Delta Tau PMAC PCI Reference Manual
^1HARDWARE REFERENCE MANUAL
^2 PMAC PCI
^3 PCI-Bus Expansion w/Piggyback CPU
^4 4A0-603588-100
^5 April 27, 2010
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
© 2010 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 exposed to hazardous or conductive materials and/or environments, we
cannot guarantee their operation.
REVISION HISTORY
REV. DESCRIPTION DATE CHG APPVD
1 UPDATED JUMPER INFO & SOFTWARE SETUP 10/19/06 CP M. COGUR
2 UPDATED JUMPER SETTINGS FOR E121 & E122 04/27/10 CP S. SATTARI
PMAC-PCI Hardware Reference
Table of Contents
INTRODUCTION .......................................................................................................................................................1
Board Configuration..................................................................................................................................................1
Base Version .........................................................................................................................................................1
Option 1: Additional Four Channels Axis Interface Circuitry.............................................................................1
Option 2: Dual-Ported RAM................................................................................................................................1
Option 2B: High-Speed USB Communications Interface ....................................................................................1
Option 5x: CPU Type ..........................................................................................................................................2
Option 6: Extended Firmware Algorithm............................................................................................................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 15: V-to-F Converter for Analog Input....................................................................................................2
Option 16: Battery-Backed Parameter Memory...................................................................................................2
PMAC Connectors and Indicators.............................................................................................................................3
J1 - Display Port (JDISP Port).............................................................................................................................3
J2 - Control-Panel Port (JPAN Port) ...................................................................................................................3
J3 - Thumbwheel Multiplexer Port (JTHW Port)..................................................................................................3
J4 - Serial Port (JRS422 Port)..............................................................................................................................3
J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port)........................................................................3
J6 – Expansion Port (JXIO Port)..........................................................................................................................3
J7 / J8 - Machine Connectors (JMACH2 / JMACH1 Ports).................................................................................3
J9 – Compare Equal Outputs Port (JEQU Port)..................................................................................................3
J30 – Optional Analog to Digital Inputs (JANA Port)..........................................................................................3
J31 – Optional Universal Serial Bus Port (JUSB Port)........................................................................................3
JS1/JS2 – Expansion Ports (JS1/JS2 Ports)..........................................................................................................4
TB1 – Power Supply Terminal Block (JPWR Connector).....................................................................................4
LED Indicators .....................................................................................................................................................4
PMAC Board Layout Part Number 603588-100.......................................................................................................5
PMAC Connectors ....................................................................................................................................................7
JUMPER SUMMARY ................................................................................................................................................8
Power-Supply Configuration Jumpers ......................................................................................................................8
Clock Configuration Jumpers....................................................................................................................................9
Encoder Configuration Jumpers................................................................................................................................9
Board Reset/Save Jumpers ........................................................................................................................................9
Communication Jumpers.........................................................................................................................................10
I/O Configuration Jumpers......................................................................................................................................10
Reserved Configuration Jumpers ............................................................................................................................11
Piggyback CPU (FLEX) Board Jumper Configuration...........................................................................................11
Watchdog Timer Jumper.....................................................................................................................................11
Dual-Ported RAM Source Jumper......................................................................................................................11
Power-Up State Jumpers ....................................................................................................................................12
Firmware Load Jumper ......................................................................................................................................12
Flash Memory Bank Select Jumpers...................................................................................................................12
Installation...............................................................................................................................................................12
E-POINT DESCRIPTIONS......................................................................................................................................13
CPU Board E-Point Descriptions............................................................................................................................13
E1: Watchdog Disable Jumper ...........................................................................................................................13
E2: DPRAM Location Configure........................................................................................................................13
E4 – E6: Power-Up/Reset Load Source ..................................................................................................................13
E7: Firmware Reload Enable ..................................................................................................................................13
Main Board E-Point Jumper Descriptions...............................................................................................................14
Table of Contents i
PMAC-PCI Hardware Reference
E0: Machine Output............................................................................................................................................14
E1 - E2: Machine Output Supply Voltage Configure..........................................................................................14
E3 - E6: Servo Clock Frequency Control..........................................................................................................15
E7: Machine Input Source/Sink Control............................................................................................................15
