Delta Tau 4AX-603625-XUXX Speaker User Manual
Contents
1. lt 6 30 I T T N 4 J10 E aa J11 del a gt E25A slee E e El IE E25B daan Ei E25C dum s J2 aE 3 ew E Jo Cl E11 Wi d J6 B nm Wa NENNEN EEN EET EEN NEER EN EEN NE RR e N e e DL D o l faa fad P S 3 90 E1A B lel S jj J8 J l H 2 e ua o Ju ofelel E18 Ji Olojo oncom i ANN A l LU LU LLI LL l OO Ob Cl TI L Di i 7 El f b i J UMAC CPCI Turbo CPU Board Layout Board Layout 10 UMAC CPCI Turbo CPU Board Hardware Reference Manual Board Layout UMAC CPCI Turbo CPU Board Hardware Reference Manual JUMPER DESCRIPTIONS Note Pin 1 of an E point is masked by an X and a bold square in white ink on the composite side and by a square solder pad on the solder side E0 Reset Lock Enable Factory Use Only E Point amp Location Description Default Physical Layout Jump pins 1 and 2 to lock the UMAC CPCI Turbo CPU board in No jumper the reset state to permit installation of on board logic This installed setting for factory use only Remove jumper to permit normal operation of board E1A Servo and Pha2. 6V GND 21 GND RD CIS eV D RIS GND 20 GND RD RD GND SD SD GND 18 GND DSR Dm NY GND 17 op SERVO SERVOr PHASE PHASE GND 16 GND l J J J GND 15 GND AuRxD Auch AuxIxD AuxRTS GND 14 GND j AuDSR AuDIR S GND 13 GND app GND USBDM D GND 2 GND j J OD H op EthTxF Div EthRxF EthRxF GND GND o X JX XA S GND 9 GND L J9 GND GND o X J JO 1 GND 17 GND j GND 6 GND J J J A GND GND X J J J GND 4 GND op AL GND j GND II IT E N 1 GND GND Row 25 is physically at the top of the connector in its normal orientation Row 1 is at the bottom Looking from the front of the rack Column Z is on the left Column F is on the right The RxD CTS TxD and RTS lines are standard RS 232 signals The inputs are only used if jumpers E17 and E18 each connect their pins 1 and 2 The DSR and DTR lines are simply shorted together The RD RD SD SD CS CS RS and RS lines are standard RS 422 signals The inputs are only used if jumpers E17 and E18 each connect th
3. To receive the clock signals through the main serial port usually from another UMAC system or a reference signal generator PIA must connect pins 2 and 3 and EIB must connect pins 1 and 2 This configuration is rarely used but permits complete synchronization to the system that is generating the clock signals Watchdog Timer Jumper Jumper E19 should be OFF for normal operation leaving the watchdog timer circuit active and prepared to shut down the card in case of a severe problem Putting jumper E19 ON disables the watchdog timer circuit This should only be used for test purposes in trying to track down the source of watchdog timer trips Normal operation of a system with this jumper ON should never be attempted as an important safety feature is disabled Operation Mode Jumpers Jumpers E20 E21 and E22 control the operational mode of the UMAC CPCI Turbo CPU For normal operation E20 must be OFF E21 must be ON and E22 must be ON Other settings of these jumpers are for factory use only Firmware Reload Jumper Jumper E23 should be OFF for normal operation If you want to load new firmware into the flash memory IC on the CPU E23 should be ON when the card is powered up This puts the card in bootstrap mode ready to accept new firmware If you then try to establish communications to the card with the Executive program either over the main serial port or the optional USB or Ethernet ports the Executive program will automaticall
4. lithium battery in component BT1 While the average expected battery life is over five years a yearly replacement schedule is recommended Replacement batteries can be ordered from Delta Tau as Acc 1LS Part 100 0QTC85 000 4 Board Configuration UMAC CPCI Turbo CPU Board Hardware Reference Manual HARDWARE SETUP Clock Source Jumpers In order to operate properly the Turbo CPU board must receive servo and phase clock signals from a source external to the board These clock signals can be brought into the board from one of three possible ports the stack connector the UBUS backplane connector or the front side main serial port connector Jumpers E1A and E1B must be configured properly for the clock source used Note If the UMAC CPCI Turbo CPU board cannot find the clock signal from the source specified by these jumpers it will generate its own 2 26kHz servo clock and its own 9 04kHz phase clock so it will stay in operation To receive the clock signals over the Compact UBUS backplane usually from an ACC 24C2x axis interface board ELA must connect pins 1 and 2 and EIB must connect pins 2 and 3 This configuration is typical for an UMAC CPCI system The clock signals are output on the main serial port To receive the clock signals through the stack connectors usually from the MACRO IC on the CPCI bridge board E1A must connect pins and 2 and the EIB jumper must be removed The clock signals are output on the main serial port
