Delta Tau PMAC2A-PC/104 manual

^3 PMAC2A-PC/104 Hardware Reference Manual ^4 4xx-603670-xHxx ^5 September 22, 2004 ^2 PMAC2 A -PC/104 ^1 HARDWARE REFERENCE MANUAL 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 Ta u Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product im provements, etc.,[...]

PMAC2A PC104 Hardwa re Reference Manual Table of Contents i Table of Contents INTRODUCTION ................................................................................................................... .................................... 1 Board Confi guration ...................................................................................[...]

PMAC2A PC104 Hardwa re Reference Manual ii Table of Contents DAC Output Signals ............................................................................................................. .............................. 15 Pulse and Direction (Stepper) Drivers ........................................................................................[...]

PMAC2A PC104 Hardwa re Reference Manual Table of Contents iii J1 – USB Commun ications Port ................................................................................................... ...................... 39 J2 - Thumbwheel Multipl exer Port (J THW Port) ...................................................................................[...]

PMAC2A PC104 Hardwa re Reference Manual iv Table of Contents[...]

PMAC2A PC104 Hardwa re Reference Manual Introduction 1 INTRODUCTION The PMAC2A PC/104 motion controller is a compact, cost-effective version of the Delta Tau’s PMAC2 family of controllers. The PMAC2A PC/104 can be co m posed of three boards in a stack configuration. The baseboard provides four channels of either DAC ±10V or pulse and direction c[...]

PMAC2A PC104 Hardwa re Reference Manual 2 Introduction Option 12: Analog-to-Digital Converters Option 12 permits the installation of two channels of on-board analog-to-digital converters with ±10V input range and 12-bits resolution. The key co mponent installed with this option is U20. Acc-1P: Axis Expansion Piggyback Board Acc-1P provides four ad[...]

PMAC2A PC104 Hardwa re Reference Manual Introduction 3 Acc-2P: Communications Board Without any options, the PMAC2A PC/104 comm unicates through the RS-232 serial interface using the optional Acc-3L flat cable. Only one method of comm unication is allowed at a time. Acc-2P Option 1A: USB Interface Option 1A it provides a 12 Mbit/sec USB interface a[...]

PMAC2A PC104 Hardwa re Reference Manual 4 Introduction[...]

PMAC2A PC104 Hardwa re Reference Manual Baseboard Hardware Setup 5 BASE BOARD HARDWARE SETUP On the PMAC2 PC/104 baseboard, there are many jump ers (pairs of metal prongs) called E-points or W- points. Some have been shorted together; others have been left open. These jumpers customize the hardware features of the baseboard for a given a pplication[...]

PMAC2A PC104 Hardwa re Reference Manual 6 Baseboard Hardware Setu p CPU Jumper Configuration E15A-E15C: Flash Memory Bank Select Jumpers – The flash-memory IC in location U10 on the PMAC2A PC/104 base board has the capacity for eight separate banks of firmware, only one of which can be used at any given time. The eight combina tions of settings f[...]

PMAC2A PC104 Hardwa re Reference Manual Baseboard Hardware Setup 7 If this socketed resistor is configured as a pull-up r esistor (by reversing the SIP pack in the socket), the two parallel 2.2 k Ω resistors act as a single 1.1 k Ω pull-up resistor, holding th e line at +5V in the absence of an external signal. This configuration is require d i[...]