E17A-D: Amplifier Enable/Direction Polarity Control.....................................................................................16
E17E-H: Amplifier Enable/Direction Polarity Control......................................................................................16
E22 - E23: Control Panel Handwheel Enable...................................................................................................17
E28: Following Error/Watchdog Timer Signal Control.....................................................................................17
E29 - E33: Phase Clock Frequency Control......................................................................................................17
E34 - E38: Encoder Sampling Clock Frequency Control..................................................................................18
E40 - E43: Software Address Control................................................................................................................18
E44 - E47: Serial Port Baud Rate.......................................................................................................................19
E48: CPU Clock Frequency Control (Option CPU Section).............................................................................19
E49: Serial Communications Parity Control.....................................................................................................20
E50: Flash Save Enable/Disable .......................................................................................................................20
E51: Normal /Re-initializing Power-Up ............................................................................................................20
E54 - E65: Host Interrupt Signal Select ............................................................................................................20
E72 - E73: Panel Analog time Base Signal Enable...........................................................................................21
E74 - E75: Clock Output Control for Ext. Interpolation ...................................................................................22
E85: Host-Supplied Analog Power Source Enable............................................................................................22
E87 - E88: Host-Supplied Analog Power Source Enable..................................................................................22
E89: Amplifier-Supplied Switch Pull-Up Enable...............................................................................................22
E90: Host-Supplied Switch Pull-Up Enable ......................................................................................................23
E98: DAC/ADC Clock Frequency Control........................................................................................................23
E100: Output Flag Supply Select.......................................................................................................................23
E101 - E102: Motors 1-4 Amplifier Enable Output Configure..........................................................................24
E109: Reserved for Future Use .........................................................................................................................24
E110: Serial Port Configure..............................................................................................................................24
E111: Clock Lines Output Enable .....................................................................................................................25
E114 - E115: Motors 5-8 Amplifier Enable Output Configure...........................................................................25
E121 - E122: XIN Feature Selection .................................................................................................................26
MACHINE CONNECTIONS...................................................................................................................................27
Mounting .................................................................................................................................................................27
Power Supplies........................................................................................................................................................27
Digital Power Supply..........................................................................................................................................27
Analog Power Supply..........................................................................................................................................27
Flags Power Supply (optional) ...........................................................................................................................28
Overtravel Limits and Home Switches....................................................................................................................28
Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection ..........................................................28
Types of Overtravel Limits..................................................................................................................................28
Home Switches....................................................................................................................................................29
Motor Signals Connections (JMACH Connectors).................................................................................................29
Resistor Pack Configuration: Termination Resistors .........................................................................................29
Resistor Pack Configuration: Differential or Single-Ended Encoder Selection................................................29
Incremental Encoder Connection .......................................................................................................................30
DAC Output Signals............................................................................................................................................30
Amplifier Enable Signal (AENAx/DIRn).............................................................................................................31
Amplifier Fault Signal (FAULTn).......................................................................................................................32
General-Purpose Digital Inputs and Outputs (JOPTO Port)....................................................................................32
Control-Panel Port I/O (JPAN Port)........................................................................................................................33
Command Inputs.................................................................................................................................................33
Selector Inputs ....................................................................................................................................................33
Alternate Use ......................................................................................................................................................33
Reset Input ..........................................................................................................................................................34
Handwheel Inputs ...............................................................................................................................................34
ii Table of Contents
PMAC-PCI Hardware Reference
Optional Voltage to Frequency Converter..........................................................................................................34
Thumbwheel Multiplexer Port (JTHW Port)...........................................................................................................35
Optional Analog Inputs (JANA Port)......................................................................................................................35
Compare Equal Outputs Port (JEQU Port)..............................................................................................................36
Serial Port (JRS422 Port) ........................................................................................................................................36
Machine Connections Example...............................................................................................................................37
MATING CONNECTORS .......................................................................................................................................39