5. HARDWARE REFERENCE MANUAL UMAC CPCI Turbo CPU Board 1111TYYTYYYA UA LA RE TTA DELTA TAU Ti 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 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 ca
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8. 6 Flash IC Firmware Bank Select JUMpers sesse Dee se EED EER de ee GE GEK PRSE SG EG EDU De ee EERS DEE Ge Ne 6 Flash IC Power Supply Select JUtWpet eege ERGE ER GE en DE EG SEER ER SE eo SG GE RE GE EG ERG DERE Ge Ge 6 Powersupply Check Select JUMDper se EDE OER EE AE DON EK GE n AG DE EG GE ER EER ae Eua FoU n EG ERG DERE Ge Ge 6 ede dire re S EG SEE EO OE oO o OE OE 6 CONNEC RI E 7 Compact UBUS Connector ese ARE AG ee N Ee RE ee EE eel Ode EE ee OR Ep Ee 7 Rear Field EE 7 Front Panel R5 232 ORM EEN 7 Stack Connectors to Bridge Bod E 7 Pacon RE RE 8 15387 314 8 FO id Iy EE EE EE EE EE EE EE 9 JUMPER DES CRU 8 I E EE EE 11 BO Reset Lock Enable Factory Use OS ses vain code DS DE de Ga EG EE Ge eN II EIA Servo and Phase Clock Direction Eeer 11 PIB Servo Phase Clock Source Control ee II EST a E un e BE EE 11 E3 Re Initialization on Reset Control 12 Ee ryed lof putre BE EE 12 E5 USB Ethernet Communication Jumper 12 Elk Power SUPPLY Check Conto 12 EI L IS senal Pori EE 12 EISA B C D Ethernet Communication C OBLEOL EE EE EE 13 LIS WV AUC Oe Disable JUN CF osoon ees E E E E E Re Oe Ee 13 E20 E22 Power Up Reset Load Ke easiest esse GE EE Ee Ee a ed DE Ee EN e ee Re GE ee ET 13 E23 Firmware Reload Enable sessies sesse ses see see be ee ee be Se ke ee ee ee a ea guest Ee Ro Sk ee ee ees Se doe See ee eed Ge ee AE 13 E25A B C Flash Memory Firmware Bank Select 13 WI Flash IC Power Supply Select Jumper soseer
9. 9 NC Noconnect EE Jumpers E17 and E18 should connect pins 1 and 2 to use this port for RS 232 communications they should connect pins 2 and 3 to use this port for RS 422 communications Connector Pinouts 19 20 UMAC CPCI Turbo CPU Board Hardware Reference Manual Connector Pinouts UMAC CPCI Turbo CPU Board Hardware Reference Manual ACCESSORIES The UMAC CPCI Turbo CPU board is always used with accessory boards Delta Tau provides several accessory boards in the UMAC CPCI family that can be used with the CPU board other parties may produce accessory boards as well Each accessory board has its own hardware reference manual ACC Cx Compact UBUS Backplane Boards The ACC Cx family of Compact UBUS backplane boards provides the means for the CPU board to communicate with other accessory boards The x in the name of the backplane board refers to the number of backplane data slots provided This picture shows an ACC C8 8 slot backplane board It has a P47 style power connector suitable for a standard 1 slot CPCI format power supply ACC 8CR Test Breakout Board The ACC 8CR board provides a behind the backplane breakout scheme for the J2 field wiring connector on any of the 3U format UMAC CPCI board It is designed to plug into the rear of an ACC Cx Compact UBUS backplane board and it meets the Compact PCI physical specification 100mm x 80mm for rear distribution boards It has 110 screw down terminal points one for eac
10. END Bb V BOT Boo GND 23 GND 33V BD05 BDO4 5V BDO3 GND 17 GND 33V BD26 BD25 GND BD24 GND 16 GND BD30 GND BD29 BD28 BD27 GND 15 GND 33V BWR BRD GND BD31 GND 1i GND CSIO CS4 CS GND CS2 GND 10 GND CSI6 GND 33V CSI4 CSI GND 9 GND IREQ2 IREQI MEMCSI GND MEMCSO GND 8 GND PHASE GND SERVO WAIT IREQ3 GND 7 GND PHASE WDO SERVO GND GND 6 GND BA GND 33V BAO Bam GND 5 GND BA Da RESET GND DN GND 4 GND BA GND Ivo BA06 Bam GND 3 GND Bali BAIO Bam 5V Baos GND GND BAIS SV BAM BAI3 BAD GND Notes 1 Row 25 is physically at the top of the connector in its normal orientation Row is at the bottom Looking from the front of the rack Column Z is on the left Column F is on the right Supply Vxx amp xxV and ground pins are in the same locations as the Compact PCI bus Spaces marked KEY are for the mechanical key these are not pins Pins marked with brackets are reserved for future use the signals inside the brackets are proposed for future expansion to a 32 bit data bus and 16 bit address bus Connector Pinouts UMAC CPCI Turbo CPU Board Hardware Reference Manual UMAC CPCI Turbo CPU Board J2 Connector Row Z A B C D E E 2 GND
