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^1 HARDWARE REFERENCE MANUAL
^2 PMAC2A-PC/104
^3 PMAC2A-PC/104 Hardware Reference Manual
^4 4xx-603670-xHxx
^5 September 22, 2004
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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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.
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PMAC2A PC104 Hardware Reference Manual Table of Contents INTRODUCTION .......................................................................................................................................................1 Board Configuration..................................................................................................................................................1 Base Version .............................................................................................
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PMAC2A PC104 Hardware Reference Manual DAC Output Signals ...........................................................................................................................................15 Pulse and Direction (Stepper) Drivers ...............................................................................................................15 Amplifier Enable Signal (AENAx/DIRn)...........................................................................................................
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PMAC2A PC104 Hardware Reference Manual J1 – USB Communications Port .........................................................................................................................39 J2 - Thumbwheel Multiplexer Port (JTHW Port) ...............................................................................................39 J7 - General-Purpose Digital Inputs and Outputs (JOPT Port).........................................................................39 J8 – Handwheel/Pulse and D
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PMAC2A PC104 Hardware Reference Manual iv Table of Contents
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PMAC2A PC104 Hardware Reference Manual 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 composed of three boards in a stack configuration. The baseboard provides four channels of either DAC ±10V or pulse and direction command outputs. The optional axis expansion board provides a set of four additional servo channels and I/O ports. The optional communications board provides extr
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PMAC2A PC104 Hardware Reference Manual 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 component installed with this option is U20. Acc-1P: Axis Expansion Piggyback Board Acc-1P provides four additional channels axis interface circuitry for a total of eight servo channels, each including: • 12-bit ±10V analog output • Pulse-and-direction digital out
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PMAC2A PC104 Hardware Reference Manual Acc-2P: Communications Board Without any options, the PMAC2A PC/104 communicates through the RS-232 serial interface using the optional Acc-3L flat cable. Only one method of communication is allowed at a time. Acc-2P Option 1A: USB Interface Option 1A it provides a 12 Mbit/sec USB interface allowing USB communications with the PMAC2A PC/104 motion controller. Acc-2P Option 1B: Ethernet Interface Option 1B provides a 10 Mbit/sec Ethernet interfac
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PMAC2A PC104 Hardware Reference Manual 4 Introduction
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PMAC2A PC104 Hardware Reference Manual BASE BOARD HARDWARE SETUP On the PMAC2 PC/104 baseboard, there are many jumpers (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 application and must be setup appropriately. The following is an overview of the several jumpers grouped in appropriate categories. For a complete description of the jumper setup con
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PMAC2A PC104 Hardware Reference Manual 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 combinations of settings for jumpers E15A, E15B, and E15C select which bank of the flash memory is used. In the factory production process, firmware is loaded only into Bank 0, which is selected by
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PMAC2A PC104 Hardware Reference Manual If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the two parallel 2.2 kΩ resistors act as a single 1.1 kΩ pull-up resistor, holding the line at +5V in the absence of an external signal. This configuration is required if complementary open-collector drivers are used; it is permissible for differential line-driver inputs. If Pin 1 of the resistor pack, marked by a dot on the pack, matches Pin 1 of
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PMAC2A PC104 Hardware Reference Manual 8 Baseboard Hardware Setup
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PMAC2A PC104 Hardware Reference Manual 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 appropriately. The following is an overview of the several jumpers grouped in appropriate categories. For a complete description of the jumper setup configuration, refer to the Acc-1P
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PMAC2A PC104 Hardware Reference Manual The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 kΩ resistor to +5V; each also has another 2.2 kΩ 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 is configured as a pull-down resistor (the default configuration), the combination of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.
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PMAC2A PC104 Hardware Reference Manual ACC-2P HARDWARE SETUP On the Acc-2P, there are 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-2P for a given application and must be setup appropriately. The following is an overview of the several jumpers grouped in appropriate categories. For a complete description of the jumper setup configuration, refer to the Acc-2P E-
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PMAC2A PC104 Hardware Reference Manual Resistor Packs Configuration Differential or Single-Ended Handwheel Encoder Selection The handwheel encoder differential input signal pairs to the PMAC have user-configurable pull-up/pull- down resistor networks to permit the acceptance of either single-ended or differential signals in one setting, or the detection of lost differential signals in another setting. The ‘+’ inputs of each differential pair each have a hard-wired 1 kΩ pull-up resistor to
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PMAC2A PC104 Hardware Reference Manual 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 breakouts (Phoenix part number 2281063) Delta Tau part number 100-FLKM34-000 • 50-Pin IDC header to terminal block breakouts (Phoenix part number 2281089) Delta Tau part number 100-FLKM50-000 Mountin
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PMAC2A PC104 Hardware Reference Manual Flags Power Supply Each channel of PMAC has five dedicated digital inputs on the machine connector: PLIMn, MLIMn (overtravel limits), HOMEn (home flag), FAULTn (amplifier fault), and USERn. A power supply from 5 to 24V must be used to power the circuits related to these inputs. This power supply can be the same used to power PMAC and can be connected from the TB1 terminal block or the JMACH1 connector. Overtravel Limits and Home Switches When as
