^1 HARDWARE REFERENCE MANUAL
^2 PMAC2 PCI Lite
Preliminary Documentation
^3 PMAC 2 PCI Lite Bus Expansion Card
^4 4XX-603658-xHxx
^5 November 5, 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
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. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
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 directly exposed to hazardous or conductive
materials and/or environments, we cannot guarantee their operation.
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Table of Contents
INTRODUCTION.......................................................................................................................................................1
Overview...................................................................................................................................................................1
Board Configuration..................................................................................................................................................1
Base Version.........................................................................................................................................................1
Option 2: Dual-Ported RAM.................................................................................................................................1
Option 3: USB1.1 Communications Port..............................................................................................................1
Option 5: CPU and Memory Configurations........................................................................................................2
Option 6: Extended Servo Algorithm....................................................................................................................2
Option 6L: Multi-block Lookahead Firmware......................................................................................................2
Option 7: Plate Mounting.....................................................................................................................................2
Option 8A: High-Accuracy Clock Crystal............................................................................................................2
Option 10: Firmware Version Specification.........................................................................................................2
Option 12: Analog-to-Digital Converters.............................................................................................................2
Option 16: Battery-Backed Parameter Memory...................................................................................................3
HARDWARE SETUP.................................................................................................................................................5
Watchdog Timer Jumper.......................................................................................................................................5
CPU Frequency Control Jumpers.........................................................................................................................5
Re-Initialization Jumper .......................................................................................................................................5
Power-Up State Jumpers......................................................................................................................................5
Firmware Load Jumper........................................................................................................................................5
Flash Memory Bank Select Jumpers.....................................................................................................................5
Encoder Sample Clock Source Jumpers...............................................................................................................5
Serial Port Selection Jumper................................................................................................................................6
Output Disable State Jumpers ..............................................................................................................................6
Amplifier Enable / EQU Jumper...........................................................................................................................6
Resistor Pack Configuration......................................................................................................................................7
Termination Resistors........................................................................................................................................... 7
Pull-Up/Pull-Down Resistors ...............................................................................................................................7
Connections...............................................................................................................................................................8
Mounting...............................................................................................................................................................8
Power Supply Connection.....................................................................................................................................8
Machine Port Connections ...................................................................................................................................8
Display Port..........................................................................................................................................................8
Multiplexer Port....................................................................................................................................................9
I/O Port.................................................................................................................................................................9
Serial Ports...........................................................................................................................................................9
A/D-Converter Port ..............................................................................................................................................9
Handwheel Port....................................................................................................................................................9
COMMUNICATIONS SETUP................................................................................................................................11
FLEX CPU BOARD JUMPER DESCRIPTIONS..................................................................................................13
E1: Watchdog Disable Jumper................................................................................................................................14
E2: Dual-Ported Ram Port Select............................................................................................................................14
E4 – E6: Power-Up/Reset Load Source..................................................................................................................14
E7: Firmware Reload Enable ..................................................................................................................................14
E10A, B, C: Flash Memory Bank Select.................................................................................................................14
JUMPER DESCRIPTIONS......................................................................................................................................15
E2: CPU Frequency Select......................................................................................................................................15
E3: Normal/Re-Initializing Power-Up/Reset...........................................................................................................15
E4: CPU Frequency Select......................................................................................................................................15
E5 – E6: (Reserved for Future Use)........................................................................................................................15
E13 - E14: Encoder Sample Clock Direction Control............................................................................................16
Table Of Contents i
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
E17 - E18: Serial Port Type Selection....................................................................................................................16
E111-118: Command Output Disable State............................................................................................................17
MATING CONNECTORS.......................................................................................................................................19
CPU Board Connectors...........................................................................................................................................19
J2 (JEXP)/Expansion..........................................................................................................................................19
Baseboard Connectors.............................................................................................................................................19
J1 (JANA)/Analog (Option 12) ...........................................................................................................................19
J2 (JTHW)/Multiplexer Port...............................................................................................................................19
J3 (JIO)/Digital I/O............................................................................................................................................19
J5 (JRS232)/RS-232 Serial Communications......................................................................................................19
J5A (JRS422)/RS-422 Serial Communications...................................................................................................19
J6 (JDISP)/Display.............................................................................................................................................19
J7 (JHW)/Auxiliary Channel...............................................................................................................................19
J8 (JEQU)/Position Compare.............................................................................................................................19
J9 (JMACH1)/Machine Port 1............................................................................................................................20
J10 (JMACH2)/Machine Port 2..........................................................................................................................20
BASE BOARD CONNECTOR PINOUTS..............................................................................................................21
J1 (JANA) Analog Input Port Connector................................................................................................................21
J2 (JTHW) Multiplexer Port Connector..................................................................................................................22
J3 (JI/O) General Input/Output Connector..............................................................................................................23
J5 (JRS232) Serial Port Connector..........................................................................................................................24
J5A (RS422) Serial Port Connector ........................................................................................................................24
JRS422 (26-PIN Connector)...............................................................................................................................24
J6 (JDISP) Display Connector ................................................................................................................................25
J7 (JHW) Handwheel Encoder Connector...............................................................................................................25
J8 (JEQU) Position Compare Output Connector.....................................................................................................26
J9 (JMACH1) Connector Description.....................................................................................................................26
J9 JMACH1 Connector.......................................................................................................................................26
J10 (JMACH2) Connector Description...................................................................................................................29
J10 JMACH2 Connector.....................................................................................................................................29
TB1 (2/4-Pin Terminal Block)................................................................................................................................33
TB2 (3-Pin Terminal Block) ...................................................................................................................................33
ii Table of Contents
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
INTRODUCTION
Overview
The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or
four sinewave or direct PWM servo drives and to pulse-and-direction stepper drives. It has four channels
of servo interface circuitry, but its software is capable of eight axes of control. It is software compatible
with the PMAC2-PC and the PMAC2 Mini.
The PMAC2 PCI Lite is a full-sized PCI-bus expansion card. While the PMAC2 PCI Lite is capable of
PCI bus communications, with or without the optional on-board dual-ported RAM, it does not need to be
inserted into a PCI expansion slot. Communications can be done through the standard on-board RS-232
serial port; standalone operation is possible.
Board Configuration
Base Version
• The base version of the PMAC2 PCI Lite provides a 1-1/2-slot board with:
• 40 MHz DSP563xx CPU
• 128k x 24 zero-wait-state SRAM active memory
• 512k x 8 flash memory for user backup and firmware
• Latest released firmware version (requires V1.17 or newer firmware)
• RS-232/422 serial interface, 33 MHz PCI (PC) bus interface
• Four channels axis interface circuitry, each including:
• Three output command signal sets, configurable as either:
□ Two serial data streams to external DACs, 1 pulse-and-direction
□ Three PWM top-and-bottom pairs
• 3-channel differential/single-ended encoder input
• Nine input flags, two output flags
• Interface to two external serial ADCs, 8 to 18-bits
• Two channels supplemental interface circuitry, each including:
• 2-channel differential/single-ended encoder input
• One output command signal set, configurable as
pulse-&-direction or PWM top-and-bottom pair
• Display, muxed 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-ROM 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 100 data items per second
are to be passed between the controller and the host computer in either direction.
Option 2 provides an on-board 8k x 16 bank of dual-ported RAM for PCI or USB. The key component
on the board is U1.
Option 3: USB1.1 Communications Port
If using the PMAC-PCI Lite in a standalone application, use this port because it faster than the standard
RS232/422 communications. Use of this port disables the PCI port.
Introduction 1
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Option 5: CPU and Memory Configurations
If the 40 MHz CPU (80 MHz DSP 56002 equivalent) that comes standard does not have sufficient
computational power, faster versions are available as options. These options provide a faster CPU IC in
U127, and unlike past CPU upgrades, will not require any additional memory chips.