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13. distribution system to the machine UMAC Universal Motion and Automation Controller CPCI systems provide integrated connectivity as well as ease of assembly diagnostics and repair UMAC CPCI systems differ from standard UMAC systems in that all field wiring comes to the back of the rack behind the backplane instead of direct top and bottom access The UMAC CPCI Turbo CPU board Part number 3 A0 603625 10x implements a Turbo PMAC2 CPU in the 3U CPCI form factor Its software operation is completely identical to other Turbo PMAC2 controllers Note that a Compact PCI interface does not automatically come with a UMAC CPCI system nor is one necessary to communicate to the system given the other possible communications ports RS 232 RS 422 USB and Ethernet This picture shows the UMAC CPCI Turbo CPU board The connectors on the right side plug into the Compact UBUS backplane board with the bottom right connector being the bus connector and the top right connector containing the external field wiring signals which typically pass through the backplane board The connector at lower left is an RS 232 port intended for setup and diagnostics the stack connectors top and bottom provide the link to a CPCI bridge board z SC Gi 4 es T ir 22 im SZ 22 4 Law SZ CH 2 t AR d eg FH s Ly La Ch L ck L Le This picture shows a sample configuration of a UMAC CPCI system not installed in
14. its rack It consists of the following components 1 Rack power supply not a Delta Tau product 2 UMAC CPCI CPU board 3 ACC 11C Sinking I O board 4 ACC 24C2A analog axis interface board 5 ACC C8 8 slot Compact UBUS backplane Note the pass through connector on the back for field wiring distribution In this picture alternate slots in the backplane have been left open to make each board more visible This does not have to be done in actual use Introduction UMAC CPCI Turbo CPU Board Hardware Reference Manual Associated Manuals This document is the Hardware Reference Manual for the UMAC CPCI Turbo CPU board for an UMAC CPCI system It describes the hardware features and provides setup instructions You will need other manuals as well to use your UMAC CPCI system Each accessory to the UMAC CPCI Turbo CPU board has its own manual describing its operation and any required software setup of the Turbo CPU You will also need the Software Reference Manual for the Turbo PMAC family and the User Guide for the PMAC or Turbo PMAC families 2 Introduction UMAC CPCI Turbo CPU Board Hardware Reference Manual BOARD CONFIGURATION The base version of the UMAC CPCI Turbo CPU board provides a 1 slot 3U format Eurocard board with 80 MHz DSP56303 CPU 120 MHz PMAC equivalent 128k x 24 SRAM compiled assembled program memory Opt 5CO 128k x 24 SRAM user data memory Opt 5C0 IM x 8 flash memory for user backup
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17. 32k x 16 bank of on board dual ported RAM requires Option or 1A in component U56 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 5xx may be selected for the board The CPU is a DSP563xx IC as component U1 It is currently available only as an 80 MHz or 100 MHz device with computational power equivalent to a 120 MHz or 150 MHz non Turbo PMAC respectively but higher speed versions may become available The compiled assembled program P memory SRAM ICs are located in U14 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 X Y 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 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 Board Configuration 3 UMAC CPCI Turbo CPU Board Hardware Reference Manual The flash memory IC is located in U10 This IC forms the non volatile memory for the board s firmware the user setup vari
