Delta Data Systems PMAC PCI Kurzanleitung

^1HARDWARE REFERENCE MANUAL

^2 PMAC PCI

^3 PCI-Bus Expansion w/Piggyback CPU

^4 4A0-603588-100

^5 June 18, 2010

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

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

components or causing electrical shorts. When our products are used in an industrial environment,

install them into an industrial electrical cabinet or industrial PC to protect them from excessive or

corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data

Systems, Inc. products are exposed to hazardous or conductive materials and/or environments, we

cannot guarantee their operation.

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG

APPVD

UPDATED JUMPER INFO & SOFTWARE SETUP

10/19/06

M. COGUR

UPDATED JUMPER SETTINGS FOR E121 & E122

04/27/10

S. SATTARI

Opt. 12, E17A –E17D description

07/21/15

PMAC-PCI Hardware Reference

Table of Contents i

Table of Contents

INTRODUCTION................................................................................................................................................1

Board Configuration...........................................................................................................................................1

Base Version..................................................................................................................................................1

Option 1: Additional Four Channels Axis Interface Circuitry.........................................................................1

Option 2: Dual-Ported RAM..........................................................................................................................1

Option 2B: High-Speed USB Communications Interface................................................................................1

Option 5x: CPU Type....................................................................................................................................2

Option 6: Extended Firmware Algorithm.......................................................................................................2

Option 7: Plate Mounting..............................................................................................................................2

Option 8A: High-Accuracy Clock Crystal......................................................................................................2

Option 10: Firmware Version Specification...................................................................................................2

Option 12: Analog-to-Digital Converters.......................................................................................................2

Option 15: V-to-F Converter for Analog Input...............................................................................................2

Option 16: Battery-Backed Parameter Memory..............................................................................................2

PMAC Connectors and Indicators.......................................................................................................................3

J1 - Display Port (JDISP Port).......................................................................................................................3

J2 - Control-Panel Port (JPAN Port)..............................................................................................................3

J3 - Thumbwheel Multiplexer Port (JTHW Port).............................................................................................3

J4 - Serial Port (JRS422 Port)........................................................................................................................3

J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port).....................................................................3

J6 –Expansion Port (JXIO Port)....................................................................................................................3

J7 / J8 - Machine Connectors (JMACH2 / JMACH1 Ports).............................................................................3

J9 –Compare Equal Outputs Port (JEQU Port).............................................................................................3

J30 –Optional Analog to Digital Inputs (JANA Port) .....................................................................................3

J31 –Optional Universal Serial Bus Port (JUSB Port)...................................................................................3

JS1/JS2 –Expansion Ports (JS1/JS2 Ports) ....................................................................................................4

TB1 –Power Supply Terminal Block (JPWR Connector) ................................................................................4

LED Indicators..............................................................................................................................................4

PMAC Board Layout Part Number 603588-100..................................................................................................5

PMAC Connectors.............................................................................................................................................7

JUMPER SUMMARY .........................................................................................................................................8

Power-Supply Configuration Jumpers.................................................................................................................8

Clock Configuration Jumpers .............................................................................................................................9

Encoder Configuration Jumpers..........................................................................................................................9

Board Reset/Save Jumpers..................................................................................................................................9

Communication Jumpers..................................................................................................................................10

I/O Configuration Jumpers ...............................................................................................................................10

Reserved Configuration Jumpers ......................................................................................................................11

Piggyback CPU (FLEX) Board Jumper Configuration ......................................................................................11

Watchdog Timer Jumper..............................................................................................................................11

Dual-Ported RAM Source Jumper................................................................................................................11

Power-Up State Jumpers..............................................................................................................................12

Firmware Load Jumper................................................................................................................................12

Flash Memory Bank Select Jumpers.............................................................................................................12

Installation .......................................................................................................................................................12

E-POINT DESCRIPTIONS...............................................................................................................................13

CPU Board E-Point Descriptions......................................................................................................................13

E1: Watchdog Disable Jumper.....................................................................................................................13