• Option 5CF provides an 80 MHz CPU (160 MHz DSP 56002 equivalent) with zero-wait-state SRAM
active memory. Requires V1.17 or newer firmware.
• Option 5EF provides a 160 MHz CPU (320 MHz DSP 56002 equivalent) with zero-wait-state SRAM
active memory. Requires V1.17 or newer firmware.
Option 6: Extended Servo Algorithm
The standard PID servo algorithm with feedforward and notch filter is suitable for most applications.
Systems with difficult dynamics, especially with significant flexibility, may require a more powerful
servo algorithm, such as the Extended Servo Algorithm (ESA).
• Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular
servo algorithm firmware. This is required only in difficult-to-control systems (resonances, backlash,
friction, disturbances, changing dynamics). This option requires a one-time purchase of the Acc-25
program, which is necessary for tuning the Option-6 firmware.
Option 6L: Multi-block Lookahead Firmware
Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles
execution. With the lookahead firmware, PMAC controls the speed along the path automatically (without
changing the path) to ensure that axis limits are not violated.
Option 7: Plate Mounting
If the PMAC2 PCI Lite is used as a PCI bus expansion board, the standard hardware is used for proper
mounting of the board in the bus. However, if it is not installed in a PCI expansion slot, other provisions
must be made for mounting.
Option 7 provides a mounting plate connected to the PMAC2 PCI Lite with standoffs. It is used to install
the PMAC2 PCI Lite in standalone applications.
Option 8A: High-Accuracy Clock Crystal
The PMAC2 PCI Lite has a clock crystal (component Y1) of nominal frequency 19.6608 MHz (~20
MHz). The standard crystal’s accuracy specification is +/-100 ppm. Long-term velocity accuracy is
limited by the accuracy of the crystal, unless an external time base is used.
Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.
Option 10: Firmware Version Specification
Normally the PMAC2 PCI Lite is provided with the newest released firmware version. A label on the
U61 flash memory IC on the CPU board shows the firmware version loaded at the factory.
Option 10 provides for a user-specified firmware version.
Option 12: Analog-to-Digital Converters
With Option 12, eight or 16 channels of on-board multiplexed analog-to-digital converters can be
installed. One or two of these converters are read every phase interrupt. The analog inputs are not
optically isolated, and each can have a 0 – 5V input range, or a +/-2.5V input range, individually
selectable.
Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U28 and
connector J1.
Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board is
U29.
2 Introduction
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Option 16: Battery-Backed Parameter Memory
The contents of the standard memory are not retained through a power-down or reset unless they have
been saved to flash memory first. Option 16 provides supplemental battery-backed RAM for real-time
parameter storage that is ideal for holding machine state parameters in case of an unexpected powerdown.
Option 16 provides a 16k x 24 bank of battery-backed parameter RAM in components U84, U85, U86,
with the battery in BT1.
Introduction 3
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
4 Introduction
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
HARDWARE SETUP
Watchdog Timer Jumper
Jumper E19 must be OFF for the watchdog timer to operate. This is an important safety feature, so it is
vital that this jumper be OFF in normal operation. E19 should be put ON only to debug problems with
the watchdog timer circuit.
CPU Frequency Control Jumpers
If variable I46 is set to the default value of zero, jumpers E2 and E4 on the base PMAC2 PCI Lite board
control the frequency at which the CPU will operate (or attempt to operate). Generally, this will be the
highest frequency at which the CPU is rated to operate.
• If jumpers E2 and E4 are both OFF, the CPU will operate at a 40MHz frequency.
• If E2 is ON and E4 is OFF, the CPU will operate at a 60MHz frequency.
• If E2 is OFF and E4 is ON, the CPU will operate at an 80MHz frequency.
• If I46 is set to a value greater than zero, E2 and E4 are not used. The CPU frequency is set to 10MHz
(I46+1)
Re-Initialization Jumper
If E3 is off during power-up/reset, the controller will load its last saved set-up parameters from flash
memory into active memory. This is the setting for normal operation.
If E3 is on during power-up/reset, the controller will load its factory-default set-up parameters from
firmware into active memory. Generally, this is done only if communications cannot be established with
the card when it comes up in normal operational mode.
Power-Up State Jumpers
Jumper E20 must be OFF, jumper E21 must be ON, and jumper E22 must be ON, in order for the CPU to
copy the firmware from flash memory into active RAM on power-up/reset. This is necessary for normal
operation of the card. (Other settings are for factory use only.)
Firmware Load Jumper
If jumper E23 is ON during power-up/reset, the board comes up in bootstrap mode which permits the
loading of new firmware into the flash-memory IC on the board. When the PMAC Executive program
tries to establish communications with a board in this mode, it will detect automatically that the board is
in bootstrap mode and ask what file to download as the new firmware.
Jumper E23 must be OFF during power-up/reset for the board to come up in normal operational mode.
Flash Memory Bank Select Jumpers
The flash-memory IC in location U10 on the Flex CPU 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 E10A, E10B, and E10C 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 having all of these jumpers OFF.
Encoder Sample Clock Source Jumpers
Jumper E13 controls the source of the SCLK encoder-sampling clock for each servo IC. The default
setting, No Jumper Installed, means that the SCLK signal comes from the servo IC and is output on the
JMACH connectors. This setting is suitable for all but a few special applications.
Hardware Setup 5
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Serial Port Selection Jumper
Jumpers E17 and E18 control which serial-port connector is used. If E17 and E18 connect their pins 1
and 2, the 10-pin RS-232 port connector J5 is used. If E17 and E18 connect their pins 2 and 3, the 26-pin
RS-422 port connector J5A is used. The RS-422 port must be used if several cards are to be daisychained together on a single multi-drop cable.
Output Disable State Jumpers
Jumpers E111 through E114 control the hardware state of the digital command output signals for each
channel when the amplifier enable signal for that channel is in the disable state (false). Jumper E11n (n =
1 to 4) controls the output signals for channel n on the board.
If E11n is off (default), the command output signals for channel n are still active when the amplifier
enable signal is in the disable state. The Turbo PMAC software should be commanding a net zero
command to be output on these signals, and the amplifier-enable signal should be used by the amplifier so
that no command output will cause action if it is receiving a disable signal. The Off setting should be
used when DAC output format is selected for the channel.
If E11n is on, the command output signals for channel n are tri-stated when the amplifier-enable signal is
in the disable state. This setting is used only with direct-PWM power-block amplifiers that do not use
amplifier enable to gate the PWM signals, and in which the zero-command format of 50% top on-time,
and 50% bottom on-time cannot be tolerated in the disable state.
Amplifier Enable / EQU Jumper
WARNING
The jumper setting must match the type of driver IC, or damage to the IC will
result.
Jumpers E11 and E12 control the polarity of the AENA and EQU lines. Their default setting is 1 to 2
which applies GND to pin 10 of U93 AENA/EQUn driver IC. This is used for 74ACT563, 74ACT573,
and ULN2803 model sinking chips.
To source the AENA and EQU lines, apply +V to pin 10 of U93, jump pin 2 to 3. This is used for
UDN2891 model sourcing chip.
Note:
If using ULN2803 or UDN2981 model chips, be sure to plug pin 1 of chip into
socket starting at pin 2.
6 Hardware Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Resistor Pack Configuration
Termination Resistors
The PMAC2 PCI Lite provides sockets for termination resistors on differential input pairs coming into the
board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances
into the PMAC2 PCI Lite board and ringing at signal transitions is a problem, SIP resistor packs may be
mounted in these sockets to reduce or eliminate the ringing.