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19. Ee SEN ESE ke GE EG Ee GN ee ee ee ee Aae 14 CONNECTOR SUMMAR ET 15 CONNECTOR PUN Snan A A IX SE VDIC EUER DIG A MENU EIIA PEN GERE 17 Compact UBUS Connector J1 Pr OUL eei dd n Ere eU nsb EFIE sn GE ga cau xp SIS S UR Ge GE esu Nee RS N Ge 17 UMAC CPCI Turbo CPU Board Hardware Reference Manual UMAC CPCI Turbo CPU Board J2 Connector cc cccccccccccccccccccccenaeeeeessesseeeeeeeeeeeeeeeeaasaaseeseseeeeeeeeeeeeeeeeesaaaeeaeeses 18 J4 RS 232 Serial Port Connector rs ede ie SE EE haue MIU ER EEUU Lu Ced aw ie NUT td EUER ei be EUM CNN HN EN UR M LU URN M ie 19 PCC WSS Ad O A EE OE EE ETE EE EE EE TE EE OR NE 21 NEE LE x Compact UBUS Backplane E ae N ed Ee isa ee ee id GO EE N ee ie zl ACC SCR Test Breakout vm N ee 21 ACC Simkine VO Bod E 21 ACC 24C 2 PWM AXIS Board E 2 ACC 24C2A Analog Axis Board EE 22 ACC 51C Analog Encoder Interpolator Board 22 LB SEDI Ee 23 ii Table of Contents UMAC CPCI Turbo CPU Board Hardware Reference Manual INTRODUCTION Delta Tau s UMAC CPCI systems provide a compact and clean integration of motion and I O control for sophisticated automation equipment The system consists of a modular set of 3U size 100mm x 160mm boards in the Compact PCI format implementing Turbo PMAC software and hardware functions communicating with each other over a common backplane the Compact UBUS All field wiring is available on rear connectors suitable for a user designed
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21. M it must connect pins 2 and 3 to use the CPCI bridge board DPRAM Flash IC Firmware Bank Select Jumpers Some makes of the U10 flash memory IC on the UMAC CPCI Turbo CPU board can store multiple versions of the operating firmware inside Jumpers E25A E25B and E25C select which bank is loaded into active memory on a normal power up reset and which bank will be written to if the board is powered up or reset with the E23 jumper on The eight possible settings of these three jumpers provide eight banks for the firmware A standard production version of the UMAC CPCI Turbo CPU board is shipped with firmware loaded only in the bank selected by having all three of these jumpers OFF Flash IC Power Supply Select Jumper Jumper W1 is set at the factory for the voltage level of the flash IC installed in U10 It connects pins 1 and 2 for a 3 3V flash IC it connects pins 2 and 3 for a 5V flash IC Even if this is a removable not soldered jumper it should not be changed by the user Power Supply Check Select Jumper The UMAC CPCI Turbo CPU board has a circuit to evaluate the voltage levels received through the J1 Compact UBUS backplane connector This circuit can then notify other boards in the system without software intervention of a bad supply so the outputs of those boards are automatically shut down Jumper E11 should be OFF if only the 5V supply is checked for this purpose it should be ON if the 12V and 12V backplane supplies are to be ch
22. PU Board Hardware Reference Manual W1 Flash IC Power Supply Select Jumper E Point amp Location Description Default Physical Layout Note This jumper is set at the factory and possibly hard soldered Setting Users should not change this jumper dependent on Jump pin 1 to 2 to select 3 3V supply for flash memory IC in U10 flash IC used Jump pin 2 to 3 to select 5V supply for flash memory IC in U10 14 Jumper Descriptions UMAC CPCI Turbo CPU Board Hardware Reference Manual CONNECTOR SUMMARY J1 J2 J4 J5 J6 J10 J11 J11A J12 J12A Compact UBUS Backplane Connector Ihru Backplane Field Wiring Connector RS 232 Front Panel Serial Port Connector JTAG OnCE for factory use only 10 pin IDC connector JISP for factory use only 8 pin SIP connector JISP_B for factory use only 8 pin SIP connector First component side stack connector to CPCI bridge board First solder side stack connector to CPCI bridge board First component side stack connector to CPCI bridge board First solder side stack connector to CPCI bridge board Pinouts shown in next section Connectors not flagged with an asterisk are for internal use or factory setup Connector Summary I5 16 UMAC CPCI Turbo CPU Board Hardware Reference Manual Connector Summary UMAC CPCI Turbo CPU Board Hardware Reference Manual CONNECTOR PINOUTS Compact UBUS Connector J1 Pin Out On D CECR a oa 1 ENB a
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24. ables and for user programs tables and buffers It can be IM x 8 2M x 8 or 4M x 8 in capacity e Option 5CO is the standard CPU and memory configuration It is provided automatically if no Option 5xx is specified It provides an 80 MHz DSP56303 CPU 120 MHz PMAC equivalent with 8k x 24 of internal memory an external 128k x 24 of compiled assembled program memory an external 128k x 24 of user data memory and a 1M x 8 flash memory Setup variable I52 should be set and saved at 7 for 80 MHz operation e Option 5C3 provides an 80 MHz DSP56303 CPU 120 MHz PMAC equivalent with 8k x 24 of internal memory an expanded external 512k x 24 of compiled assembled program memory an expanded external 