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^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
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MACRO-CPU Hardware Reference CONTENTS INTRODUCTION ....................................................................................................................... 1 3U Product Configurations (General Description) .................................................................................................................2 MACRO CPU Specifications .......................................................................................................................................
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MACRO-CPU Hardware Reference U MACRO-CPU HARDWARE MEMORY MAP ...................................................................... 28 ACCESSORIES ...................................................................................................................... 30 ii Contents
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MACRO-CPU Hardware Reference INTRODUCTION The 3U MACRO-CPU board is the processor and MACRO interface 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 Product Overview) • 3U MACRO Station User’s Manual • 3U MACRO Station Software Reference This manual describes the interfaces and physical hardwa
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MACRO-CPU Hardware Reference 3U MACRO-CPU Board (3A0-602804-10x): • 80MHz DSP56303 CPU • 512k x 8 flash memory for user backup & firmware • Latest released firmware version • RS-232 serial interface for setup and debugging • Stack connectors for servo and I/O accessory boards • UBUS connector for backplane connection to servo and I/O accessory boards • JTHW multiplexed I/O port with 26-pin IDC header The 3U MACRO Station can be configured in either of two fundamental assemblie
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MACRO-CPU Hardware Reference Assemblies of 3U-format boards can be made with either of two CPU processor boards – a 3U MACRO-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 resulting assemblies are called “UMAC MACRO” or "3U MACRO Stack." • When the 3U Turbo PMAC2 CPU board is used, the resulting assemblies are called “UMAC Turbo” or "Turbo Stack." Refer to t
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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%, noncondensing Electrical Specifications Power: 1.5A @ +5V (±5%) (7.5W) Pertains to 8-channel configuration, with a typical load of encoders. 4 Introduction
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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” connectors onto which “stack” accessory boards can be mounted, and a backplane connector through which other 3U-format boards can be connected by means of a “UBUS” passive-backplane board. The MACRO CPU board went through an extensive redesign in the –105 revision, because key components on the –10
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MACRO-CPU Hardware Reference 6 3U MACRO-CPU Configuration
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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 rotary 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 for each number can be determined either from the legend on the component side on the board, or by looking at the solder side of the board, wher
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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 numbers 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 Turbo PMAC2, this value must match the master number value in the first hexadecimal digit of the Turbo PMAC2’s I6840, I6890, I6940, or I6990, for
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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 UBUS backplane, it is strongly recommended to use a new revision (-105 or higher) of the MACRO CPU board, and an ACC-Ux backplane board (not an older ACC-Jx backplane board). The newer revision MACRO CPU boards have stronger bus driver ICs, b
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MACRO-CPU Hardware Reference 10 3U MACRO CPU Board Hardware Setup
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MACRO-CPU Hardware Reference 3U MACRO-CPU JUMPER AND SWITCH CONFIGURATIONS 3U MACRO-CPU Card Layout The "Location" columns of the following tables refer to the mapped locations shown in the drawings below: E B C D F A 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" in white ink on the composite side, and by a square solder pad on the solder side. 3U MACRO-CPU Jumper and Switch Configurations 11
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MACRO-CPU Hardware Reference E1: Watchdog Timer Disable Rev -105 Rev -104 Jumper Description Default and Later and Earlier Type Location Location Remove jumper to enable Watchdog Timer. not jumpered 2-PIN B-1 F-1 Jump pins 1 and 2 to disable Watchdog Timer (for test purposes only) E2: CPU Mode Operation Rev -105 Rev -104 Jumper Description Default and Later and Earlier Type Location Location Jump pins 1 and 2 for firmware download through serial Pin 2-3 port. D-2 D-1 3-PIN J
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MACRO-CPU Hardware Reference E5: MACRO Received Signal Detect/Bypass Mode (rev -105 and 106 only). Does not exist on rev 107 and later models. Rev -105 Rev -104 Jumper Description Default and Later and Earlier Type Location Location Jump pins 1 and 2 to access the receiver’s signal detect operation. Pin 1-2 Jump pins 2 and 3 to bypass the receiver’s signal detect operation. B-3 3-PIN This jumper does not exist on MACRO-CPU versions -104 and earlier. E40: MACRO Input (Fiber/Wired)
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MACRO-CPU Hardware Reference JP5-JP6: MACRO Copper EQ Select (rev -104 and earlier) Rev -105 Rev -104 Jumper Description Default and Later and Earlier Type Location Location not jumpered 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 B-1 2-PIN JP6 are used for manufacturer's testing only. These jumpers do not exist on MACRO-CPU versions -105 and greater. 14 3U MA
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MACRO-CPU Hardware Reference Switch Configurations SW1: MACRO Slave Node Configure st nd SW1 # of Servo MACRO Station Station 1 Axis 2 Axis PMAC2's I996 PMAC2's I1000, Setting Channels Servo Channel Channel Board Board Value ** I1002 Value & Nodes Nodes Nos. Starting Servo Servo (Turbo (Turbo Used Specified Addresses IC IC PMAC2’S PMAC2’s I70, I6840, etc. I71, etc.) 0 4 0, 1, 4, 5 1, 2, 3, 4 $C000, $C008, 4-axis None $F8033 $0033 (default) $C010, $C018* 1 4 8, 9, 12, 1, 2, 3, 4 $C00
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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: MACRO Copper I/O (OPT C) P1: JEXP: Backplane Expansion Port Connector JPWR: 4-Pin Terminal Block TB1: U73: MACRO Fiber Optic Connector (O