PMAC2A PC104 Hardwa re Reference Manual 8 Baseboard Hardware Setu p[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Hardware Setup 9 ACC-1P HARDWARE SETUP On the Acc-1P, you will see many jumpers (pairs of metal prongs), called E-points. Some have been shorted together; others have been left open. These jumpers customize the hardware features of the Acc- 1P for a given application and must be setup appropr iately. T[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Hardware Setup 1 0 The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 k Ω resistor to +5V; each also has another 2.2 k Ω resistor as part of a socketed resistor pack that can be configured as a pull-up resistor to +5V, or a pull-down resistor to GND. If this socketed resistor i[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Hardware Setup 11 ACC-2P HARDWARE SETUP On the Acc-2P, there are many jumpers (pairs of meta l prongs), called E-points. Some have been shorted together; others have been left open. These jumper s customize the hardware features of the Acc-2P for a given application and must be setup appropriately. The[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Hardware Setup 12 Resistor Packs Configuration Differential or Single-Ended Hand wheel Encoder Selection The handwheel encoder differential input signal pair s to the PMAC have user-configurable pull-up/pull- down resistor networks to permit the acceptance of either single-ended or di fferential signal[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 13 MACHINE CONNECTIONS Typically, the user connections are actually made to terminal blocks that are attached to the JMACH connectors by a flat cable. The following are the terminal blocks recommended for connections: • 34-Pin IDC header to terminal block brea kouts (Phoenix part number [...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 1 4 Flags Pow er Supply Each channel of PMAC has five dedicated digital inputs on the machine connector: PLIMn, MLIMn (overtravel limits), HOMEn (home flag), FAULTn (a mplifier fault), and USERn. A power suppl y from 5 to 24V must be used to power the circuits related to these inputs. This[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 15 DAC Output Signals If PMAC is not performing the commutation for the motor, only one analog output channel is required to command the motor. This output channel can be eith er single-ended or differential, depending on what the amplifier is expecting. For a single-ended command using PM[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 16 Amplifier Fault Signal (FAULT-) This input can take a signal from the amplifier so PMAC knows when the am plifier is having problems, and can shut down action. The polarity is programma ble with I-variable Ix25 (I125 for m otor 1) and the return signal is ground (GND). FAULT1- is pin 35[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 17 For this driver, the internal resistor packs pull-down instead. With a UDN2981A driver IC, Jumper E1 must connect pins 2 and 3, and Jumper E2 m ust connect pins 2 and 3. Example: Standard configuration using the UL N2803A sinking (o pen-collector) output IC. Further software settings ar[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 18 When used as non-multiplexed I/O, jumpers E7 and E8 on the Acc-2P board select the I/O lines direction of the JTHW connector. This allows configuring this port as all inputs, all out puts or half inputs and half outputs. If E7 is removed or E8 is instal led then the multiplexing feature[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 19 Serial Port (JRS232 Port) For serial communications, use a serial cable to c onnect your PC's COM port to the J8 serial port connector present on the PMAC2A PC/104 baseboard. Delta Tau provides the Acc-3L cable for this purpose that connects the PMAC to a DB-9 connect or. Standard [...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 2 0 Machine Connections Example: Using Analog ±10V Amplifier[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 21 Machine Connections Example: Using Pulse and Direction Drivers[...]

PMAC2A PC104 Hardwa re Reference Manual Machine Connections 22[...]

PMAC2A PC104 Hardwa re Reference Manual Software Setup 23 SOFTWARE SETUP Note: The PMAC2A PC/104 requires the use of V1.17 or newer firmware. There are few differences between the previous V1. 16H firmware and the V1.17 firmware other than the addition of internal support for the Flex CPU design. Communications Delta Tau provides software tools tha[...]

PMAC2A PC104 Hardwa re Reference Manual Software Setup 2 4 If the CPU’s operational frequency has been determin ed by (a non-zero setting of) I46, the serial communications baud rate is determined at power- up/reset by variable I54 alone according to the following table: I54 Baud Rate I54 Baud Rate 0 600 8 9600 1 900 9 14,400 2 1200 10 19,200 3 1[...]

PMAC2A PC104 Hardwa re Reference Manual Software Setup 25 Using Flag I/O as General-Purpose I/O Either the user flags or other not assigned axes flag on the base board can be used as general-purpose I/O for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions, which are defined in the PMAC2 Software refer[...]

PMAC2A PC104 Hardwa re Reference Manual Software Setup 26 In order to properly setup the digital outputs an initialization PLC mu st be written scanning through once on power-up/reset, then disabling itself: OPEN PLC1 CLEAR M32=$FF ;BITS 0-8 are assigned as output M34=$0 ;BITS 9-16 are assigned as input M40=$FF00 ;Define inputs and outputs voltages[...]

PMAC2A PC104 Hardwa re Reference Manual Software Setup 27 Thumbwheel Port Digital Inputs and Outputs The inputs and outputs on the thumbwheel multiplexer port of either the Acc-1P or the Acc-2P boards may be used as discrete, non-multiplexed I/O. In this case, these I/O lines can be accessed through M- variables that are defined according to the se[...]