All termination resistor packs have independent resistors (no common connection) with each resistor
using two adjacent pins. The following table shows which packs are used to terminate each input device:
Input Pack Pack Size Input Pack Pack Size
Encoder 1 RP60 6-pin ADC 1 & 2 RP60 8-pin
Encoder 2 RP62 6-pin ADC 3 & 4 RP61 8-pin
Encoder 3 RP66 6-pin ADC 5 & 6 RP121 8-pin
Encoder 4 RP68 6-pin ADC 7 & 8 RP122 8-pin
Encoder 5 RP107 6-pin Fault 1 & 2 RP63 6-pin
Encoder 6 RP111 6-pin Fault 3 & 4 RP64 6-pin
Encoder 7 RP108 6-pin Fault 5 & 6 RP124 6-pin
Encoder 8 RP112 6-pin Fault 7 & 8 RP125 6-pin
SCLK12&34 RP52 6-pin SCLK56&78 RP113 6-pin
Pull-Up/Pull-Down Resistors
The differential input signal pairs to the PMAC2 PCI Lite 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 kohm pull-up resistor to +5V. This cannot
be changed.
The - inputs of each differential pair each have a hard-wired 2.2 kohm resistor to +5V; each has another
2.2 kohm 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 +2.5V in the
absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines
alone; it is used for unconnected inputs to prevent the pick-up of spurious noise. It is permissible for
differential line-driver inputs.
If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the
two parallel 2.2 kohm resistors act as a single 1.1 kohm pull-up resistor, holding the line at +5V in the
absence of an external signal. This configuration is required if encoder-loss detection is desired; or if
complementary open-collector drivers are used. It is permissible for differential line-driver inputs even
without encoder loss detection.
If Pin 1 of the resistor pack (marked by a dot on the pack) matches Pin 1 of the socket (marked by a wide
white line on the front side of the board and a square solder pin on the back side of the board), then the
pack is configured as a bank of pull-down resistors. If the pack is reversed in the socket, it is configured
as a bank of pull-up resistors.
Hardware Setup 7
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
The following table lists the pull-up/pull-down resistor pack for each input device:
Device Resistor Pack Device Resistor Pack
Encoder 1 RP43 ADC/Fault1&2 RP58
Encoder 2 RP48 ADC/Fault3&4 RP59
Encoder 3 RP44 ADC/Fault5&6 RP119
Encoder 4 RP49 ADC/Fault7&8 RP120
Encoder 5 RP104 SCLK12&34 RP62
Encoder 6 RP109 SCLK56&78 RP123
Encoder 7 RP105
Encoder 8 RP110
Connections
Mounting
The PMAC2 PCI Lite can be mounted in one of two ways: in the PCI bus, or using standoffs.
1. PCI bus: To mount in the PCI bus, simply insert the P1 card-edge connector into the PCI socket. If
there is a standard PC-style housing, a bracket at the end of the PMAC2 PCI Lite board can be used to
screw into the housing to hold the board down firmly.
2. Standoffs: At each of the Four Corners of the PMAC2 PCI Lite board, there are mounting holes that
can be used to mount the board on standoffs.
Power Supply Connection
The standard PMAC2 PCI Lite requires only 5V power: 3A in a 4-channel configuration, 4A in an 8channel configuration (with Option 1). If the Option 12 A/D converters are installed, a –12V supply is
also required. In this case, a +12V supply also can be passed through the card and out to the analog
devices feeding the A/D converters.
The power can be provided in several ways:
• Bus connector: If the PMAC2 PCI Lite is mounted in an electrically active PCI bus slot, it draws its
5V and +/-12V power from the bus automatically.
• Terminal block: The TB1 2/4-point terminal block can be used to bring in 5V power, especially in
standalone applications. Point 1 is GND; Point 2 is +5V. Points 3 and 4 are needed only if the
Option-12 A/D converters are ordered.
• JMACH connectors: Up to 2A may be brought in through each 100-pin JMACH connector from an
Acc-8 board or its equivalent, provided the cable is 500mm (20 inches) or less in length.
Machine Port Connections
The PMAC2 PCI Lite has a 100-pin high-density header for each pair of servo interface channels.
Through this connector, pass all of the digital signals to and from the amplifier, encoder, and flags for the
two channels. Typically, this header is connected with a matching Delta Tau Acc-8 family 2-channel
breakout board or equivalent through a provided 100-pin flat cable.
The machine port connectors are:
• J9 (JMACH1) Board Channels 1 & 2
• J10 (JMACH2) Board Channels 3 & 4
Display Port
The J6 (JDISP) display port provides a 14-pin IDC header for connection to the Acc-12 family of
displays. Flat cables are provided with each of these displays for direct connection between the display
and this port.
8 Hardware Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Multiplexer Port
The J2 (JTHW) multiplexer port provides eight TTL-compatible 5V CMOS inputs and eight TTLcompatible 5V CMOS outputs on a 26-pin IDC header. These can be used directly as general-purpose
digital I/O, or with PMAC2’s special M-variable support (TWB, TWD, TWR, and TWS formats). In
addition, they can be used to support hundreds, or even thousands of multiplexed I/O points on accessory
boards.
Delta Tau provides the following accessory boards that can be connected to the multiplexer port. Each
comes with a flat cable for direct connection to the port.
• Acc-8D Option 7 Resolver-to-Digital Converter Board
• Acc-18 Thumbwheel Board
• Acc-34 family of Digital I/O Boards
• Acc-35A and B Extender Boards
I/O Port
The J3 (JIO) I/O port provides 32 TTL-compatible 5V CMOS I/O points on a 40-pin IDC header.
Direction is selectable by byte. These are used as general-purpose digital I/O points. Acc-21A provides a
convenient connections adapter from this port to OPTO-22 style boards.
Serial Ports
The PMAC2 PCI Lite has two serial-port connectors. Only one of these can be used in an application.
• J5 is a 10-pin IDC header for RS-232 communications. It can be connected to a standard DB9 RS-
232 connector on a host computer or terminal via a flat cable such as the Acc-3L. A commercially
available DB9-to-DB25 adapter can be added to this flat cable if the host computer or terminal has a
DB25 serial connector. Jumpers E17 and E18 on the PMAC2 PCI Lite must connect pins 1 and 2 to
use this port.
• J5A is 26-pin IDC header for RS-422 communications. It can be connected to a standard DB25 RS-
422 connector on a host computer or terminal via a flat cable such as the Acc-3D. Jumpers E17 and
E18 on the PMAC2 PCI Lite must connect pins 2 and 3 to use this port.
A/D-Converter Port
If the Option 12 A/D converters are ordered, the J1 (JANA) analog-input port is provided on the PMAC2
on a 20-pin IDC header. Option 12 provides eight analog inputs at 0 – 5V, or +/-2.5V levels. Option 12A
provides eight additional analog inputs at these levels. The +12V and –12V supplies can either be
brought in on this connector, or brought out on it for the external analog circuitry, if they have been
brought in through TB1 or P1.
Handwheel Port
The J7 (JHW) handwheel port provides two limited supplemental channels, each with a 2-channel
encoder input, and a pulse-and-direction or PWM top-and-bottom pair output. All inputs and outputs are
digital 5V differential line-driver pairs.
Hardware Setup 9
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
10 Hardware Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
COMMUNICATIONS SETUP
Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32bits Windows
in PEWIN32 version 2.32 and newer, a PMAC2 PCI Lite board plugged in a PCI bus slot will be
recognized by the operating system when the computer is booted up. The available PCI address, DualPorted RAM address and Interrupt lines are set automatically by the operating system and can be checked
(but not modified) in the MOTIONEXE.EXE application.