Base Board Connectors ...........................................................................................................................................39
J1 (JDISP)/Display.............................................................................................................................................39
J2 (JPAN)/Control Panel....................................................................................................................................39
J3 (JTHW)/Multiplexer Port...............................................................................................................................39
J4 (JRS422)/RS232 or 422/Serial Communications ...........................................................................................39
J5 (JOPT)/OPTO I/O..........................................................................................................................................39
J6 (JXIO)/Expansion Board................................................................................................................................39
J7 (JMACH2)/2nd Machine Connector (Option 1 Required).............................................................................39
J8 (JMACH1)/1st Machine Connector ...............................................................................................................39
JS1/A-D Inputs 1-4..............................................................................................................................................40
JS2/A-D Inputs 5-8 (Option 1 Required) ............................................................................................................40
JEQU/Position Compare ....................................................................................................................................40
JANA/Analog Inputs Option ...............................................................................................................................40
CPU Board Connectors ...........................................................................................................................................40
J2 (JEXP)/Expansion..........................................................................................................................................40
J4 (JDPRAM)/Dual-Ported RAM .......................................................................................................................40
BASE BOARD CONNECTOR PINOUTS..............................................................................................................41
J1: Display Port Connector......................................................................................................................................41
J1 JDISP (14-Pin Connector).............................................................................................................................41
J2: Control Panel Port Connector............................................................................................................................42
J2 JPAN (26-Pin Connector)..............................................................................................................................42
J3: Multiplexer Port Connector ...............................................................................................................................43
J3 JTHW (26-Pin Connector) .............................................................................................................................43
J4: Serial Port Connector.........................................................................................................................................44
J4 JRS422 (26-Pin Connector) ...........................................................................................................................44
J5: I/O Port Connector.............................................................................................................................................45
J5 JOPT (34-Pin Connector)..............................................................................................................................45
J6: Auxiliary I/O Port Connector ............................................................................................................................46
J6 JXIO (10-Pin Connector)...............................................................................................................................46
J7: Machine Port 2 Connector.................................................................................................................................47
J7 JMACH2 (60-Pin Header) ............................................................................................................................47
Continued............................................................................................................................................................48
J8: Machine Port 1 Connector.................................................................................................................................49
J8 JMACH1 (60-Pin Header) ............................................................................................................................49
J9 (JEQU): Position-Compare Connector ...............................................................................................................51
J9 JEQU (10-Pin Connector) .............................................................................................................................51
J30 (JANA) Analog Input Port Connector (Optional).............................................................................................51
J31 (JUSB) Universal Serial Bus Port (Optional) ...................................................................................................52
JS1: A/D Port 1 Connector......................................................................................................................................52
JS1 (16-Pin Header) ...........................................................................................................................................52
JS2: A/D Port 2 Connector......................................................................................................................................53
JS2 (16-Pin Header) ...........................................................................................................................................53
TB1 (JPWR) ........................................................................................................................................................53
SOFTWARE SETUP ................................................................................................................................................55
Communications......................................................................................................................................................55
PMAC I-Variables...................................................................................................................................................55
Operation of the Non-Turbo CPU...........................................................................................................................55
Table of Contents iii
PMAC-PCI Hardware Reference
Configuring PMAC with Option-5C for 80 MHz Operation ..................................................................................58
Option 16 Supplemental Memory ...........................................................................................................................59
SCHEMATICS ..........................................................................................................................................................61
iv Table of Contents
PMAC-PCI Hardware Reference
Table of Contents v
PMAC-PCI Hardware Reference
INTRODUCTION
The PMAC PCI is a member of the PMAC family of boards optimized for interface to traditional servo
drives with single analog inputs representing velocity or torque commands. Its software is capable of 8
axes of control. It can have up either eight or four channels of on-board axis interface circuitry.
The PMAC PCI is a full-sized PCI-bus expansion card, with a small piggyback board containing the CPU
board. While the PMAC PCI is capable of PCI bus communications, with or without the optional dualported RAM, it does not need to be inserted into an PCI expansion slot. Communications can be done
through an RS-232 or RS-422 serial port; standalone operation is possible.