E2: DPRAM Location Configure..................................................................................................................13

E4 –E6: Power-Up/Reset Load Source.............................................................................................................13

E7: Firmware Reload Enable............................................................................................................................13

Main Board E-Point Jumper Descriptions .........................................................................................................14

E0: Machine Output.....................................................................................................................................14

PMAC-PCI Hardware Reference

ii Table of Contents

E1 - E2: Machine Output Supply Voltage Configure.....................................................................................14

E3 - E6: Servo Clock Frequency Control.....................................................................................................15

E7: Machine Input Source/Sink Control.......................................................................................................15

E17A-D: Amplifier Enable/Direction Polarity Control.................................................................................16

E17E-H: Amplifier Enable/Direction Polarity Control..................................................................................16

E22 - E23: Control Panel Handwheel Enable..............................................................................................17

E28: Following Error/Watchdog Timer Signal Control.................................................................................17

E29 - E33: Phase Clock Frequency Control ................................................................................................17

E34 - E38: Encoder Sampling Clock Frequency Control..............................................................................18

E40 - E43: Software Address Control..........................................................................................................18

E44 - E47: Serial Port Baud Rate.................................................................................................................19

E48: CPU Clock Frequency Control (Option CPU Section).........................................................................19

E49: Serial Communications Parity Control................................................................................................20

E50: Flash Save Enable/Disable .................................................................................................................20

E51: Normal /Re-initializing Power-Up.......................................................................................................20

E54 - E65: Host Interrupt Signal Select.......................................................................................................20

E72 - E73: Panel Analog time Base Signal Enable.......................................................................................21

E74 - E75: Clock Output Control for Ext. Interpolation...............................................................................22

E85: Host-Supplied Analog Power Source Enable.......................................................................................22

E87 - E88: Host-Supplied Analog Power Source Enable..............................................................................22

E89: Amplifier-Supplied Switch Pull-Up Enable..........................................................................................22

E90: Host-Supplied Switch Pull-Up Enable.................................................................................................23

E98: DAC/ADC Clock Frequency Control...................................................................................................23

E100: Output Flag Supply Select.................................................................................................................23

E101 - E102: Motors 1-4 Amplifier Enable Output Configure......................................................................24

E109: Reserved for Future Use ...................................................................................................................24

E110: Serial Port Configure........................................................................................................................24

E111: Clock Lines Output Enable................................................................................................................25

E114 - E115: Motors 5-8 Amplifier Enable Output Configure.......................................................................25

E121 - E122: XIN Feature Selection............................................................................................................26

MACHINE CONNECTIONS ............................................................................................................................27

Mounting.........................................................................................................................................................27

Power Supplies.................................................................................................................................................27

Digital Power Supply...................................................................................................................................27

Analog Power Supply...................................................................................................................................27

Flags Power Supply (optional).....................................................................................................................28

Overtravel Limits and Home Switches..............................................................................................................28

Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection.......................................................28

Types of Overtravel Limits ...........................................................................................................................28

Home Switches.............................................................................................................................................29

Motor Signals Connections (JMACH Connectors) ............................................................................................29

Resistor Pack Configuration: Termination Resistors.....................................................................................29

Resistor Pack Configuration: Differential or Single-Ended Encoder Selection .............................................29

Incremental Encoder Connection .................................................................................................................30

DAC Output Signals.....................................................................................................................................30

Amplifier Enable Signal (AENAx/DIRn) .......................................................................................................31

Amplifier Fault Signal (FAULTn).................................................................................................................32

General-Purpose Digital Inputs and Outputs (JOPTO Port) ...............................................................................32

Control-Panel Port I/O (JPAN Port)..................................................................................................................33

Command Inputs..........................................................................................................................................33

Selector Inputs.............................................................................................................................................33

Alternate Use...............................................................................................................................................33

Reset Input...................................................................................................................................................34

Handwheel Inputs........................................................................................................................................34

Optional Voltage to Frequency Converter ....................................................................................................34