®
based computers. Starting with MOTIONEXE.EXE version 10.32.00, which is included
Open MOTIONEXE
and press Setup for the
PCI device desired
The PMAC2 PCI Lite board may have the optional on-board Dual-Ported RAM circuitry which is ordered
through Option-2. If the dual-ported RAM circuitry is not on-board, manually disable its automatically
assigned use through the setup page of MOTIONEXE:
MOTIONEXE
version number
Disable Interrupts
and Dual Ported
RAM if not
used
The MOTIONEXE application will look first for PMAC PCI boards on the PCI bus and will assign
device numbers from Device0 to each PMAC PCI sequentially until all the PMAC PCI boards found have
a device number assigned. Then, manually add other devices for either ISA bus or Serial port
communications.
After each PMAC has a device number assigned to it, communications through the PCI bus are identical
to the ISA bus. Any application written for the ISA bus using the Delta Tau provided 32-bits
communication libraries provided will not require any further change and the process is transparent.
Communications Setup 11
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Note:
For example, if a Device0 for serial RS-232 communications was defined before a
PMAC PCI board was installed in the computer, its setup information will be
overwritten by the MOTIONEXE application when the PMAC2 PCI Lite board is
found. Therefore, it is important to take note of the all the devices and their
parameters defined in MOTIONEXE before installing a new PMAC board in the
computer.
12 Communications Setup
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
FLEX CPU BOARD JUMPER DESCRIPTIONS
Flex CPU Board Jumper Descriptions 13
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
E1: Watchdog Disable Jumper
E Point and
Description Default
Physical Layout
E1
Jump pin 1 to 2 to disable Watchdog timer. (For test
purposes only.)
Remove jumper to enable Watchdog timer.
E2: Dual-Ported Ram Port Select
E Point and
Physical Layout
E2
Jump pin 1 to 2 to access DPRAM from baseboard.
Jump pin 2 to 3 to access DPRAM through JEXP
expansion port.
Description Default
E4 – E6: Power-Up/Reset Load Source
E Point and
Physical Layout
E6
Remove jumper E4;
Jump E5 pin 1 to 2;
Jump E6 pin 2 to 3; to read flash IC on power-up/reset.
Other combinations are for factory use only ; the boa r d
will not operate in any other configuration.
Description Default
No jumper installed
Pins 1 and 2 jumpered
No E4 jumper installed;
E5 and E6 jump pin 1 to 2
E4
E7: Firmware Reload Enable
E Point and
Physical Layout
E7
Jump pin 1 to 2 to reload firmware through serial or bus
port.
Remove jumper for normal operation.
Description Default
E10A, B, C: Flash Memory Bank Select
E Point and
Physical Layout
E10A
E10C
Remove all three jumpers to select flash memory bank
with factory-installed firmware.
Use other configuration to select one of the seven other
flash memory ba nks.
Description Default
No jumper installed
No jumpers installed
14 Flex CPU Board Jumper Descriptions
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
JUMPER DESCRIPTIONS
E1: Servo and Phase Clock Direction Control
E Point and
Location Description Default
Physical Layout
E1
Note: If the E1 jumper is ON and the servo and phase clocks are not brought in on the J5A serial port, the
watchdog timer will trip immediately.
C2 Remove jumper for PMAC2 PCI Lite to use its
internally generated servo and phase clock signals and
to output these signals on the J5A serial port connector.
Jump pins 1 and 2 for PMAC2 PCI Lite to expect to
receive its servo and phase clock signals on the J5A
serial port connector.
No jumper installed
E2: CPU Frequency Select
E Point and
Physical Layout
E2
Location Description Default
C2 Remove jumper for 40MHz operation (E4 OFF also) or
for 80MHz operation (E4 ON) with I46 = 0.
Jump pin 1 to 2 for 60MHz operation (E4 OFF) wit h
I46 = 0.
Not used if I46 > 0.
No jumper installed
Jumper installed
E3: Normal/Re-Initializing Power-Up/Reset
E Point and
Physical Layout
E3
Location Description Default
C2 Jump pin 1 to 2 to re-initialize on power-up/reset,
loading factory default settings.
Remove jumper for normal power-up/reset, loading
user-saved settings.
No jumper installed
E4: CPU Frequency Select
E Point and
Physical Layout
E4
Location Description Default
C2 Remove jumper for 40MHz operation (E2 OFF also) or
for 60MHz operation (E4 ON) with I46 = 0.
Jump pin 1 to 2 for 80MHz operation (E2 OFF) wit h
I46 = 0.
Not used if I46 > 0
No jumper installed
(standard or Opt 5B)
Jumper installed (Opt
5C)
E5 – E6: (Reserved for Future Use)
PMAC2 PCI Lite Jumper Descriptions 15
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
E13 - E14: Encoder Sample Clock Direction Control
E Point and
Location Description Default
Physical Layout
E13
E14
Note: E14 is installed only if Option 1 has been ordered.
D1 Remove jumper to output SCLK generated in first
ASIC on SCLK_12 and SCLK_34, or to control
direction by software.
Jump pins 1 to 2 to input SCLK signal for first ASIC
on SCLK_34 and output this signal on SCLK_12.
Jump pins 2 to 3 to input SCLK signal for first ASIC
on SCLK_12 and output this signal on SCLK_34.
D2 Remove jumper to output SCLK generated in second
ASIC on SCLK_56 and SCLK_78, or to control
direction by software.
Jump pins 1 to 2 to input SCLK signal for second
ASIC on SCLK_78 and output this signal on
SCLK_56.
Jump pins 2 to 3 to input SCLK signal for second
ASIC on SCLK_56 and output this signal on
SCLK_78.
E17 - E18: Serial Port Type Selection
E Point and
Physical layout
E17
Location Description Default
C1 Connect pins 1 and 2 to use the RS-232 port on the J5
connector.
Connect pins 2 and 3 to use the RS-422 port on the
J5A connector.
No jumper installed
No jumper installed
Jumper installed in 1-2
position
E18
Serial Port Choice: Because both RS-232 and RS-422 ports are always provided, jumpers must be set correctly to use
the port of choice. Jumpers E17 and E18 must connect pins 1 and 2 to use the RS-232 port on the J5 connector; to use
the RS-422 port on the J5A connector, they must connect pins 2 and 3.
C1 Connect pins 1 and 2 to use the RS-232 port on the J5
connector.
Connect pins 2 and 3 to use the RS-422 port on the
J5A connector.
Jumper installed in 1-2
position
16 PMAC2 PCI Lite Jumper Descriptions
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
E111-118: Command Output Disable State
E Point and
Physical Layout
E111
E112
E113
E114
E115
E116
E117
E118
Location Description Default
C1
Jump pin 1 to 2 of E11n for di gital servo command
output signals of Channel n to tri-state when amplifierenable signal for Channel n is in disable state.
Remove jumper for digital servo command output
signals of Channel n to remain active (but typically
with zero command value) when amplifier-enable
signal for Channel n is in disable state.