Board Configuration
Base Version
The base version of the PMAC PCI provides a 1-1/2-slot board with:
• 40 MHz DSP56002 CPU
• 128k x 24 0-wait-state flash-backed SRAM
• 512k x 8 flash memory for firmware and user backup
• 2k x 8 EEPROM memory for setup variable backup
• Latest released firmware version
• RS-422 serial interface, PCI (PC) bus interface
• Four channels axis interface circuitry, each including:
• 16-bit +/-10V analog output
• 3-channel differential/single-ended encoder input
• Four input flags, two output flags
• Interface to external 16-bit serial ADC
• Display, control panel, 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 per set of 1 to 4 PMACs in shipment
(Cables, mounting plates, mating connectors not included)
Option 1: Additional Four Channels Axis Interface Circuitry
• Option 1 provides an additional four channels of on-board axis interface circuitry, identical to the
standard first four channels.
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 8k x 16 bank of dual-ported RAM on-board.
• Option A provides a 20-cm (8") 50-pin 3-connector cable. This cable is necessary when using the
Option 2 board combined with any of the Acc-14D, 24P, 29P, or 36P boards.
Option 2B: High-Speed USB Communications Interface
Option-2B provides the high-speed USB communications interface, which is a faster method of
communication than the standard RS-232 communications port.
Introduction 1
PMAC-PCI Hardware Reference
Option 5x: CPU Type
The base PMAC version without options has a 20 MHz CPU with flash memory RAM.
• Option 5A: 40 MHz CPU, zero-wait RAM, flash backup, no battery, (~100% speed increase)
• Option 5B: 60 MHz CPU, zero-wait RAM, flash backup, no battery, (~200% speed increase)
• Option 5C: 80 MHz CPU, zero-wait RAM, flash backup, no battery, (~375% speed increase)
Option 6: Extended Firmware Algorithm
• Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular
servo algorithm firmware. This is only required 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 7: Plate Mounting
• Option 7 provides a mounting plate connected to the PMAC with standoffs. It is used to install the
PMAC in standalone applications.
Option 8A: High-Accuracy Clock Crystal
The PMAC PCI has a clock crystal of nominal frequency 19.6608 MHz (~20 MHz). The standard
crystal’s accuracy specification is +/-100 ppm.
• Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.
Option 10: Firmware Version Specification
Normally the PMAC PCI is provided with the newest released firmware version. A label on the memory
IC shows the firmware version loaded at the factory.
• Option 10 provides for a user-specified firmware version.
Option 12: Analog-to-Digital Converters
Option 12 permits the installation of 8 or 16 channels of on-board multiplexed analog-to-digital
converters. 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 U20
and connector J30.
• Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board
is U22.
Option 15: V-to-F Converter for Analog Input
The JPAN control panel port on the PMAC PCI has an optional analog input called WIPER (because it is
often tied to a potentiometer’s wiper pin). PMAC PCI can digitize this signal by passing it through an
optional voltage-to-frequency converter, using E-point jumpers to feed this into the Encoder 4 circuitry
(no other use is then permitted), and executing frequency calculations using the “time base” feature of the
encoder conversion table.
• Option 15 provides a voltage-to-frequency converter that permits the use of the Wiper input on the
control panel port.
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 16A provides a 16k x 24 bank of battery-backed parameter RAM. This Option requires Option
4A, Option 5A, Option 5B or Option 5C.
2 Introduction
PMAC-PCI Hardware Reference
PMAC Connectors and Indicators
J1 - Display Port (JDISP Port)
The JDISP connector allows connection of the Acc-12 or Acc-12A liquid crystal displays, or of the Acc12C vacuum fluorescent display. Both text and variable values may be shown on these displays using the
DISPLAY command, executing in either motion or PLC programs.
J2 - Control-Panel Port (JPAN Port)
The JPAN connector is a 26-pin connector with dedicated control inputs, dedicated indicator outputs, a
quadrature encoder input, and an analog input (requires PMAC Option 15). The control inputs are low
true with internal pull-up resistors. They have predefined functions unless the control-panel-disable Ivariable (I2) has been set to 1. If this is the case, they may be used as general-purpose inputs by assigning
M-variable to their corresponding memory-map locations (bits of Y address $FFC0).