PMAC-PCI Hardware Reference

Table of Contents iii

Thumbwheel Multiplexer Port (JTHW Port) .....................................................................................................35

Optional Analog Inputs (JANA Port)................................................................................................................35

Hardware Characteristics............................................................................................................................35

Multiplexing Principle..................................................................................................................................35

Analog Data Table.......................................................................................................................................36

Compare Equal Outputs Port (JEQU Port) ........................................................................................................38

Serial Port (JRS422 Port)..................................................................................................................................39

Machine Connections Example.........................................................................................................................40

MATING CONNECTORS.................................................................................................................................41

Base Board Connectors ....................................................................................................................................41

J1 (JDISP)/Display......................................................................................................................................41

J2 (JPAN)/Control Panel .............................................................................................................................41

J3 (JTHW)/Multiplexer Port.........................................................................................................................41

J4 (JRS422)/RS232 or 422/Serial Communications.......................................................................................41

J5 (JOPT)/OPTO I/O...................................................................................................................................41

J6 (JXIO)/Expansion Board .........................................................................................................................41

J7 (JMACH2)/2nd Machine Connector (Option 1 Required).........................................................................41

J8 (JMACH1)/1st Machine Connector..........................................................................................................41

JS1/A-D Inputs 1-4.......................................................................................................................................42

JS2/A-D Inputs 5-8 (Option 1 Required).......................................................................................................42

JEQU/Position Compare..............................................................................................................................42

JANA/Analog Inputs Option.........................................................................................................................42

CPU Board Connectors ....................................................................................................................................42

J2 (JEXP)/Expansion...................................................................................................................................42

J4 (JDPRAM)/Dual-Ported RAM .................................................................................................................42

BASE BOARD CONNECTOR PINOUTS ........................................................................................................43

J1: Display Port Connector...............................................................................................................................43

J1 JDISP (14-Pin Connector).......................................................................................................................43

J2: Control Panel Port Connector......................................................................................................................44

J2 JPAN (26-Pin Connector)........................................................................................................................44

J3: Multiplexer Port Connector.........................................................................................................................45

J3 JTHW (26-Pin Connector).......................................................................................................................45

J4: Serial Port Connector..................................................................................................................................46

J4 JRS422 (26-Pin Connector).....................................................................................................................46

J5: I/O Port Connector......................................................................................................................................47

J5 JOPT (34-Pin Connector)........................................................................................................................47

J6: Auxiliary I/O Port Connector ......................................................................................................................48

J6 JXIO (10-Pin Connector).........................................................................................................................48

J7: Machine Port 2 Connector...........................................................................................................................49

J7 JMACH2 (60-Pin Header)......................................................................................................................49

Continued....................................................................................................................................................50

J8: Machine Port 1 Connector...........................................................................................................................51

J8 JMACH1 (60-Pin Header)......................................................................................................................51

J9 (JEQU): Position-Compare Connector..........................................................................................................53

J9 JEQU (10-Pin Connector).......................................................................................................................53

J30 (JANA) Analog Input Port Connector (Optional)........................................................................................53

J31 (JUSB) Universal Serial Bus Port (Optional) ..............................................................................................54

JS1: A/D Port 1 Connector ...............................................................................................................................54

JS1 (16-Pin Header) ....................................................................................................................................54

JS2: A/D Port 2 Connector ...............................................................................................................................55

JS2 (16-Pin Header) ....................................................................................................................................55

TB1 (JPWR).................................................................................................................................................55

SOFTWARE SETUP .........................................................................................................................................56

Communications ..............................................................................................................................................56

PMAC-PCI Hardware Reference

iv Table of Contents

PMAC I-Variables ...........................................................................................................................................56

Operation of the Non-Turbo CPU.....................................................................................................................56

Configuring PMAC with Option-5C for 80 MHz Operation ..............................................................................59

Option 16 Supplemental Memory.....................................................................................................................60

SCHEMATICS...................................................................................................................................................62