No jumper installed
PMAC2 PCI Lite Jumper Descriptions 17
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
18 PMAC2 PCI Lite Jumper Descriptions
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
MATING CONNECTORS
CPU Board Connectors
J2 (JEXP)/Expansion
• Two 50-pin female flat cable connector Delta Tau P/N 014-R00F50-0K0 - T&B Ansley P/N 609-5041
• 171-50 T&B Ansley standard flat cable stranded 50-wire
• Phoenix varioface module type FLKM 50 (male pins) P/N 22 81 08 9
Baseboard Connectors
J1 (JANA)/Analog (Option 12)
• Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 - T&B Ansley P/N 609-1441
• 171-14 T&B Ansley standard flat cable stranded 14-wire
• Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1
J2 (JTHW)/Multiplexer Port
• Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 - T&B Ansley P/N 609-2641
• 171-26 T&B Ansley standard flat cable stranded 26-wire
• Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0
J3 (JIO)/Digital I/O
• Two 40-pin female flat cable connector Delta Tau P/N 014-R00F40-0K0 - T&B Ansley P/N 609-4041
• 171-40 T&B Ansley standard flat cable stranded 40-wire
• Phoenix varioface module type FLKM 40 (male pins)
J5 (JRS232)/RS-232 Serial Communications
• Two 10-pin female flat cable connector Delta Tau P/N 014-ROOF10-0K0 - T&B Ansley P/N 609-1041
• 171-10 T&B Ansley standard flat cable stranded 10-wire
• Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8
J5A (JRS422)/RS-422 Serial Communications
• Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 - T&B Ansley P/N 609-2641
• 171-26 T&B Ansley standard flat cable stranded 26-wire
• Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0
J6 (JDISP)/Display
• Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 - T&B Ansley P/N 609-1441
• 171-14 T&B Ansley standard flat cable stranded 14-wire
• Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1
J7 (JHW)/Auxiliary Channel
• Two 20-pin female flat cable connector Delta Tau P/N 014-R00F20-0K0 - T&B Ansley P/N 609-2041
• 171-20 T&B Ansley standard flat cable stranded 20-wire
• Phoenix varioface modules type FLKM20 (male pins)
J8 (JEQU)/Position Compare
• Two 10-pin female flat cable connector Delta Tau P/N 014-ROOF10-0K0 - T&B Ansley P/N 609-1041
• 171-10 T&B Ansley standard flat cable stranded 10-wire
• Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8
Mating Connectors 19
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 (JMACH1)/Machine Port 1
• Two 100-pin high-density box header with center key, 0.050” pitch - AMP P/N 1-04068-7, Delta Tau
P/N 014-00010-FPB
• High-density flat cable stranded 100-wire
J10 (JMACH2)/Machine Port 2
• Two 100-pin high-density box header with center key, 0.050” pitch - AMP P/N 1-04068-7, Delta Tau
P/N 014-00010-FPB
• High-density flat cable stranded 100-wire
20 Mating Connectors
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
BASE BOARD CONNECTOR PINOUTS
J1 (JANA) Analog Input Port Connector
This connector is present only if Option 12 is ordered.
Pin # Symbol Function Description Notes
1 ANAI00 Input Analog input 0
2 ANAI01 Input Analog input 1
3 ANAI02 Input Analog input 2
4 ANAI03 Input Analog input 3
5 ANAI04 Input Analog input 4
6 ANAI05 Input Analog input 5
7 ANAI06 Input Analog input 6
8 ANAI07 Input Analog input 7
9 ANAI08 Input Analog input 8
10 ANAI09 Input Analog input 9
11 ANAI10 Input Analog input 10
12 ANAI11 Input Analog input 11
13 ANAI12 Input Analog input 12
14 ANAI13 Input Analog input 13
15 ANAI14 Input Analog input 14
16 ANAI15 Input Analog input 15
17 GND Common PMAC common
18 +12V Outpu t Positive supply voltage
19 GND Common PMAC common
20 -12V Output Negative supply voltage
*This signal is present only if Option-12A is ordered.
The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2.
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
0-5V or +/-2.5V range *
Not isolated from digital
To power external circuitry
Not isolated from digital
To power external circuitry
Base Board Connector Pinouts 21
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J2 (JTHW) Multiplexer Port Connector
Pin # Symbol Function Description Notes
1 GND Common PMAC common
2 GND Common PMAC common
3 DAT0 Input Data-0 input Data input from MUX port
accessories
4 SEL0 Output Select-0 output Address/data output for MUX
port accessories
5 DAT1 Input Data-1 input Data input from MUX port
accessories
6 SEL1 Output Select-1 output Address/data output for MUX
port accessories
7 DAT2 Input Data-2 input Data input from MUX port
accessories
8 SEL2 Output Select-2 output Address/data output for MUX
port accessories
9 DAT3 Input Data-3 input Data input from MUX port
accessories
10 SEL3 Output Select-3 output Address/data output for MUX
port accessories
11 DAT4 Input Data-4 input Data input from MUX port
accessories
12 SEL4 Output Select-4 output Address/data output for MUX
port accessories
13 DAT5 Input Data-5 input Data input from MUX port
accessories
14 SEL5 Output Select-5 output Address/data output for MUX
port accessories
15 DAT6 Input Data-6 input Data input from MUX port
accessories
16 SEL6 Output Select-6 output Address/data output for MUX
port accessories
17 DAT7 Input Data-7 input Data input from MUX port
accessories
18 SEL7 Output Select-7 output Address/data output for MUX
port accessories
19 N. C. No Connection No connection
20 GND Common PMAC common
21 BRLD/ Output Buffer request Low is buffer required
22 GND Common PMAC common
23 IPLD/ Output In position Low is in position
24 GND Common PMAC common
25 +5V Output +5Vdc supply Power supply out
26 INIT/ Input PMAC reset Low is reset
22 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J3 (JI/O) General Input/Output Connector
Pin # Symbol Function Description Notes
1 I/O00 In/Out Digital I/O 0 Software direction ctrl.
2 I/O01 In/Out Digital I/O 1 Software direction ctrl.
3 I/O02 In/Out Digital I/O 2 Software direction ctrl.
4 I/O03 In/Out Digital I/O 3 Software direction ctrl.
5 I/O04 In/Out Digital I/O 4 Software direction ctrl.
6 I/O05 In/Out Digital I/O 5 Software direction ctrl.
7 I/O06 In/Out Digital I/O 6 Software direction ctrl.
8 I/O07 In/Out Digital I/O 7 Software direction ctrl.
9 I/O08 In/Out Digital I/O 8 Software direction ctrl.
10 I/O09 In/Out Digital I/O 9 Software direction ctrl.
11 I/O10 In/Out Digital I/O 10 Software direction ctrl.
12 I/O11 In/Out Digital I/O 11 Software direction ctrl.
13 I/O12 In/Out Digital I/O 12 Software direction ctrl.
14 I/O13 In/Out Digital I/O 13 Software direction ctrl.
15 I/O14 In/Out Digital I/O 14 Software direction ctrl.
16 I/O15 In/Out Digital I/O 15 Software direction ctrl.
17 I/O16 In/Out Digital I/O 16 Software direction ctrl.
18 I/O17 In/Out Digital I/O 17 Software direction ctrl.
19 I/O18 In/Out Digital I/O 18 Software direction ctrl.
20 I/O19 In/Out Digital I/O 19 Software direction ctrl.
21 I/O20 In/Out Digital I/O 20 Software direction ctrl.
22 I/O21 In/Out Digital I/O 21 Software direction ctrl.
23 I/O22 In/Out Digital I/O 22 Software direction ctrl.
24 I/O23 In/Out Digital I/O 23 Software direction ctrl.
25 I/O24 In/Out Digital I/O 24 Software direction ctrl.
26 I/O25 In/Out Digital I/O 25 Software direction ctrl.
27 I/O26 In/Out Digital I/O 26 Software direction ctrl.
28 I/O27 In/Out Digital I/O 27 Software direction ctrl.
29 I/O28 In/Out Digital I/O 28 Software direction ctrl.
30 I/O29 In/Out Digital I/O 29 Software direction ctrl.
31 I/O30 In/Out Digital I/O 30 Software direction ctrl.
32 I/O31 In/Out Digital I/O 31 Software direction ctrl.
33 GND Common Reference voltage
34 GND Common Reference voltage
35 PHASE/ Output Phase clock For latching data
36 SERVO/ Output Servo clock For latching data
37 GND Common Reference voltage
38 GND Common Reference voltage
39 +5V Output Supply voltage To power external circuitry
40 +5V Output Supply voltage To power external circuitry
The JI/O connector provides 32 input/output pins at TTL levels. Direction can be controlled in byte-wide
groups.
