Delta Tau PMAC Lite Kurzanleitung

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^1 HARDWARE REFERENCE MANUAL

^2 PMAC PCI Lite

^3 PCI Format 4-Axis Control Board

^4 400-603657-xHxx

^5 August 14, 2007

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

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This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are

unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained

in this manual may be updated from time-to-time due to product improvements, etc., and may not

conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656

Fax: (818) 998-7807

Email: [email protected]

Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain

static sensitive components that can be damaged by incorrect handling. When installing or

handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.

Only qualified personnel should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or

conductive materials and/or environments that could cause harm to the controller by damaging

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

environment, install them into an industrial electrical cabinet or industrial PC to protect them

from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials.

If Delta Tau Data Systems, Inc. products are exposed to hazardous or conductive materials and/or

environments, we cannot guarantee their operation.

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REVISION HISTORY

REV. DESCRIPTION DATE CHG APPVD

1 DELETED OPTIONS 2B, 7, 8A; UPDATED ALL

JUMPER/CONNECTOR INFO

10/04/06 CP P. SHANTZ

2 CORRECTION TO E17A-E17D CONTROL, P. 6 11/07/06 CP S. SATTARI

3 CORRECTIONS TO E110 & E111 JUMPER DESC. 04/26/07 CP S. MILICI

4 CORRECTION TO E122: XIN FEATURE, P. 41 08/14/07 CP B.PEDERSEN

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PMAC PCI-Lite Hardware Reference Manual

Table of Contents i

Table of Contents

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

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

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

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

Option 5xF: CPU Speed Options.........................................................................................................................1

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

Option 6L: Special Lookahead Firmware ...........................................................................................................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

HARDWARE SETUP .................................................................................................................................................3

Power-Supply Configuration Jumpers ......................................................................................................................3

Clock Configuration Jumpers....................................................................................................................................4

Encoder Configuration Jumpers................................................................................................................................4

Board Reset/Save Jumpers ........................................................................................................................................5

Communication Jumpers...........................................................................................................................................5

I/O Configuration Jumpers........................................................................................................................................5

Reserved Configuration Jumpers ..............................................................................................................................6

CPU Jumper Configuration .......................................................................................................................................6

Resistor Pack Configuration: Termination Resistors ................................................................................................7

Resistor Pack Configuration: Differential or Single-Ended Encoder Selection .......................................................7

MACHINE CONNECTIONS.....................................................................................................................................9

Mounting ...................................................................................................................................................................9

Power Supplies..........................................................................................................................................................9

Digital Power Supply............................................................................................................................................9

Analog Power Supply ...........................................................................................................................................9

Overtravel Limits and Home Switches....................................................................................................................10

Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection..........................................................10

Types of Overtravel Limits..................................................................................................................................10

Home Switches....................................................................................................................................................10

Motor Signals Connections (JMACH Connectors) .................................................................................................11

Incremental Encoder Connection .......................................................................................................................11

DAC Output Signals ...........................................................................................................................................11

Amplifier Enable Signal (AENAx/DIRn).............................................................................................................12

Amplifier Fault Signal (FAULTn).......................................................................................................................12

General-Purpose Digital Inputs and Outputs (JOPTO Port)....................................................................................13

Control-Panel Port I/O (JPAN Port)........................................................................................................................14

Command Inputs.................................................................................................................................................14

Selector Inputs ....................................................................................................................................................15

Alternate Use ......................................................................................................................................................15

Reset Input ..........................................................................................................................................................15

Handwheel Inputs ...............................................................................................................................................15

Optional Voltage to Frequency Converter..........................................................................................................15

Thumbwheel Multiplexer Port (JTHW Port)...........................................................................................................16

Optional Analog Inputs (JANA Port)......................................................................................................................16

Compare Equal Outputs Port (JEQU Port)..............................................................................................................17

Serial Port (JRS422 Port) ........................................................................................................................................17

Machine Connections Example...............................................................................................................................19

SOFTWARE SETUP ................................................................................................................................................21

