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Delta Tau 4Ax-602804-xHxx manuel d'utilisation

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Table des matières du manuel d’utilisation

  • Page 1

    ^1 HARDWARE REFERENCE MANUAL ^2 MACRO CPU BOARD ^3 HRM for UMAC MACRO & MACRO Stack ^4 4Ax-602804-xHxx ^5 January 29, 2003 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[...]

  • Page 2

    [...]

  • Page 3

    MACRO-CPU Hardware Reference CONTENTS INTRODUC TION ................................................................................................................... .... 1 3U Product Confi gurations (General Desc ription) ................................................................................ ................................. 2 MACRO CP[...]

  • Page 4

    MACRO-CPU Hardware Reference U MACRO-CPU HARDWARE MEMORY MAP ...................................................................... 28 ACCESSORI ES .................................................................................................................... .. 30 ii Contents[...]

  • Page 5

    MACRO-CPU Hardware Reference INTRODUCTION The 3U MACRO-CPU board is the processor and MACRO in terface board that is used in a 3U MACRO Station (in either UMAC MACRO or MACRO Stack configuration). Note There are 3 documents that describe the operation of Delta Tau Data Systems Inc. 3U MACRO Station products: • • • UMAC System Manual (General [...]

  • Page 6

    MACRO-CPU Hardware Reference 3U MACRO-CPU Board (3A0-60 2804-10x): • • • • • • • 80MHz DSP56 303 CPU 512k x 8 flash memory for user backup & firmware Latest released firmware versi on RS-232 serial interf ace for setup and debugging Stack connectors for servo a nd I/O accessory boards UBUS connector for backplane connection to ser[...]

  • Page 7

    MACRO-CPU Hardware Reference Assemblies of 3U-format boards can be made with either of two CPU processor boards – a 3U MACR O-CPU board, or a 3U Turbo PMAC2 CPU board. Most other 3U-format boards, labeled “Accessory” boards, can be used with either CPU board. • • When the 3U MACRO-CPU board is used, the r esulting assemblies are called ?[...]

  • Page 8

    MACRO-CPU Hardware Reference MACRO CPU Specifications Physical Specifications Size: 33.5cm x 9.9cm x 3.8cm (13.2" x 3.9" x 1.4") Weight: ½ lb. Temperature Operating: 0 ° C to 60 ° C (32 ° )F to 140 ° F) Storage: 12 ° C to 82 ° C (10 ° F to 180 ° F) Humidity: 10% to 95%, noncondensin g Electrical Specifications Power: 1.5A @ [...]

  • Page 9

    MACRO-CPU Hardware Reference 3U MACRO-CPU CONFIGURATION The purchase of the 3U MACRO CPU board provides a 3U-format (100mm x 160mm) board with a DSP processor, MACRO ring circuitry, “piggyback” connect ors onto which “stack” accessory boards can be mounted, and a backplane connector through which other 3U-form at boards c an be connected by[...]

  • Page 10

    MACRO-CPU Hardware Reference 3U MACRO-CPU Configuration 6[...]

  • Page 11

    MACRO-CPU Hardware Reference 3U MACRO CPU BOARD HARDWARE SETUP The hardware setup of the 3U MACRO CPU Board consists of the setting of 2 ro tary switches, the setting of several E-point jumpers on each board, followed by power supply and signal connections. Note E-Point Jumper numbers are shown in white ink on the legend of each board. Pin numbers [...]

  • Page 12

    MACRO-CPU Hardware Reference SW2 Rotary Switch Setting: SW2 establishes the number of the master IC to which the MACRO station will respond. The values of 0 to 15 correspond to Master num bers 0 to 15, respectively. For a non-Turbo PMAC2 master, this value must match the master number value in the first hexadecimal digit of PMAC2’s I996. For a Tu[...]

  • Page 13

    MACRO-CPU Hardware Reference ACC-Ux “UBUS” backplane board. It can also be used to bring in 5V power, and optionally +/-15V power, from a backplane or breakout board, to the entire MACRO Station. Note When interfacing to accessory boards across the UB US backplane, it is strongly recommended to use a new revision (-105 or higher) of the MACRO C[...]

  • Page 14

    MACRO-CPU Hardware Reference 3U MACRO CPU Board Hardware Setup 1 0[...]

