default setting of no jumper installed means that the SCLK signal comes from the servo IC and is output on the JMACH connectors This setting is suitable for all but a few very special applications Serial Port Selection Jumper Jumpers E17 and E18 control which serial port connector is used If E17 and E18 connect their pins 1 and 2 the 10 pin RS 232 port connector 15 is used If E17 and E18 connect their pins 2 and 3 the 26 pin RS 422 port connector 75 is used The RS 422 port must be used if several cards are to be daisy chained together on a single multi drop cable Output Disable State Jumpers Jumpers E111 through E118 control the hardware state of the digital command output signals for each channel when the amplifier enable signal for that channel is in the disable state false Jumper Elln 1 to 8 controls the output signals for Channel n on the board If E11n is OFF default the command output signals for Channel n are still active whe
66. tput Address Data output for MUX port accessories 7 DAT2 Input Data 2 input Data input from MUX port accessories 8 SEL2 Output Select 2 output Address Data output for MUX port accessories 9 DAT3 Input Data 3 input Data input from MUX port accessories 10 SEL3 Output Select 3 output Address Data output for MUX port accessories 11 DATA Input Data 4 input Data input from MUX port accessories 12 SEL4 Output Select 4 output Address Data output for MUX port accessories 13 DAT5 Input Data 5 input Data input from MUX port accessories 14 SEL A Output Select 3 output Address Data output for port accessories 15 DAT6 Input Data 6 input Data input from MUX port accessories 16 SEL6 Output Select 6 output Address Data output for MUX port accessories 17 DAT7 Input Data 7 input Data input from MUX port accessories 18 SEL7 Output Select 7 output Address Data output for MUX port accessories 19 NC NC NC 20 GND Common PMAC common 21 BRLD Output Buffer request Low is buffer required 22 GND Common PMAC common 23 IPLD Output In Position Low is in position 24 GND Common PMAC common 25 45V Output 5Vdc supply Power supply out 26 INIT Input PMAC reset Low is reset J3 JI O General Input Output Connector Pin Symbol Function Description Notes 1 1 000 In Out Digital 0 Software direction control 2 I O01 In Out Digital I O 1 Software direction control
67. ut Channel 2 T flag Hall effect fault code or sub count 65 USER2 Input General purpose user flag Hardware capture flag or sub count Baseboard Connector Pinouts 29 Turbo 2 Hardware Reference Manual 49 JMACH1 Connector Description Continued Pin Symbol Function Description Notes 66 PLIM2 Input Positive overtravel limit Hardware capture flag 67 MLIM2 Input Negative overtravel limit Hardware capture flag 68 2 Input Home switch input Hardware capture flag 69 ACCFLT2 Input Accessory fault flag For loss of ACC supply voltage TO WD0 Output Watchdog output Low is PMAC watchdog fault 71 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 72 SCLK12 Input Output Encoder sample clock Direction controlled by PMAC2 jumper 73 ADC_CLK2 Output A D converter clock Programmable frequency 74 ADC CLK2 Output A D converter clock Programmable frequency 75 ADC 5 2 Output A D converter strobe Programmable sequence 76 ADC STB2 Output A D converter strobe Programmable sequence 77 ADC_DAA2 Input Channel A ADC serial data MSB first 78 ADC_DAA2 Input Channel A ADC serial data MSB first 79 ADC_DAB2 Input Channel B ADC serial data MSB first 80 ADC_DAB2 Input Channel B ADC serial data MSB first 81 AENA2 Output Amplifier enable High is enable 82 AENA2 Output Amplifier enable
68. x 8 ICs for a 128k x 24 bank fitting in the smaller footprint or they can be the larger 512k x 8 ICs for a 512k x 24 bank fitting in the full footprint The flash memory IC is located in U10 This IC forms the non volatile memory for the board s firmware the user setup variables and for user programs tables and buffers It can be x 8 2M x 8 or 4M x 8 in capacity e Option 4C provides 80 MHz DSP56309 CPU with expanded internal memory to improve performance for large number of commutated axes Option 5 0 is the standard CPU and memory configuration It is provided automatically if no Option 5xx is specified It provides an 80 MHz CPU 120 MHz PMAC equivalent 128k x24 of compiled assembled program memory 128k x 24 of user data memory and a 1M x 8 flash memory Option 5C1 provides 80 MHz CPU 120 MHz PMAC equivalent 128k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 2M x 8 flash memory e Option 5C2 provides an 80 MHz CPU 120 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory 128k x 24 of user data memory and a 2M x 8 flash memory e Option 5C3 provides an 80 MHz CPU 120 MHz PMAC equivalent an expanded 512k x 24 of compiled assembled program memory an expanded 512k x 24 of user data memory and a 4M x 8 flash memory Option 500 provides a 100 MHz CPU 120 MHz PMAC equivalent 128k x24 of compiled assembled program memory
69. xternal supply 53 GND Common Reference voltage 54 GND Common Reference voltage 55 CHA6 Input Encoder 6 positive A Channel Also pulse input 56 CHA6 Input Encoder 6 negative A Channel Also pulse input 57 Input Encoder 6 positive B Channel Also direction input Baseboard Connector Pinouts 35 Turbo 2 PCI Hardware Reference Manual 411 JMACH3 Continued Pin Symbol Function Description Notes 58 CHB6 Input Encoder 6 negative Channel Also direction input 59 CHC6 Input Encoder 6 positive Channel Index channel 60 CHC6 Input Encoder 6 negative Channel Index channel 61 CHU6 Input Channel 6 U flag Hall effect fault code or sub count 62 6 Input Channel 6 V flag Hall effect fault code or sub count 63 6 Input Channel 6 W flag Hall effect fault code or sub count 64 CHT6 Input Channel 6 T flag Fault code or sub count 65 USER6 Input General purpose user flag Hardware capture flag or sub count 66 PLIM6 Input Positive overtravel limit Hardware capture flag 67 MLIM6 Input Negative overtravel limit Hardware capture flag 68 HOME6 Input Home switch input Hardware capture flag 69 ACCFLT6 Input Accessory fault flag For loss of ACC supply voltage TO WD0 Output Watchdog output Low is PMAC watchdog fault 71 SCLK56 Input Output Encoder sample clo

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