512k x 24 of user data memory and a 4M x 8 flash memory Setup variable I52 should be set and saved at 7 for 80 MHz operation e Option 5D0 provides a 100 MHz DSP56309 CPU 150 MHz PMAC equivalent with 34k x 24 of internal memory an external 128k x24 of compiled assembled program memory an external 128k x 24 of user data memory and a 1M x 8 flash memory Setup variable I52 should be set and saved at 9 for 100 MHz operation e Option 5D3 provides a 100 MHz DSP56309 CPU 150 MHz PMAC equivalent with 34k x 24 of internal memory an expanded external 512k x 24 of compiled assembled program memory an expanded external 512k x 24 of user data memory and a 4M x 8 flash memory Setup variable I52 should be set and saved at 9 for 100 MHz operation Option 8 H
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26. alled in the end slot of the Compact UBUS backplane immediately adjacent to the Compact PCI bus backplane board so the bridge board can be installed in the adjacent CPCI end slot Rear Field Wiring Connector The J2 field wiring connector at the top of the back edge of the board provides the path for all of the signals between the CPU board and the outside system In a typical configuration this connector is mated with a pass through connector on the Compact UBUS backplane board and a system specific distribution system is installed behind the backplane The J2 connector contains the signals for the main serial port either RS 232 or RS 422 levels the optional auxiliary RS 232 serial port the optional USB port and the optional Ethernet port It also provides the outputs of the relay for the CPU board s watchdog timer Front Panel RS 232 Connector The J4 DB 9S connector on the front panel is a standard RS 232 connector for the main serial port into the CPU permitting a straight across cable to a matching cable on a host computer Jumpers E17 and E18 must each connect pins and 2 to permit use of this connector These same signals are available on the rear J2 connector this front connector is intended for setup and diagnostic use more than use in the actual application Stack Connectors to Bridge Board Stacking socket connectors J11 and J12 on the top and bottom edges respectively of the component side of the CPU board provide
27. amp firmware Opt 5CO Latest released firmware version RS 232 422 serial interface available both on front panel DB 9 connector and on backside field wiring connector e Backplane Compact UBUS expansion connector for communication to servo and I O accessory boards e Backside field wiring connector Option 1 Communications Interfaces The UMAC CPCI Turbo CPU board comes standard only with an RS 232 422 serial interface The Option family provides faster interfaces for high speed communications Universal Serial Bus USB Ethernet or the link to the CPCI bus through a bridge daughter board e Option 1 On board 10 Base T TCP IP Ethernet interface The key added components are U67 and U32 e Option 1A On board 12 Mbit sec USB interface The key added component is U67 e Option IB Solder side stack connectors to CPCI bridge daughter board This option should only be ordered when the bridge board is to be installed on the left side of the CPU board so the CPU board is in the leftmost slot of the Compact UBUS backplane and the bridge board is in the rightmost slot of the Compact PCI bus backplane Option 2 Dual Ported RAM With either the Option Ethernet interface or the Option 1A USB interface communications throughput can be increased through the use of dual ported RAM which provides a bank of memory that can be directly accessed by both the UMAC CPCI Turbo CPU and the communications microcontroller e Option 2
28. connection to the optional CPCI bridge board that can form a two board stack with the CPU board Mating prong connectors on the solder side of the bridge board must be ordered In this configuration the UMAC CPCI Turbo CPU board can be installed in the rightmost slot of a Compact UBUS backplane and the bridge board can be installed in the leftmost slot of a CPCI backplane If Option 2C is ordered stacking prong connectors J11A and J12A are provided at the same locations on the solder side of the board These provide connection to mating socket connectors on the component side of the bridge board In this configuration the UMAC CPCI Turbo CPU board can be installed in the leftmost slot of a Compact UBUS backplane and the bridge board can be installed in the rightmost slot of a CPCI backplane Connections 7 UMAC CPCI Turbo CPU Board Hardware Reference Manual Factory Use Connectors There are several connectors on the interior of the board for factory setup and diagnostic use These are not for customer use 8 Connections UMAC CPCI Turbo CPU Board Hardware Reference Manual BOARD LAYOUT This diagram of the UMAC CPCI Turbo CPU board shows the locations of the jumpers and connectors Detailed information about each of the jumpers and connectors follows B