  • Page 15

    MACRO-CPU Hardware Reference 3U MACRO-CPU JUMPER AND SWITCH CONFIGURATIONS 3U MACRO-CPU Card Layout The "Location" columns of the ing s refe he ma locati hown in the drawings below: follow table r to t pped ons s A B C D E F 1 2 3 4 REV-105 and Later Revisions REV-104 and Earlier Revisions Note: Pin 1 of an E-point is masked by an "X[...]

  • Page 16

    MACRO-CPU Hardware Reference E1: Watchdog Timer Disable Rev -105 and Later Location Rev -104 and Earlier Location Jumper Type Description Default B-1 F-1 2-PIN Remove jumper to enable Watchdog Timer. Jump pins 1 and 2 to disabl e Watchdog Timer ( for test purposes only ) not jumpered E2: CPU Mode Operation Rev -105 and Later Location Rev -104 and E[...]

  • Page 17

    MACRO-CPU Hardware Reference E5: MACRO Received Signal Detect/Bypa ss Mode (rev -105 and 106 only). Does not exist on rev 107 and later models. Rev -105 and Later Location Rev -104 and Earlier Location Jumper Type Description Default B-3 3-PIN Jump pins 1 and 2 to access t he recei ver’s signal detect operation. Jump pins 2 and 3 to by pass the r[...]

  • Page 18

    MACRO-CPU Hardware Reference JP5-JP6: MACRO Copper EQ Se lect (rev -104 and earlier) Rev -105 and Later Location Rev -104 and Earlier Location Jumper Type Description Default B-1 2-PIN These jumpers are used to select different modes of equalization when copper-based communications are used. When not jumpered, adaptive equalization is used. JP5 and[...]

  • Page 19

    MACRO-CPU Hardware Reference Switch Configurations SW1: MACRO Slave Node Configure SW1 Setting # of Servo Channels & Nodes Used MACRO Servo Nodes Specified Station Channel Nos. Station Channel Starting Addresses 1 st Axis Board Servo IC 2 nd Axis Board Servo IC PMAC2's I996 Value ** (Turbo PMAC2’S I6840, etc. PMAC2's I1000, I1002 Va[...]

  • Page 20

    MACRO-CPU Hardware Reference Connector Summary J1: ☼ JEXP_A: for interboard connection J2: ☼ JEXP_B: for interboard connection J3: ☼ JEXP_C: for interboard connection J4: ☼ JISP: Factory configuration header J5: ☼ JTAG/OnCE: Factory troubleshoot header J6: JTHW: Multiplexer Port Connector J7: JRS232: Serial Port Connector J14, J17: RJ45: [...]

  • Page 21

    MACRO-CPU Hardware Reference MACRO STATION CHARACTER DISPLAY The Compact MACRO Station has a single hexadecimal character display on the CPU/Interface Board that provides useful information as to the status of the st ation. The display can show the following values: Value Meaning (Blank) Ring not active 0-8 Operation OK; value is # of motors enable[...]

  • Page 22

    MACRO-CPU Hardware Reference HARDWARE RE-INITIALIZATION MACRO hardware reinitialization to factory defaults is enabled when the SW1 se tting is set to 15 or F (hexidecimal) and the power is cycled at the MACRO Station. The only time the user would want to use a hardware reinitialization to factory defaults with the MACRO Station would be if the MAC[...]

  • Page 23

    MACRO-CPU Hardware Reference Hardware Re-initialization 19[...]

  • Page 24

    MACRO-CPU Hardware Reference FIRMWARE UPDATES Downloading new firmware to the MACRO Station is a simple process once the MACRO board is setup properly . To download new firmware to the MACRO station, the user must have the following items: 5V power supply 2 jumpers DB9 female to 10 pin header (any cable used for PMAC RS232 communications) PC at the[...]

  • Page 25

    MACRO-CPU Hardware Reference Firmware Updates 21[...]

  • Page 26

    MACRO-CPU Hardware Reference 3U MACRO-CPU BOARD CONNECTOR PIN-OUTS The schematic circuits shown in this section are for in terface reference only. Subtle differences may exist between the circuits shown here and the actual hardware used. J6: (JTHW) Multiplexer Port Connector (26-pin Header at Location D-3) Front View Pin # Symbol Function Descripti[...]