PMAC2A PC104 Hardwa re Reference Manual Software Setup 28 Analog Inputs Setup The optional analog-to-digital converter inputs are orde red either through Option-12 on the baseboard or Option-2 on the axes expansion board. Each option pr ovides two 12-bit analog inputs with a ±10Vdc range. The M-variables associated with these inputs provid ed a ra[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board H ardware Reference Su mmary 29 BASE BOARD HARDWARE REFERENCE SUMMARY The following information is based on the PMAC2A PC/104 board, pa rt num ber 603670-100. Board Dimensions[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board H ardware Reference Summ ary 3 0 Board Layout 1 2 3 4 6 5 B AC D E F Feature Location Feature Location Feature Location E0 B3 E13 E5 RP30 E2 E1 B4 E14 B3 RP31 E2 E2 B4 E15A E4 RP 36 E3 E3 C4 E15B E4 RP 37 E3 E4 C4 E15C E4 D1 A2 E8 B1 E16 D1 D2 A3 E9 B1 E18 D4 TB1 B6 E10 E5 E19 D4 JRS232 A2 E11 E5 W[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board H ardware Reference Su mmary 31 Connectors and Indicators J3 - Machine Connector (JMACH1 Port) The primary machine interface connector is JMACH1, labe led J3 on the PMAC. It contains the pins for four channels of machine I/O: analog outputs, incr emental encoder inputs, amplifier fault and enable s[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board H ardware Reference Summ ary 32[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Hardware Reference Summary 33 ACC-1P HARDWARE REFERENCE SUMMARY The following information is based on th e Acc-1P board, part number 603671-100. Board Dimensions[...]

PMAC2A PC104 Hardwa re Reference Manual 34 Acc-1P Hardware Re ference Summary Board Layout 1 2 3 4 6 5 B AC D E F Feature Location Feature Location E0 C6 RP30 E2 E1 B2 RP31 E2 E2 B2 RP36 E3 E3 E4 RP37 E3 E4 E4 RP55 E4 E5 E5 RP56 E5 E6 E5 TB1 B6 E7 E5 JM ACH1 F4 E16 D1 JMACH2 A4 D6 F6 JHW / PD A2 F1 A1 J7 A3 J2 E4[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Hardware Reference Summary 35 Connectors and Indicators J2 - Thumbwheel Multiple xer Port (JTHW Port) The Thumbwheel Multiplexer Port, or Multiplexer Port , on the JTHW connector has eight input lines and eight output lines. The output lines can be used to multiplex large numbers of inputs and outputs [...]

PMAC2A PC104 Hardwa re Reference Manual 36 Acc-1P Hardware Re ference Summary[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Hardware Reference Summary 37 ACC-2P HARDWARE REFERENCE SUMMARY The following information is based on th e Acc-2P board, part number 603672-100. Board Dimensions[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Hardware Reference Summary 38 Board Layout 1 2 3 4 6 5 B AC D E F Feature Location Feature Location E3 F4 D2 C6 E4 F3 D6 A5 E5 F1 D7 A6 E6 E6 TB1 B6 E7 D1 J1 F6 E8 D1 JTHW F2 E9 D2 JOPT A2 E10 D2 JHW / PD F4 RP22 E3 J10 B5 RP23 E3[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Hardware Reference Summary 39 Connectors and Indicators J1 – USB Communications Port This connector provides access to the USB communicati ons feature ordered through Option-1A. See the Machine Connections section for details on using this port. J2 - Thumbwheel Multiple xer Port (JTHW Port) The Thumb[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Hardware Reference Summary 4 0[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board E -Point Jumper Descript ions 41 BASE BOARD E-POINT JUMPER DESCRIPTIONS E0: Forced Reset Control E Point and Physical Layout Location Description Default E0 B3 Factory use only; the board will not operate with E0 installed. No jumper E1: Servo and Phase Clock Direction Control E Point and Physical [...]