29. ecked for this purpose Note that many users will provide a separate isolated 12V supply into the analog axis boards and each analog axis board has its own power supply check circuit Reset Lock Jumper Putting jumper EO ON locks the UMAC CPCI Turbo CPU board in the reset state This setting permits the loading of logic into the programmable ICs on the board and is for factory use only This jumper should be OFF for all normal operation 6 Hardware Setup UMAC CPCI Turbo CPU Board Hardware Reference Manual CONNECTIONS In a typical installation the UMAC CPCI Turbo CPU board is simply slid into a slot of a 3U Eurocard rack until it inserts into the mating connectors on the backplane board already installed in the rack In actual operation all signals to the board come into the CPU board through the backplane The front panel RS 232 connector is intended for test and debugging purposes Compact UBUS Connector The J1 Compact UBUS connector at the bottom of the back edge of the board provides the means for the UMAC CPCI Turbo CPU board to communicate with axis and I O boards through a common backplane board such as a Delta Tau ACC Cx board or a user designed backplane board It also provides the 3 3V and 5V power supply lines to the CPU board Because of the design of the Compact UBUS the CPU board can operate in any slot of the bus However if the CPU board has the CPCI bridge board installed on it the CPU board must be inst
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31. eir pins 2 and 3 The SERVO SERVO PHASE and PHASE clock lines are at RS 422 levels These signals are outputs if jumper EIA connects its pins 1 and 2 they are inputs if jumper E1A connects pins 2 and 3 The AuxRxD AuxCTS AuxTxD and AuxRTS lines are standard RS 232 signals These signals are provided only if the Option 9T auxiliary serial port is ordered The AuxDSR and AuxDTR lines are simply shorted together The USBDP D and USBDM D signals are standard USB signals They are only provided if the Option 1A USB interface is ordered The EthTxF EthTxF EthRxF and EthRxF signals are standard Ethernet signals They are only provided if the Option 1 Ethernet interface is ordered The WD NO normally open WD COM common and WD NC normally closed lines are the outputs of the watchdog timer hard contact relay The normally open contact is only conducting to common if the card is powered and operating correctly The normally closed contact is only conducting to common if the card is not powered or the watchdog timer has tripped 18 Connector Pinouts UMAC CPCI Turbo CPU Board Hardware Reference Manual J4 RS 232 Serial Port Connector DB 9S Connector Symbol a P No connect 1 bsk Bidea Daa SaR Shored 9 BER 5 GND Come UMAC CPCI Reference 6 DTR Q9 Bidiect Data Terminal Ready ShortedtoDSR lt 8 RTS JL Output Requsttoi Send HighTRUE o
32. erence Manual E18A B C D Ethernet Communication Control E Point amp Physical Location Description Default Layout Jump 1 to 2 to Ethernet Connection to J7 front connector Pins 1 2 siis Jump 2 3 for Ethernet connection through back J2 connector jumpered 1 DOO E18B E19 Watchdog Disable Jumper E Point amp Physical Location Description Default Layout Jump pin 1 to 2 to disable Watchdog timer for test purposes No jumper only installed Remove jumper to enable Watchdog timer E20 E22 Power Up Reset Load Source E Point amp Location Description Default Physical Layout E20 To load active memory from flash IC on power up reset No E20 jumper Remove jumper E20 installed Jump E21 pin 1 to 2 E21 and E22 Jump E22 pin to 2 jump pin 1 to 2 Other combinations are for factory use only the board will not operate in any other configuration E23 Firmware Reload Enable Physical Layout Ei Jump pin 1 to 2 to reload firmware through serial or host bus port No jumper l installed Remove jumper for normal operations E25A B C Flash Memory Firmware Bank Select E Point amp Location Description Default Physical Layout 21 Remove all jumpers to select standard factory installed bank of No jumpers operational firmware installed 2 1 Install one or more jumper s to select alternate bank of operation 2 1 firmware to install E23 ON or use E23 OFF Jumper Descriptions 13 UMAC CPCI Turbo C