J3 - Thumbwheel Multiplexer 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 on the
port, and Delta Tau provides accessory boards and software structures (special M-variable definitions) to
capitalize on this feature. Up to 32 of the multiplexed I/O boards may be daisy-chained on the port, in
any combination.
J4 - Serial Port (JRS422 Port)
For serial communications, use a serial cable to connect your PC’s COM port to the PMAC’s serial port
connector. Delta Tau provides the Acc-3D cable for this purpose, which connects PMAC to a DB-25
connector. Standard DB-9-to-DB-25 or DB-25-to-DB-9 adapters may be needed for a particular setup.
J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port)
PMAC’s JOPTO connector provides eight general-purpose digital inputs and eight general-purpose
digital outputs. Each input and each output has its own corresponding ground pin in the opposite row.
The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O
modules. Delta Tau’s Acc-21F is a six-foot cable for this purpose.
J6 – Expansion Port (JXIO Port)
This port is only used when connecting to optional PMAC accessory boards.
J7 / J8 - Machine Connectors (JMACH2 / JMACH1 Ports)
The primary machine interface connector is JMACH1, labeled J8 on the PMAC PCI. It contains the pins
for four channels of machine I/O: analog outputs, incremental encoder inputs, and associated input and
output flags, plus power-supply connections. The next machine interface connector is JMACH2, labeled
J7 on the PMAC PCI. Essentially, it is identical to the JMACH1 connector for one to four more axes. It
is present only if the PMAC card has been fully populated to handle eight axes (Option 1), because it
interfaces the optional extra components.
J9 – Compare Equal Outputs Port (JEQU Port)
The compare-equals (EQU) outputs have a dedicated use of providing a signal edge when an encoder
position reaches a pre-loaded value. This is useful for scanning and measurement applications.
Instructions for use of these outputs are covered in detail in the PMAC’s User Manual.
J30 – Optional Analog to Digital Inputs (JANA Port)
This optional port is used to bring in the analog signals for the optional analog to digital inputs set. This
feature provides up to 16 analog inputs in the range of 0 to 5V unipolar or ±2.5V bipolar.
J31 – Optional Universal Serial Bus Port (JUSB Port)
This optional port allows communicating with PMAC through a standard USB connection.
Introduction 3
PMAC-PCI Hardware Reference
JS1/JS2 – Expansion Ports (JS1/JS2 Ports)
These ports are used only when connecting to optional PMAC accessory boards.
TB1 – Power Supply Terminal Block (JPWR Connector)
This terminal block may be used as an alternative power supply connector if PMAC PCI is not installed
in a PCI-bus.
LED Indicators
PMACs with the Option CPU have three LED indicators: red, yellow, and green. The red and green
LEDs have the same meaning as with the standard CPU: when the green LED is lit, this indicates that
power is applied to the +5V input; when the red LED is lit, this indicates that the watchdog timer has
tripped and shut down the PMAC.
The yellow LED located beside the red and green LEDs, when lit, indicates that the phase-locked loop
that multiplies the CPU clock frequency from the crystal frequency on the Option CPU is operational and
stable. This indicator is for diagnostic purposes only; it may not be present on your board.
The PMAC PCI has an interlock circuit that drops out the ±15V supplies to the analog outputs through a
fail-safe relay if any supply on PMAC is lost. In this case, the green LED D15 will be off. The D19 LED
will be lit when 5V is applied to PMAC.