Communications......................................................................................................................................................21

PMAC I-Variables...................................................................................................................................................21

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PMAC PCI Lite Hardware Reference Manual

ii Table of Contents

Operational Frequency and Baud Rate Setup..........................................................................................................21

Serial Addressing Card Number..............................................................................................................................22

Option 16 Supplemental Battery-Backed Memory .................................................................................................23

HARDWARE REFERENCE SUMMARY .............................................................................................................25

Board Dimensions — Part Number 603657-100 ....................................................................................................25

Board Layout Part Number 603657-10x .................................................................................................................26

Connectors and Indicators .......................................................................................................................................28

J1 - Display Port (JDISP Port)...........................................................................................................................28

J2 - Control-Panel Port (JPAN Port) .................................................................................................................28

J3 - Thumbwheel Multiplexer Port (JTHW Port) ...............................................................................................28

J4 - Serial Port (JRS422 Port)............................................................................................................................28

J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port) ......................................................................28

J6 – Expansion Port (JXIO Port)........................................................................................................................28

J8 - Machine Connectors (JMACH Port) ...........................................................................................................28

J9 – Compare Equal Outputs Port (JEQU Port) ................................................................................................28

J17 - Serial Port (JRS232 Port)..........................................................................................................................28

J30 – Optional Analog to Digital Inputs (JANA Port)........................................................................................28

J31 – Optional Universal Serial Bus Port (JUSB Port) .....................................................................................29

JS1 – Expansion Ports (JS1 Port).......................................................................................................................29

TB1 – Power Supply Terminal Block (JPWR Connector) ..................................................................................29

LED Indicators ...................................................................................................................................................29

Fuse ....................................................................................................................................................................29

E-POINT JUMPER DESCRIPTIONS ....................................................................................................................31

E0: Reserved for Future Use ...................................................................................................................................31

E1 - E2: Machine Output Supply Voltage Configure..............................................................................................31

E3 - E6: Servo Clock Frequency Control................................................................................................................32

E7: Machine Input Source/Sink Control ................................................................................................................32

E10A, B, C: Flash Memory Bank Select................................................................................................................33

E17A-D: Amplifier Enable/Direction Polarity Control...........................................................................................33

E18 – E20: Power-Up/Reset Load Source .............................................................................................................33

E21: Power-Up/Reset Load Source.........................................................................................................................34

E22 - E23: Control Panel Handwheel Enable ........................................................................................................34

E28: Following Error/Watchdog Timer Signal Control .........................................................................................34

E29 - E33: Phase Clock Frequency Control............................................................................................................35

E34A - E38: Encoder Sampling Clock Frequency Control....................................................................................35

E40 - E43: Clock Direction Control........................................................................................................................35

E44 - E47: Serial Port Baud Rate ............................................................................................................................36

E48: CPU Clock Frequency Control (Option CPU Section)..................................................................................36

E49: Serial Communications Parity Control ..........................................................................................................37

E50: Flash Save Enable/Disable.............................................................................................................................37

E51: Normal/Re-Initializing Power-Up..................................................................................................................37

E55 - E65: Host Interrupt Signal Select .................................................................................................................37

E72 - E73: Panel Analog Time Base Signal Enable................................................................................................38

E74 - E75: Clock Output Control for External Interpolation ..................................................................................38

E85: Host-Supplied Analog Power Source Enable ................................................................................................38

E87 - E88: Host-Supplied Analog Power Source Enable........................................................................................39

E89: Amplifier-Supplied Switch Pull-Up Enable ..................................................................................................39

E90: Host-Supplied Switch Pull-Up Enable...........................................................................................................39

E98: DAC/ADC Clock Frequency Control............................................................................................................40

E100: Output Flag Supply Select ............................................................................................................................40

E101 - E102: Motors 1-4 Amplifier Enable Output Configure ...............................................................................40

E109: Reserved for Future Use ...............................................................................................................................41

110: Serial Port Configure.......................................................................................................................................41

E111: Clock Lines Output Enable...........................................................................................................................41