Base Board Connector Pinouts 23
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J5 (JRS232) Serial Port Connector
Pin # Symbol Function Description Notes
1 PHASE Output Phasing clock
2 DTR Bidirect Data terminal ready Tied to DSR
DSR TXD/ Input Receive data Host transmit data
4 CTS Input Clear to send Host ready bit
5 RXD/ Output Send data Host receives data
6 RTS Output Req. to send PMAC ready bit
7 DSR Bidirect Data set ready Tied to DTR
8 SERVO Output Servo clock
9 GND Common PMAC common
10 +5V Output +5Vdc supply Power supply out
The JRS232 connector provides the PMAC2-PC with the ability to communicate serially with an RS232
port. This connector cannot be used for daisy-chain interconnection of multiple PMACs. The J5A RS422 port must be used for daisy chaining.
E17 and E18 must connect pins 1 and 2 to use the RS-232 port for serial communications.
J5A (RS422) Serial Port Connector
JRS422 (26-PIN Connector)
Front View
Pin # Symbol Function Description Notes
1 CHASSI Common PMAC common
2 S+5V Output +5Vdc supply
3 RD- Input Receive data Diff. I/O low true
4 RD+ Input Receive data Diff. I/O high true
5 SD- Output Send data Diff. I/O low true
6 SD+ Output Send data Diff. I/O high true
7 CS+ Input Clear to send Diff I/O high true
8 CS- Input Clear to send Diff. I/O low true
9 RS+ Output Req. to send Diff. I/O high true
10 RS- Output Req. to send Diff I/O low true
11 DTR Bidirect Data term read Tied to DSR
12 INIT/ Input PMAC reset Low is "reset"
13 GND Common PMAC common
14 DSR Bidirect Data set ready Tied to DTR
15 SDIO- Bidirect Special data Diff. I/O low true
16 SDIO+ Bidirect Special data Diff. I/O high true
17 SCIO- Bidirect Special ctrl. Diff I/O low true
18 SCIO+ Bidirect Special ctrl. Diff. I/O high true
19 SCK- Bidirect Special clock Diff. I/O low true
20 SCK+ Bidirect Special clock Diff. I/O high true
21 SERVO- Bidirect Servo clock Diff. I/O low true
22 SERVO+ Bidirect Servo clock Diff. I/O high true
23 PHASE- Bidirect Phase clock Diff. I/O low true
24 PHASE+ Bidirect Phase clock Diff. I/O high true
25 GND Common PMAC common
26 +5V Output +5Vdc supply Power supply out
E17 and E18 must connect pins 2 and 3 to use the RS-422 port for serial communications. This connector
could be also used to daisychain interconnect multiple PMACs for synchronized operation.
24 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J6 (JDISP) Display Connector
Pin # Symbol Function Description Notes
1 VDD Output +5V power Power supply out
2 VSS Common PMAC common
3 RS Output Read strobe TTL signal out
4 VEE Output Contrast adjust. VEE 0 to +5 Vdc *
5 E Output Display enable High is enable
6 R/W Output Read or write TTL signal out
7 DB1 Output Display data1
8 DB0 Output Display data0
9 DB3 Output Display data3
10 DB2 Output Display data2
11 DB5 Output Display data5
12 DB4 Output Display data4
13 DB7 Output Display data7
14 DB6 Output Display data6
The JDISP connector is used to drive the 2-line x 24-character (Acc-12), 2 x 40 (Acc-12A) LCD, or the 2
x 40 vacuum fluorescent (Acc-12C) display unit. The DISPLAY command may be used to send
messages and values to the display.
J7 (JHW) Handwheel Encoder Connector
Pin # Symbol Function Description Notes
1 GND Common Reference voltage
2 +5V Output Supply voltage To power external circuitry
3 HWA1+ Input HW positive A channel Also pulse input
4 HWA1- Input HW negative A channel Also pulse input
5 HWB1+ Input HW positive B channel Also direction input
6 HWB1- Input HW negative B channel Also direction input
7 HWA2+ Input HW positive A channel Also pulse input
8 HWA2- Input HW negative A channel Also pulse input
9 HWB2+ Input HW positive B channel Also direction input
10 HWB2- Input HW negative B channel Also directi o n i np ut
11 PUL1+ Output PFM positive pulse Also PWM bottom output
12 PUL1- Output PFM negative pulse Also PWM bottom output
13 DIR1+ Output PFM positive dir out Also PWM top output
14 DIR1- Output PFM negative dir out Also PWM top output
15 PUL2+ Output PFM positive pulse Also PWM bottom output
16 PUL2- Output PFM negative pulse Also PWM bottom output
17 DIR2+ Output PFM positive dir. out Also PWM top output
18 DIR2- Output PFM negative dir out Also PWM top output
19 GND Common Reference voltage
20 +5V Output Supply voltage To power external circuitry
The VHW connector provides for two 2-channel encoder inputs and two sets of pulse outputs.
Base Board Connector Pinouts 25
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J8 (JEQU) Position Compare Output Connector
Pin # Symbol Function Description Notes
1 EQU1/ Output Encoder 1 comp-Eq Programmed polarity
2 EQU2/ Output Encoder 2 comp-Eq Programmed polarity
3 EQU3/ Output Encoder 3 comp-Eq Programmed polarity
4 EQU4/ Output Encoder 4 comp-Eq Programmed polarity
5 EQU5/ Output Encoder 5 comp-Eq Programmed polarity
6 EQU6/ Output Encoder 6 comp-Eq Programmed polarity
7 EQU7/ Output Encoder 7 comp-Eq Programmed polarity
8 EQU8/ Output Encoder 8 comp-Eq Programmed polarity
9 +V Supply Positive supply +5V
10 GND Common Digital ground
This connector provides the position-compare outputs for the eight encoder channe ls.