4 Introduction
PMAC-PCI Hardware Reference
PMAC Board Layout Part Number 603588-100
Feature Location Feature Location
E0 A6 E57 B7
E1 A6 E58 B7
E2 A6 E59 B7
E3 A4 E60 B7
E4 A4 E61 B7
E5 A4 E62 B6
E6 A4 E63 B6
E7 A6 E64 B6
E17A A4 E65 B6
E17B A4 E72 B9
E17C A4 E73 B9
E17D A4 E74 B9
E17E C5 E75 B9
E17F C5 E85 C5
E17G C4 E87 C5
E17H C4 E88 B2
E22 A9 E89 B5
E23 A9 E90 B5
E28 C6 E98 A4
E29 A4 E100 A3
E30 A4 E101 A3
E31 A4 E102 A3
E32 A4 E109 B6
E33 A4 E110 A7
E34 A4 E111 A7
E34A A4 E114 A3
E35 A4 E115 A3
E36 A4 E121 B6
E37 A4 E122 B6
E38 A4 D15 C1
E40 B5 D19 B6
E41 B5 J1 A4
E42 B5 J2 A6
E43 B5 J3 B6
E44 B5 J4 A7
E45 B5 J5 A5
E46 C5 J6 A9
E47 C5 J7 A8
E48 C5 J8 A9
E49 C5 J9 A2
E50 C5 J30 A1
E51 B6 J31 A5
E54 B7 JS1 A8
E55 B7 JS2 A6
E56 B7 TB1 C6
Introduction 5
PMAC-PCI Hardware Reference
1
2
E17D
E17C
E17B
E38 E17A
E37 E29
E36 E30
E35 E31
E34 E32
E34A E33
3
E3
E4
E5
E6
4
5
6
E57 E61 E65
E56 E60 E64
E55 E59 E63
E54 E58 E62
7
8
9
B A
C
6 Introduction
PMAC-PCI Hardware Reference
PMAC Connectors
Introduction 7
PMAC-PCI Hardware Reference
JUMPER SUMMARY
On the PMAC, 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 board
for a given application and must be setup appropriately. The following is an overview of the several
PMAC jumpers grouped in appropriate categories. For a complete description of the jumper setup
configuration, refer to the PMAC PCI CPU Board E-Point Descriptions section in this manual.
Power-Supply Configuration Jumpers
E85, E87, E88: Analog Circuit Isolation Control – These jumpers control whether the analog circuitry
on the PMAC PCI is isolated from the digital circuitry, or electrically tied to it. In the default
configuration, these jumpers are off, keeping the circuits isolated from each other (provided separate
isolated supplies are used).
E89-E90: Input Flag Supply Control – If E90 connects pins 1 and 2 and E89 is ON, the input flags
(+LIMn, -LIMn, and HMFLn) are supplied from the analog A+15V supply, which can be isolated from
the digital circuitry. If E90 connects pins 1 and 2 and E89 is OFF, the input flags are supplied from a
separate A+V supply brought in on pin 59 of the J7 JMACH2 connector. This supply can be in the +12V
to +24V range, and can be kept isolated from the digital circuitry. If E90 connects pins 2 and 3, the input
flags are supplied from the digital +12V supply, and isolation from the digital circuitry is defeated.
E100: AENA/EQU Supply Control – If E100 connects pins 1 and 2, the circuits related to the AENAn,
EQUn and FAULTn signals will be supplied from the analog A+15V supply, which can be isolated from
the digital circuitry. If E100 connects pins 2 and 3, the circuits will be supplied from a separate A+V
supply brought in on pin 9 of the J9 JEQU connector. This supply can be in the +12V to +24V range, and
can be kept isolated from the digital circuitry.
8 Jumper Summary
PMAC-PCI Hardware Reference
Clock Configuration Jumpers
E3-E6: Servo Clock Frequency Control – The jumpers E3 – E6 determine the servo-clock frequency
by controlling how many times it is divided down from the phase-frequency. The default setting of E3
and E4 OFF, E5 and E6 ON divides the phase-clock frequency by 4, creating a 2.25 kHz servo-clock
frequency. This setting is seldom changed.
E29-E33: Phase Clock Frequency Control – Only one of the jumpers E29 – E33, which select the
phase-clock frequency, may be on in any configuration. The default setting of E31 ON, which selects a 9
kHz phase-clock frequency, is seldom changed.
E34-E38: Encoder Sample Clock – Only one of the jumpers E34 – E38, which select the encoder
sample clock frequency, may be on in any configuration. The frequency must be high enough to accept
the maximum true count rate (no more than one count in any clock period), but a lower frequency can
filter out longer noise spikes. The anti-noise digital delay filter can eliminate noise spikes up to one
sample-clock cycle wide.