PMAC2A PC104 Hardwa re Reference Manual Base Board E -Point Jumper Descript ions 42 E4: CPU Frequency Select E Point and Physical Layout Location Description Default E4 C4 Remove jumper for 40 MHz operat i o n (E 2 OFF also) or for 60 MHz operat ion (E4 ON). Jump pin 1 to 2 for 80 M Hz operatio n (E2 OFF). No jumper installed (standard or Option 5E[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board E -Point Jumper Descript ions 43 E13: Power-Up/Reset Load Source E Point and Physical Layout Location Description Default E13 E5 Jump pin 1 to 2 to reload firmware throug h serial or bus port. Remove jum per for no rmal operation. No jumper E14: Watchdog Disable Jumper E Point and Physical Layout L[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board E -Point Jumper Descript ions 4 4 E18 – E19: PC/104 Bus Address E Point and Physical Layout Location Description Default Jumpers E18 and E19 select th e PC/104 bus address for communications according to the following table: No E18 jumper installed; Jumper E19 installed E18 E19 Addres s (Hex) Add[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P E-Poi nt Jumper Des criptions 45 ACC-1P E-POINT JUMPER DESCRIPTIONS E0: Reserved for Future Use E Point and Physical Layout Location Description Default E0 C6 For future use. No jumper E1 - E2: Machine Output Supply Voltage Configure E Point and Physical Layout Location Description Default E1 B2 Jum p [...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P E-Poi nt Jumper Des criptions 46 E5: Servo Gate Address Select E Point and Physical Layout Location Description Default E5 E5 Jump pin 1 to 2 to addr ess Acc-1P channels at the regular addres ses for channel s 5 to 8. Jump pin 2 to 3 to address Acc-1P c hannels at the regular addres ses for chan nels 5[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P E-Poi nt Jumper Des criptions 47 ACC-2P E-POINT JUMPER DESCRIPTIONS E1: USB/Ethernet Micro-Controller Firmware Reload Enable E Point and Physical Layout Location Description Default E1 Remove jum per to reload firmware on power- up reset. Jump pin 1 to 2 for norm al operations 1-2 Jum per Installed Not[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P E-Poi nt Jumper Des criptions 48 E7- E10: Ports Direction Control E Point and Physical Layout Location Description Default E7 D1 Install jumper to make DATx lines inputs. No jumper to make DATx lines outputs. Jumper installed E8 D1 Install jumper to make SELx lines inputs. No jumper to make SELx lines [...]

PMAC2A PC104 Hardwa re Reference Manual Base Board C onnector Pinouts 49 BASE BOARD CONNECTOR PINOUTS TB1 (JPWR): Power Supply (4-Pin Terminal Block) Top Vie w Pin# Symbol Function Description Notes 1 GND Common Reference Voltage 2 +5V Input Positive Supply Voltage Supplies all PMAC d igital circuits 3 +12V Input Positive Supply Voltag e Ref to d i[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board C onnector Pinouts 5 0 J3 (JMACH1): Machine Port Connector (50-Pin Header) Top View Pin# Symbol Function Description Notes 1 +5V Output +5V Power For encoders , 1 2 +5V Output +5V Power For encoders , 1 3 GND Comm on Digital C ommon 4 GND Comm on Digital Common 5 CHA1 Input Encoder A Channel Positi[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board C onnector Pinouts 51 J3 JMACH1 (50-Pin Header) (Continued) Top View Pin# Symbol Function Description Notes 40 DAC4/ Output Analog Out put Negative 4 4,5 41 AENA3/ Output Amplifier -Ena ble 3 42 AENA4/ Output Amplifier -Ena ble 4 43 FAULT3/ Input Amplifier -Fault 3 6 44 FAULT4/ Input Amplifier -Fau[...]