E119: WATCHDOG DISABLE JUMPER .............................................................................................................41

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PMAC PCI-Lite Hardware Reference Manual

Table of Contents iii

E122: XIN Feature Selection ..................................................................................................................................41

MATING CONNECTORS .......................................................................................................................................43

Base Board Connectors ...........................................................................................................................................43

J1 (JDISP)/Display.............................................................................................................................................43

J2 (JPAN)/Control Panel....................................................................................................................................43

J3 (JTHW)/Multiplexer Port...............................................................................................................................43

J4 (JRS422)/RS232 OR 422/Serial Communications .........................................................................................43

J5 (JOPT)/OPTO I/O..........................................................................................................................................43

J6 (JXIO)/Expansion Board................................................................................................................................43

J8 (JMACH)/Machine Connector .......................................................................................................................43

JS1/A-D Inputs 1-4 .............................................................................................................................................43

JEQU/Position Compare ....................................................................................................................................43

JANA/Analog Inputs Option ...............................................................................................................................44

CONNECTOR PINOUTS.........................................................................................................................................45

J1: Display Port Connector......................................................................................................................................45

J2: Control Panel Port Connector ............................................................................................................................46

J3: Multiplexer Port Connector ...............................................................................................................................47

J4: Serial Port Connector.........................................................................................................................................48

J5: I/O Port Connector.............................................................................................................................................49

J6: Auxiliary I/O Port Connector ............................................................................................................................50

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

J8: Machine Port Connector ....................................................................................................................................52

J9 (JEQU): Position-Compare 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

TB1 (JPWR) External Power Supply Connection...................................................................................................54

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PMAC PCI Lite Hardware Reference Manual

iv Table of Contents

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PMAC PCI Lite Hardware Reference Manual

Introduction 1

INTRODUCTION

The PMAC PCI Lite is a member of the PMAC family of boards optimized for interface to traditional

servo drives with single analog inputs representing velocity or torque commands. Its software is capable

of eight axes of control, although it can have only four channels of on-board axis interface circuitry.

The PMAC PCI Lite is a full-sized PCI-bus expansion card. While capable of PCI bus communications,

with or without the optional dual-ported RAM, it does not need to be inserted into a PCI expansion slot.

Communications can be done through an RS232 or RS422 serial port. Standalone operation is possible.

The non-Turbo version of the PMAC PCI Lite board does not include ICs U140, U143 or U147.

Board Configuration

Base Version

The base version of the PMAC PCI Lite provides a 1-1/2-slot board with:

• 40 MHz DSP563xx CPU

• 128k x 24 zero-wait-state flash-backed SRAM

• 512k x 8 flash memory for f7irmware and user backup

• Latest released firmware version

• RS232/422 serial interface, 33Mhz PCI bus interface

• Four channels axis interface circuitry, each including:

• 16-bit +/-10V analog output

• 3-channel differential/single-ended encoder input

• Four input flags, two output flags

• Interface to external 16-bit serial ADC

• Display, control panel, mixed I/O, direct I/O interface ports

• Buffered expansion port

• Clock crystal with +/-100 ppm accuracy

• PID/notch/feedforward servo algorithms

• 1-year warranty from date of shipment

One manuals CD per set of one to four PMACs in shipment (cables, mounting plates, mating connectors

not included)

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 an 8k x 16 bank of on-board dual-ported RAM. The key component on the board

is U1.

Option 5xF: CPU Speed Options

The base PMAC PCI Lite version has a 40 MHz DSP563xx CPU. This is Option 5AF, which is provided

automatically, if no CPU speed option is specified.

• Option 5AF: 40 MHz DSP563xx CPU (80 MHz 56002 equivalent). This is the default CPU speed.

• Option 5CF: 80 MHz DSP563xx CPU (160 MHz 56002 equivalent).

• Option 5EF: 160 MHz DSP563xx CPU (320 MHz 56002 equivalent).

ICs U140, U143 and U147 are not

installed in the non-Turbo version of the

PMAC Lite-PCI board.

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