J9 (JMACH1) Connector Description
J9 JMACH1 Connector
Front View
Pin# Symbol Function Description Notes
1 +5V Output / Input +5V power For external circuit or from
external supply
2 +5V Output / Input +5V power For external circuit or from
external supply
3 GND Common Reference voltage
4 GND Common Reference voltage
5 CHA1+ Input Encoder 1 positive A channel Also pulse input
6 CHA1- Input Encoder 1 negative A channel Also pulse input
7 CHB1+ Input Encoder 1 positive B channel Also direction input
8 CHB1- In p ut Encoder 1 negative B channel Also direction input
9 CHC1+ Input Encoder 1 positive C channel Index channel
10 CHC1- Input Encoder 1 negative C channel Index channel
11 CHU1 Input Channel 1 U flag Hall effect, fault code, or sub-
count
12 CHV1 Input Channel 1 V flag Hall effect, fault code, or sub-
count
13 CHW1 Input Channel 1 W flag Hall effect, fault code, or sub-
count
14 CHT1 Input Channel 1 T flag Fault code, or sub-count
15 USER1 Input General purpose user flag Hardware capture flag, or sub-
count
16 PLIM1 Input Positive overtravel limit Hardware capture flag
17 MLIM1 Input Negative overtravel limit Hardware capture flag
18 HOME1 Input Home switch input Hardware capture flag
19 ACCFLT1 Input Accessory fault flag For loss of ACC supply voltage
20 WD0/ Output Watchdog output Low is PMAC watchdog fault
21 SCLK12+ Input / Output Encoder sample clock Direction controlled by PMAC2
jumper
22 SCLK12- Input / Output Encoder sample clock Direction controlled by PMAC2
jumper
23 ADC_CLK1+ Output A/D converter clock Programmable frequency
26 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 JMACH1 Connector
(Continued)
Front View
Pin# Symbol Function Description Notes
25 ADC_STB1+ Output A/D converter strobe Programmable sequence
26 ADC_STB1- Output A/D converter strobe Programmable sequence
27 ADC_DAA1+ Input Channel A ADC serial data MSB first
28 ADC_DAA1- Input Channel A ADC serial data MSB first
29 ADC_DAB1+ Input Channel B ADC serial data MSB first
30 ADC_DAB1- Input Channel B ADC serial data MSB first
31 AENA1+ Output Amplifier enable High is enable
32 AENA1- Output Amplifier enable Low is enable
33 FAULT1+ Input Amplifier fault Programmable polarity
34 FAULT1- Input Amplifier fault Programmable polarity
35 PWMATOP1+
DAC_CLK1+
36 PWMATOP1-
DAC_CLK1-
37 PWMABOT1+
DAC1A+
38 PWMABOT1-
DAC1A-
39 PWMBTOP1+
DAC_STB1+
40 PWMBTOP1-
DAC_STB1-
41 PWMBBOT1+
DAC1B+
42 PWMBBOT1-
DAC1B-
43 PWMCTOP1+
DIR1+
44 PWMCTOP1-
DIR1-
45 PWMCBOT1+
PULSE1+
46 PWMCBOT1-
PULSE147 GND Common Reference voltage
48 GND Common Reference voltage
49 +5V Output / Input +5V power For external circuit or from
50 +5V Output / Input +5V power For external circuit or from
51 +5V Output / Input +5V power For external circuit or from
52 +5V Output / Input +5V power For external circuit or from
53 GND Common Reference voltage
54 GND Common Reference voltage
55 CHA2+ Input Encoder 2 positive A channel Also pulse input
Output Phase A Top CMD or DAC
clock
Output Phase A Top CMD or DAC
clock
Output Phase A Bottom CMD or
DAC A serial data
Output Phase A Bottom CMD or
DAC A serial data
Output Ph ase B Top CMD or DAC
strobe
Output Ph ase B Top CMD or DAC
strobe
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Top CMD or PFM
direction
Output Phase B Top CMD or PFM
direction
Output Phase B Bo ttom CMD or
PFM pulse
Output Phase B Bo ttom CMD or
PFM pulse
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
external supply
external supply
external supply
external supply
Base Board Connector Pinouts 27
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 JMACH1 Connector
(Continued)
Front View
Pin# Symbol Function Description Notes
56 CHA2- Input Encoder 2 negative A channel Also pulse input
57 CHB2+ Input Encoder 2 positive B channel Also direction input
58 CHB2- In p ut Encoder 2 negative B channel Also direction input
59 CHC2+ Input Encoder 2 positive C channel Index channel
60 CHC2- Input Encoder 2 negative C channel Index channel
61 CHU2 Input Channel 2 U flag Hall effect, fault code, or sub-
count
62 CHV2 Input Channel 2 V flag Hall effect, fault code, or sub-
count
63 CHW2 Input Channel 2 W flag Hall effect, fault code, or sub-
count
64 CHT2 Input Channel 2 T flag Fault code, or sub-count
65 USER2 Input General purpose user flag Hardware capture flag, or sub-
count
66 PLIM2 Input Positive overtravel limit Hardware capture flag
67 MLIM2 Input Negative overtravel limit Hardware capture flag
68 HOME2 Input Home switch input Hardware capture flag
69 ACCFLT2 Input Accessory fault flag For loss of ACC supply voltage
70 WD0/ Output Watchdog output Low is PMAC watchdog fault
71 SCLK12+ Input / Output Encoder sample clock Direction controlled by PMAC2
jumper
72 SCLK12- Input / Output Encoder sample clock Direction controlled by PMAC2
jumper
73 ADC_CLK2+ Output A/D converter clock Programmable frequency
74 ADC_CLK2- Output A/D converter clock Programmable frequency
75 ADC_STB2+ Output A/D converter strobe Programmable sequence
76 ADC_STB2- Output A/D converter strobe Programmable sequence
77 ADC_DAA2+ Input Channel A ADC serial data MSB first
78 ADC_DAA2- Input Channel A ADC serial data MSB first
79 ADC_DAB2+ Input Channel B ADC serial data MSB first
80 ADC_DAB2- Input Channel B ADC serial data MSB first
81 AENA2+ Output Amplifier enable High is enable
82 AENA2- Output Amplifier enable Low is enable
83 FAULT2+ Input Amplifier fault Programmable polarity
84 FAULT2- Input Amplifier fault Programmable polarity
85 PWMATOP2+
DAC_CLK2+
86 PWMATOP2-
DAC_CLK2-
87 PWMABOT2+
DAC2A+
88 PWMABOT2-
DAC2A-
89 PWMBTOP2+
DAC_STB2+
Output Phase A Top CMD or DAC
clock
Output Phase A Top CMD or DAC
clock
Output Phase A Bottom CMD or
DAC A serial data
Output Phase A Bottom CMD or
DAC A serial data
Output Ph ase B Top CMD or DAC
strobe
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
28 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J9 JMACH1 Connector
(Continued)
Front View
Pin# Symbol Function Description Notes
90 PWMBTOP2-
DAC_STB2-
91 PWMBBOT2+
DAC2B+
92 PWMBBOT2-
DAC2B-
93 PWMCTOP2+
DIR2+
94 PWMCTOP2-
DIR2-
95 PWMCBOT2+
PULSE2+
96 PWMCBOT2-
PULSE297 GND Common Reference voltage
98 GND Common Reference voltage
99 +5V Output / Input +5V power For external circuit or from
100 +5V Output / Input +5V power For external circuit or from
The JMACH1 connector provides the interface pins for channels 1 and 2. Usually, it is connected to a
breakout board, such as one of the Acc-8x family of boards, or an application-specific interface board.