PMAC2A PC104 Hardwa re Reference Manual Base Board C onnector Pinouts 52 J4 (JMACH2): Machine Port Baseboard Connector (34-Pin Header) Front View Pin# Symbol Function Description Notes 1 FLG_1_2_V Inpu t Flags 1-2 Pull-U p 2 FLG_3_4_V Input Flags 3 -4 Pull-Up 3 GND Common Digital Comm on 4 GND Comm on Digital C ommon 5 HOME1 Input Home-Fl ag 1 10 6[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connecto r Pinouts 53 ACC-1P CONNECTOR PINOUTS TB1 (JPWR): Power Supply (4-Pin Terminal Block) Top Vie w Pin# Symbol Function Description Notes 1 GND Common Reference Voltage 2 +5V Input Positive Supply Voltage Supplies all PMAC d igital circuits 3 +12V Input Positive Supply Voltag e REF to d igital GN[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connector Pinouts 5 4 J2 (JTHW): Multiplexer Port Connector (26-Pin Connector) Front View Pin# Symbol Function Description Notes 1 GND Common PMAC Comm on 2 GND Com mon PMAC C ommon 3 DAT0 Input Data-0 Input Data input from multiplexed accessory 4 SEL0 Output Select-0 Output Multiplexer select o u tput[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connecto r Pinouts 55 J3 (JMACH1): Machine Port Connector (50-Pin Header) Top View Pin# Symbol Function Description Notes 1 +5V Output +5V Power For Encoders, 1 2 +5V Output +5V Power For Encoders, 1 3 GND Comm on Digital C ommon 4 GND Comm on Digital Common 5 CHA5 Input Encoder A Channel Positive 2 6 [...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connector Pinouts 56 J3 JMACH1 (50-Pin-Header) (Continued) Top View Pin# Symbol Function Description Notes 40 DAC8/ Output Analog Out Negative 8 4,5 41 AENA7/ Output Ampl ifier-Enable 7 42 AENA8/ Output Amplifier -Ena ble 8 43 FAULT7/ Input Amplifier -Fault 7 6 44 FAULT8/ Input Amplifier -Fault 8 6 45 [...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connecto r Pinouts 57 J4 (JMACH2): Machine Port Connector (34-Pin Header) Front View Pin# Symbol Function Description Notes 1 FLG_5_6_V Input Flag s 5-6 Pull-Up 2 FLG_7_8_V Input Flags 7-8 Pull-Up 3 GND Comm on Digital C ommon 4 GND Comm on Digital Common 5 HOME5 Input Home-Flag 5 10 6 HOME6 Input Home[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connector Pinouts 58 J7 (JOPTO): I/O Port Connector (34-Pin Connector) Front View Pin# Symbol Function Description Notes 1 MI8 Input Machine Input 8 Low is TRUE 2 GND Common PMAC Common 3 MI7 Input Machine Input 7 Low is TRUE 4 GND Common PMAC Common 5 MI6 Inpu t Machin e Input 6 Low is TRUE 6 GND Com [...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connecto r Pinouts 59 J8 (JHW) Handwheel Encoder Connector Pin# Symbol Function Description 1 GND Com mon Reference voltage 2 HWA1+ / PUL1+ Input/Output HW1 Channel A or pulse output sel ect ed by jum pers E3 and E4 3 HWA1- / PUL1- Input/Output HW 1 Channel A or pul se output selected by jumpers E3 an [...]

PMAC2A PC104 Hardwa re Reference Manual Acc-1P Connector Pinouts 60[...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Connector Pinouts 61 ACC-2P CONNECTOR PINOUTS TB1 (JPWR): Power Supply (4-Pin Terminal Block) Top Vie w Pin# Symbol Function Description Notes 1 GND Common Reference Voltage 2 +5V Input Positive Supply Voltage Supplies all PMAC d igital circuits 3 +12V Input Positive Supply Voltag e Ref to d igital GND[...]

PMAC2A PC104 Hardwa re Reference Manual 62 Acc-2P Connector Pino uts J2 (JTHW): Multiplexer Port Connector (26-Pin Connector) Front View Pin# Symbol Function Description Notes 1 GND Comm on PMAC Common 2 GND Comm on PMAC Common 3 DAT0 Input Data-0 Input Data input from multiplexed accessory 4 SEL0 Output Select-0 Output Multiplexer select output 5 [...]

PMAC2A PC104 Hardwa re Reference Manual Acc-2P Connector Pinouts 63 J7 (JOPT): I/O Port Connector (34-Pin Connector) Front View Pin# Symbol Function Description Notes 1 MI8 Input Machine Input 8 Direction selectable 2 GND Common PMAC Common 3 MI7 Input Machine Input 7 Direction selectable 4 GND Common PMAC Common 5 MI6 Inpu t Mach in e Input 6 Dire[...]

PMAC2A PC104 Hardwa re Reference Manual 64 Acc-2P Connector Pino uts J8 (JHW) Handwheel Encoder Connector Pin# Symbol Function Description 1 GND Comm on Reference voltage 2 HWA1+ / PUL1+ Input/Out put HW1 channel A or pulse output selected by jum pers E3 and E4 3 HWA1- / PUL1- In put/Output HW1 channel a or pul se output selected by jumpers E3 and [...]