33. h signal on the J2 field wiring connector ACC 11C Sinking VO Board The ACC 11C board provides 32 isolated 12V 24V emm V sinking inputs and 16 isolated sinking outputs up to 24V es DE and 100mA per output With its Option 1 mezzanine de board an additional 32 inputs and 16 outputs are provided for a total of 96 I O points in a single slot Schematics UMAC CPCI Turbo CPU Board Hardware Reference Manual ACC 24C2 PWM Axis Board The ACC 24C2 PWM axis board provides the interface circuitry for 4 axes of purely digital control in a single slot with direct PWM outputs serial ADC inputs quadrature encoder inputs and input output flags Because of pin limitations on the J2 field wiring connector signals that are differential on other ACC 24x2 boards are single ended here To take these signals any significant distance differential line drivers and receivers are required on a distribution board ACC 24C2A Analog Axis Board The ACC 24C2A analog axis board provides the mm interface circuitry for 4 axes of control in a single slot mE dit E with analog interface to the servo drives It also has za MT Ad one pulse and direction output per axis for stepper poer rt drives or stepper replacement servo drives One 18 bit D A converter comes standard for each axis Option 1 provides a second D A converter per axis which can be used as part of a sine wave control scheme or for non servo use Option 2 provides eight 12 bit A D c
34. igh Accuracy Clock Crystal The UMAC CPCI Turbo CPU board has a clock crystal component Y 1 of nominal frequency 19 6608 MHz 20 MHz 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 UMAC CPCI Turbo CPU board comes standard with a single RS 232 422 serial port a second serial port can be added e Option 9T adds an auxiliary RS 232 port on the CPU board The key components added are ICs U28 and U43 Option 10 Firmware Revision Specification Normally the UMAC CPCI Turbo CPU board is provided with the newest released firmware revision Some users may wish to freeze their designs on an older revision A label on the U10 flash memory IC shows the firmware revision loaded at the factory The VERSION command can be used to report what firmware revision is currently installed e Option 10 provides for a user specified firmware version 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 1s ideal for holding machine state parameters in case of an unexpected power down e Option 16A provides a 32k x 24 bank of battery backed parameter RAM in components U17 U18 and U19 and a can stack
35. onverters 2 m P 5 S 5 5 5 5 5 mil 5 5 s s 5 wi Las GEI s sm as s 5 5 eg ed e L s ml L4 s Ch Jet Le ns ACC 51C Analog Encoder Interpolator Board The ACC 51C provides the circuitry for the high resolution interpolation of 2 or 4 analog sine cosine encoders yielding 4096 states per line of the encoder The board comes standard with two channels of interface Option 1 provides two additional channels 22 Accessories SIDUIAYIS 2002 vl Menuer AepuoN Tareq S lee ee T d N8pP uor do AZoWeW pepueixa ooT d 444480 000080 PLOS S E Z LOS MLOAS Ndd 60E9ISGdSA fidO IodO OVIAn E2208 N ZLOS d ZEOLHONH VLLOVFL SW80ZSZON 2 ou sae ez e e nol Ss xv9 uotido Aadouew paepuejs OOTd A44460 000050 ou suiejs S geq nel ey
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37. se Clock Direction Control E Point amp Location Description Default Physical Layout Jump pins 1 and 2 or remove jumper for the UMAC CPCI system Pins 1 2 to use its internally generated servo and phase clock signals and to jumpered output these signals on the field wiring connector on the CPU board EIB should connect pins 2 and 3 or be removed Jump pins 2 and 3 for the UMAC CPCI system to expect to receive its servo and phase clock signals on J2 field wiring connector on the Turbo CPU board EIB should also connect pins and 2 E1B Servo Phase Clock Source Control E Point amp Location Description Default Physical ayoul Jump pin 1 to 2 to get phase and servo clocks from J7 RS422 Pins 2 3 connector from an external source such as another UMAC jumpered Jump pin 2 to 3 to get phase and servo clocks from J1 backplane connector from an ACC 24C2x or equivalent board Remove jumper to get phase and servo clocks from J2 Stack connector from an ACC 2E or equivalent board E2 Reserved for Future Use E Point amp Location Default Physical Layout EE EMEN jumper installed Jumper Descriptions I1 UMAC CPCI Turbo CPU Board Hardware Reference Manual E3 Re Initialization on Reset Control E Point amp Location Description Default Physical Layout Remove jumper for normal reset mode default No jumper Jump pins to 2 for re initialization on reset installed E4 Reserved for Fut