Output Ph ase B Top CMD or DAC
strobe
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Top CMD or PFM
direction
Output Phase B Top CMD or PFM
direction
Output Phase B Bo ttom CMD or
PFM pulse
Output Phase B Bo ttom CMD or
PFM pulse
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
Programmable function control
external supply
external supply
J10 (JMACH2) Connector Description
J10 JMACH2 Connector
Front View
Pin# Symbol Function Description Notes
1 +5V Output / Input +5V power For external circuit or from
external supply
2 +5V Output / Input +5V power For external circuit or from
external supply
3 GND Common Reference voltage
4 GND Common Reference voltage
5 CHA3+ Input Encoder 3 positive A channel Also pulse input
6 CHA3- Input Encoder 3 negative A channel Also pulse input
7 CHB3+ Input Encoder 3 positive B channel Also direction input
8 CHB3- In p ut Encoder 3 negative B channel Also direction input
9 CHC3+ Input Encoder 3 positive C channel Index channel
10 CHC3- Input Encoder 3 negative C channel Index channel
11 CHU3 Input Channel 3 U flag Hall effect, fault code, or sub-
count
12 CHV3 Input Channel 3 V flag Hall effect, fault code, or sub-
count
13 CHW3 Input Channel 3 W flag Hall effect, fault code, or sub-
count
Base Board Connector Pinouts 29
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J10 JMACH2 Connector
(Continued)
Front View
Pin# Symbol Function Description Notes
14 CHT3 Input Channel 3 T flag Fault code, or sub-count
15 USER3 Input General purpose user flag Hardware capture flag, or
sub-count
16 PLIM3 Input Positive overtravel limit Hardware capture flag
17 MLIM3 Input Negative overtravel limit Hardware capture flag
18 HOME3 Input Home switch input Hardware capture flag
19 ACCFLT3 Input Accessory fault flag For loss of acc supply voltage
20 WD0/ Output Watchdog output Low is PMAC watchdog fault
21 SCLK34+ Input / Output Encoder sample clock Direction controlled by
PMAC2 jumper
22 SCLK34- Input / Output Encoder sample clock Direction controlled by
PMAC2 jumper
23 ADC_CLK3+ Output A/D converter clock Programmable frequency
24 ADC_CLK3- Output A/D converter clock Programmable frequency
25 ADC_STB3+ Output A/D converter strobe Programmable sequence
26 ADC_STB3- Output A/D converter strobe Programmable sequence
27 ADC_DAA3+ Input Channel A ADC serial data MSB first
28 ADC_DAA3- Input Channel A ADC serial data MSB first
29 ADC_DAB3+ Input Channel B ADC serial data MSB first
30 ADC_DAB3- Input Channel B ADC serial data MSB first
31 AENA3+ Output Amplifier enable High is enable
32 AENA3- Output Amplifier enable Low is enable
33 FAULT3+ Input Amplifier fault Programmable polarity
34 FAULT3- Input Amplifier fault Programmable polarity
35 PWMATOP3+
DAC_CLK3+
36 PWMATOP3-
DAC_CLK3-
37 PWMABOT3+
DAC3A+
38 PWMABOT3-
DAC3A-
39 PWMBTOP3+
DAC_STB3+
40 PWMBTOP3-
DAC_STB3-
41 PWMBBOT3+
DAC3B+
42 PWMBBOT3-
DAC3B-
43 PWMCTOP3+
DIR3+
44 PWMCTOP3-
DIR3-
45 PWMCBOT3+
PULSE3+
Output Phase A Top CMD or DAC
clock
Output Phase A Top CMD or DAC
clock
Output Phase A Bottom CMD or
DAC A serial data
Output Phase A Bottom CMD or
DAC A serial data
Output Ph ase B Top CMD or DAC
strobe
Output Ph ase B Top CMD or DAC
strobe
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Top CMD or PFM
direction
Output Phase B Top CMD or PFM
direction
Output Phase B Bo ttom CMD or
PFM pulse
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
30 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J10 JMACH2 Connector
(Continued)
Front View
Pin# Symbol Function Description Notes
46 PWMCBOT3-
PULSE347 GND Common Reference voltage
48 GND Common Reference voltage
49 +5V Output / Input +5V power For external circuit or from
50 +5V Output / Input +5V power For external circuit or from
51 +5V Output / Input +5V power For external circuit or from
52 +5V Output / Input +5V power For external circuit or from
53 GND Common Reference voltage
54 GND Common Reference voltage
55 CHA4+ Input Encoder 4 positive A channel Also pulse input
56 CHA4- Input Encoder 4 negative A channel Also pulse input
57 CHB4+ Input Encoder 4 positive B channel Also direction input
58 CHB4- In p ut Encoder 4 negative B channel Also direction input
59 CHC4+ Input Encoder 4 positive C channel Index channel
60 CHC4- Input Encoder 4 negative C channel Index channel
61 CHU4 Input Channel 4 U flag Hall effect, fault code, or sub-
62 CHV4 Input Channel 4 V flag Hall effect, fault code, or sub-
63 CHW4 Input Channel 4 W flag Hall effect, fault code, or sub-
64 CHT4 Input Channel 4 T flag Fault code, or sub-count
65 USER4 Input General purpose user flag Hardware capture flag, or
66 PLIM4 Input Positive overtravel limit Hardware capture flag
67 MLIM4 Input Negative overtravel limit Hardware capture flag
68 HOME4 Input Home switch input Hardware capture flag
69 ACCFLT4 Input Accessory fault flag For loss of ACC supply
70 WD0/ Output Watchdog output Low is PMAC watchdog fault
71 SCLK34+ Input / Output Encoder sample clock Direction controlled by
72 SCLK34- Input / Output Encoder sample clock Direction controlled by
73 ADC_CLK4+ Output A/D converter clock Programmable frequency
74 ADC_CLK4- Output A/D converter clock Programmable frequency
75 ADC_STB4+ Output A/D converter strobe Programmable sequence
76 ADC_STB4- Output A/D converter strobe Programmable sequence
77 ADC_DAA4+ Input Channel A ADC serial data MSB first
78 ADC_DAA4- Input Channel A ADC serial data MSB first
79 ADC_DAB4+ Input Channel B ADC serial data MSB first
80 ADC_DAB4- Input Channel B ADC serial data MSB first
Output Phase B Bo ttom CMD or
PFM pulse
Programmable function
control
external supply
external supply
external supply
external supply
count
count
count
sub-count
voltage
PMAC2 jumper
PMAC2 jumper
Base Board Connector Pinouts 31
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
J10 JMACH2 Connector
(Continued)
Front View
Pin# Symbol Function Description Notes
81 AENA4+ Output Amplifier enable High is enable
82 AENA4- Output Amplifier enable Low is enable
83 FAULT4+ Input Amplifier fault Programmable polarity
84 FAULT4- Input Amplifier fault Programmable polarity
85 PWMATOP4+
DAC_CLK4+
86 PWMATOP4-
DAC_CLK4-
87 PWMABOT4+
DAC4A+
88 PWMABOT4-
DAC4A-
89 PWMBTOP4+
DAC_STB4+
90 PWMBTOP4-
DAC_STB4-
91 PWMBBOT4+
DAC4B+
92 PWMBBOT4-
DAC4B-
93 PWMCTOP4+
DIR4+
94 PWMCTOP4-
DIR4-
95 PWMCBOT4+
PULSE4+
96 PWMCBOT4-
PULSE497 GND Common Reference voltage
98 GND Common Reference voltage
99 +5V Output / Input +5V power For external circuit or from
100 +5V Output / Input +5V power For external circuit or from
The JMACH2 connector provides the interface pins for channels 3 and 4. Usually, it is connected to a
breakout board, such as one of the Acc-8x family of boards, or an application-specific interface board.
Output Phase A Top CMD or DAC
clock
Output Phase A Top CMD or DAC
clock
Output Phase A Bottom CMD or
DAC A serial data
Output Phase A Bottom CMD or
DAC A serial data
Output Ph ase B Top CMD or DAC
strobe
Output Ph ase B Top CMD or DAC
strobe
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Bo ttom CMD or
DAC B serial data
Output Phase B Top CMD or PFM
direction
Output Phase B Top CMD or PFM
direction
Output Phase B Bo ttom CMD or
PFM pulse
Output Phase B Bo ttom CMD or
PFM pulse
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
Programmable function
control
external supply
external supply
32 Base Board Connector Pinouts
PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
TB1 (2/4-Pin Terminal Block)
This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2
board when it is not in a bus configuration. When the PMAC2 Lite is in a bus configuration, these
supplies come through the bus connector from the bus power supply automatically; in this case, this
terminal block should not be used.
Pin# Symbol Function Description Notes
1 GND Common Reference voltage
2 +5V Input Positive supply voltage Supplies all PMAC digital circuits
3 +12V Input Positive supply voltage +12v to +15v; not required on-board;
used on J1 to supply analog inputs
4 -12V Input Negative supply voltage -12v to -15v; required for opt-12 ADCs;
used on J1 to supply analog inputs
Note: Unless Option 12 (Analog-to-Digital Converters) is included on the board, only pins 1 and 2 will be provided
on this terminal block.
TB2 (3-Pin Terminal Block)
This terminal block provides the output for PMAC2’s watchdog timer relay, both normally open and
normally closed contacts.
Pin# Symbol Function Description Notes
1 WD_NC Output Watchdog relay out Normally closed
2 COM Input Watchdog return +V or 0V
3 WD_NO Output Watchdog relay out Normally open
Note: The normally closed relay contact is open while PMAC2 Lite is operating properly — it has power and the
watchdog timer is not tripped. This contact is closed when the PMAC2 Lite is not operating properly (either the PMAC
has lost power or the watchdog timer has tripped). The normally open relay contact is closed while PMAC2 is
operating properly, and open when PMAC 2 i s not operating properly.
Base Board Connector Pinouts 33
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