E40-43: Servo and Phase Clock Direction Control – Jumpers E40-E43 control the software address of
the card, for serial addressing and for sharing the servo and phase clock over the serial connector. Card
@0 sends the clocks and cards @1-@F receive the clocks. If any of these jumpers is removed, PMAC
PCI will expect to receive external servo and phase clock signals on the J4 serial port – if these signals are
not provide in this configuration, the watchdog timer will immediately trip.
E48: Option CPU Clock Frequency Control – When PMAC is ordered with Option 5B, E48 setup the
CPU clock frequency to either 40 MHz or 60 MHz. If PMAC is ordered with Option 5C additional
software, setup is necessary for 80 MHz CPU clock frequency operation.
E98: DAC/ADC Clock Frequency Control – Leave E98 in its default setting of 1-2, which creates a
2.45 MHz DCLK signal, unless you are connecting an Acc-28 A/D-converter board. In this case, move
the jumper to connect pins 2 and 3, which creates a 1.22 MHz DCLK signal.
Encoder Configuration Jumpers
Encoder Complementary Line Control – The selection of the type of encoder used, either single ended
or differential is made through the resistor packs configuration and not through a jumper configuration.
E22-E23: Control-Panel Handwheel Enable – Putting these jumpers ON ties the handwheel-encoder
inputs on the JPAN control-panel port to the Channel 2 encoder circuitry. If the handwheel inputs are
connected to Channel 2, no encoder should be connected to Channel 2 through the JMACH1 connector.
E72-E73: Control Panel Analog Input Enable – Putting these jumpers ON ties the output of the Option
10 voltage-to-frequency converter that can process the “WIPER” analog input on the JPAN control panel
port to the Channel 4 encoder circuitry. If the frequency signal is connected to Channel 4, no encoder
should be connected to Channel 4 through the JMACH1 connector.
E74-E75: Encoder Sample Clock Output – Putting these jumpers ON ties the encoder sample-clock
signal to the CHC4 and CHC4/ lines on the JMACH1 port. This permits the clock signal to be used to
synchronize external encoder-processing devices like the Acc-8D Option 8 interpolator board. With these
jumpers ON, no encoder input signal should be connected to these pins.
Board Reset/Save Jumpers
E50: Flash-Save Enable/Disable Control – If E50 is ON (default), the active software configuration of
the PMAC can be stored to non-volatile flash memory with the SAVE command. If the jumper on E50 is
removed, this SAVE function is disabled, and the contents of the flash memory cannot be changed.
E51: Re-Initialization on Reset Control – If E51 is OFF (default), PMAC executes a normal reset,
loading active memory from the last saved configuration in non-volatile flash memory. If E51 is ON,
PMAC re-initializes on reset, loading active memory with the factory default values.
Jumper Summary 9
PMAC-PCI Hardware Reference
Communication Jumpers
PCI Bus Base Address Control – The selection of the base address of the card in the I/O space of the
host PC’s expansion bus is assigned automatically by the operating system and it is not selected through a
jumper configuration.
E44-E47: Serial Baud Rate Selection –The configuration of these jumpers and the particular CPU
Option ordered will determine the baud rate at which PMAC will communicate through its J4 serial port.
For example, when PMAC is ordered with no CPU Options and only the jumpers E45 and E46 are
installed, the baud rate will be set at 9600 baud.
E49: Serial Communications Parity Control – Jump pin 1 to 2 for NO serial parity; remove jumper for
ODD serial parity.
E54-E65: Interrupt Source Control – These jumpers control which signals are tied to interrupt lines
IR5, IR6 and IR7 on PMAC’s programmable interrupt controller (PIC), as shown in the interrupt
diagram. Only one signal may be tied into each of these lines.
E110: Serial Port Configure – Jump pin 1 to 2 for use of the J4 connector as RS-232. Jump pin 2 to 3
for use of the J4 connector as RS-422.
E111: Clock Lines Output Enable – Jump pin 1 to 2 to enable the Phase, Servo and INIT lines on the
J4 connector. Jump pin 2 to 3 to disable the Phase, Servo and INIT lines on the J4 connector. E111 on
positions 1 to 2 is necessary for daisy-chained PMACs sharing the clock lines for synchronization.