38. ure Use E Point amp Location ma N Default Physical Layout EE EE jumper installed E5 USB Ethernet Communication Jumper E Point amp Location Description Default Physical Layout Jump 1 2 for Ethernet or USB communications from J7 Ethernet Factory connector or J3 USB connector installed Jump 2 3 for Ethernet or USB communications through the back J2 connector E11 Power Supply Check Control E Point amp Location Description Default Physical Layout Jump E11 pin 1 to 2 to include the 12V and 12V analog No jumper supplies from the J1 backplane connector in the power supply installed check circuit inhibiting outputs if these supplies fail Remove E11 jumper so only 5V digital supply is used in power supply check circuit E17 E18 Serial Port Select E Point amp Location Description Default Physical Layout Jump E17 pin 1 to 2 to select RS 232 serial data input for main Pins 1 2 serial port J4 front panel or J2 backside connector jumpered Jump E17 pin 2 to 3 to select RS 422 serial data input for main serial port J4 front panel or J2 backside connector Jump E18 pin 1 to 2 to select RS 232 serial handshake input for Pins 1 2 main serial port J2 backside connector only jumpered Jump E18 pin 2 to 3 to select RS 422 serial handshake input f for main serial port J2 backside connector only 12 Jumper Descriptions UMAC CPCI Turbo CPU Board Hardware Ref
39. use harm to the controller by damaging components or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are exposed to hazardous or conductive materials and or environments we cannot guarantee their operation UMAC CPCI Turbo CPU Board Hardware Reference Manual Table of Contents TIN PRODUCTION ER EE N EE EE KO EE EE N EE 1 ele Ego Mantal escini OE ER OE EE RE EE N OE 2 BOARD CONFIGURATION E 3 Option 1 Communications Interfaces sade NE EE N EG Re GR Ee ER ok GE Ee BA Di Ee SR N Ee ODER S AER N Ee AE 3 Option 2 Dual Ported E RE 3 Option 5 CPU and Memory ConfiguraHiONnS sees esse sesse ees ee ee ee ee ee ee ee AA RR EE EE ee ee ee ee ee ee ee ee AA RR EE ee ee ee ee ee ee ee 3 Option 8 High Accuracy Clock Crystal A Option 9 Serial Port Configuration ege EE 4 Option 10 Firmware Revision Specification ese esse RR RE Ee ee ee ee ee ee ee ee ee AA AR RE ee ee ee ee ee ee ee ee A Option 16 Battery Backed Parameter Memor A IFEN ENT 03 M de ER EE EE EE EE EE OE EE N 5 leet 5 Watchdog Timer DEE NT 5 Operation eege 5 ey wet iS Reload ER seed Tm 5 eege 5 Seral Por Level select JUMPS ee 6 DPRAM IC Selec JUICE es REEDE GE GE DE Se N GOD RE Ed ee GER sana DR Ge GO RE Re EG ERG ED Ee de
40. y recognize that the card is in bootstrap mode and prompt you for the firmware file to download Re Initialization Jumper Jumper E3 should be OFF for normal operation where the last saved I variable values are loaded from flash memory into active memory at power up reset If E3 is ON during power up reset the factory default I variable values are instead loaded into active memory at power up reset The last saved values are not lost when this happens This jumper is typically only used when the system s set up has a problem severe enough that communications does not work otherwise a command can be used for re initialization Board Configuration 5 UMAC CPCI Turbo CPU Board Hardware Reference Manual Serial Port Level Select Jumpers The standard serial port can be used for either RS 232 or RS 422 serial communications To use RS 232 jumpers E17 and E18 should connect pins 1 and 2 to use RS 422 jumpers E17 and E18 should connect pins 2 and 3 The front panel DB 9 serial connector provides only the RS 232 signals so in order to use this connector E17 and E18 must both connect pins and 2 DPRAM IC Select Jumper The UMAC CPCI Turbo CPU board can provide dual ported RAM DPRAM communications using either the on board Option 2B DPRAM IC through the USB or Ethernet port or using the DPRAM IC on the CPCI bridge daughter board through that board s CPCI port Jumper E24 must connect pins and 2 to use the on board Option 2B DPRA
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