  • Page 27

    MACRO-CPU Hardware Reference +5V +5V +5V GND GND GND +5V TI00 TI01 INIT- SEL5 DAT6 DAT7 DAT5 SEL6 DAT1 DAT2 SEL0 SEL7 DAT3 SEL2 SEL1 SEL3 DAT0 SEL3 SEL2 DAT3 DAT0 SEL7 SEL6 DAT7 DAT2 SEL1 DAT5 SEL5 DAT6 SEL0 DAT1 DAT4 DAT4 SEL4 SEL4 IO_28 DISP3 IO_26 DISP5 IO_31 IO_29 IO_27 DISP6 DISP1 DISP4 DISP7 IO_24 IO_25 IO_30 DISP2 DISP0 RP6 3.3KSIP10C 1 2 3 [...]

  • Page 28

    MACRO-CPU Hardware Reference J7: (JRS232) Serial Port Connector (10-pin Header at Location C-1) Front View Pin # Symbol Function Description Notes 1 N.C. No connection 2 DTR BIDIRECT Data Terminal Ready Just tied to “DSR” 3 TXD/ OUTPUT Send Data Transmit data to host 4 CTS INPUT Clear to Send Host Ready bit 5 RXD/ INPUT Receive Data Receive dat[...]

  • Page 29

    MACRO-CPU Hardware Reference J14, J17: MACRO COPP ER I/O (OPT C) (8 pin RJ45) Front View Pin # Symbol Function Description Notes 1 DAT A+ Data + Differential MACRO Signal. J17: DATA+ inp ut. J14: DATA+ output. 2 DAT A- Data - Diffe rential MACRO Signal J17 : DATA- input. J14: DATA- output. 3 un used Unused term inated pin See schematic bel ow. 4 un[...]

  • Page 30

    MACRO-CPU Hardware Reference P1: UBUS Interface Connector (96 pin EURO-Connector at F-1, 2, 3, 4) Front View on MACRO-CPU Card Pin # Row A Row B Row C 1 +5Vdc +5Vdc +5Vdc 2 GND GND GND 3 BD01 DAT0 BD00 4 BD03 SEL0 BD02 5 BD05 DAT1 BD04 6 BD07 SEL1 BD06 7 BD09 DAT2 BD08 8 BD11 SEL2 BD10 9 BD13 DAT3 BD12 10 BD15 SEL3 BD14 11 BD17 DAT4 BD16 12 BD19 SE[...]

  • Page 31

    MACRO-CPU Hardware Reference TB1: (JPWR) 4-Pin Terminal Block (Location B-4) Pin # Symbol Function Description Notes 1 GND Common Refere nce Voltage 2 +5V Input Positive Supply Voltage Supplies all PMAC digital circuits 3 +15V Input Positive Supply Voltage +1 2V to +15V; used for on-board analog 4 -15V Input Negativ e Supply Voltage -12 to –15V ;[...]

  • Page 32

    MACRO-CPU Hardware Reference U MACRO-CPU HARDWARE MEMORY MAP The values in this table represent the hardware locations associated with register-based transactions that occur in the 3U MACRO-CPU. Reference ADDR (hex) Description CS00- $FFC0 Stack I/O select #1 CS02- $FFC8 Stack I/O select #2 CS04- $FFD0 Stack I/O selec t #3 CS06- $FFD8 Stack I/O sel[...]

  • Page 33

    MACRO-CPU Hardware Reference U MACRO-CPU Hardware Memory Map 29[...]

  • Page 34

    MACRO-CPU Hardware Reference ACCESSORIES Both the Turbo and the MACRO CPU boards can support e ither the Stack or the UMAC configuration. The systems are configured modularly with the selection of a series of accessory boards, some appropriate for the Stack, and some appropriate for the UMAC. These acces sories are listed here. Each has its own man[...]

  • Page 35

    MACRO-CPU Hardware Reference Accessories 31 Boards Backplane, 30 0-603462 Backplane, 300-603403-10 x Backplane, 300-603463-10 x ACC-U10, UBUS 10-Sl ot Backplane, 300-603464-10 x ACC-U12, UBUS 12-Sl ot Backplane, 300-603465-10 x ACC-U14, UBUS 14-Sl ot Backplane, 300-603466-10 x ACC-U16, UBUS 16-Sl ot Backplane, 300-603471-10 x ACC-U18, UBUS 18-Sl ot[...]