I/O Configuration Jumpers
WARNING:
A wrong setting of these jumpers will damage the associated output IC.
E1-E2: Machine Output Supply Configure – With the default sinking output driver IC (ULN2803A or
equivalent) in U13 for the J5 JOPTO port outputs, these jumpers must connect pins 1 and 2 to supply the
IC correctly. If this IC is replaced with a sourcing output driver IC (UDN2981A or equivalent), these
jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly.
E7: Machine Input Source/Sink Control – With this jumper connecting pins 1 and 2 (default) the
machine input lines on the J5 JOPTO port are pulled up to +5V or the externally provided supply voltage
for the port. This configuration is suitable for sinking drivers. If the jumper is changes to connect pins 2
and 3, these lines are pulled down to GND – this configuration is suitable for sourcing drivers.
E17A - E17D: Motors 1-4 Amplifier-Enable Polarity Control – Jumpers E17A through E17D control
the polarity of the amplifier enable signal for the corresponding motor 1 to 4. When the jumper is ON
(default), the amplifier-enable line for the corresponding motor is low true so the enable state is lowvoltage output and sinking current, and the disable state is not conducting current. With the default
ULN2803A sinking driver used by the PMAC PCI on U37, this is the fail-safe option, allowing the circuit
to fail in the disable state. With this jumper OFF, the amplifier-enable line is high true so the enable state
is not conducting current, and the disable state is low-voltage output and sinking current. This setting is
not generally recommended.
E17E - E17H: Motors 5-8 Amplifier-Enable Polarity Control – Jumpers E17A through E17D control
the polarity of the amplifier enable signal for the corresponding motor 5 to 8. When the jumper is ON
(default), the amplifier-enable line for the corresponding motor is low true so the enable state is lowvoltage output and sinking current, and the disable state is not conducting current. With the default
ULN2803A sinking driver used by the PMAC PCI on U53, this is the fail-safe option, allowing the circuit
to fail in the disable state. With this jumper OFF, the amplifier-enable line is high true so the enable state
is not conducting current, and the disable state is low-voltage output and sinking current. Generally, this
setting is not recommended.
10 Jumper Summary
PMAC-PCI Hardware Reference
E28: Following-Error/Watchdog-Timer Signal Control – With this jumper connecting pins 2 and 3
(default), the FEFCO/ output on pin 57 of the J8 JMACH1 servo connector outputs the watchdog timer
signal. With this jumper connecting pins 1 and 2, this pin outputs the warning following error status line
for the selected coordinate system.
WARNING:
A wrong setting of these jumpers will damage the associated output IC.
E101-E102: Motors 1-4 AENA/EQU voltage configure – The U37 driver IC controls the AENA and
EQU signals of motors 1-4. With the default sinking output driver IC (ULN2803A or equivalent) in U37,
these jumpers must connect pins 1 and 2 to supply the IC correctly. If this IC is replaced with a sourcing
output driver IC (UDN2981A or equivalent), these jumpers must be changed to connect pins 2 and 3 to
supply the new IC correctly.
WARNING:
A wrong setting of these jumpers will damage the associated output IC.
E114-E115: Motors 5-8 AENA/EQU voltage configure – The U53 driver IC controls the AENA and
EQU signals of motors 5-8. With the default sinking output driver IC (ULN2803A or equivalent) in U53,
these jumpers must connect pins 1 and 2 to supply the IC correctly. If this IC is replaced with a sourcing
output driver IC (UDN2981A or equivalent), these jumpers must be changed to connect pins 2 and 3 to
supply the new IC correctly.
E121: XIN6 Motor Selection – Jump 1-2 to bring the QuadLoss signal for Encoder 6 into register XIN6
at Y:$E801 bit 6. Jump 2-3 to bring the QuadLoss signal for Encoder 7 into register XIN6 at Y:$E801 bit
6.
E122: XIN7 Feature Selection – Jump 1-2 to bring the QuadLoss signal for Encoder 8 into register
XIN7 at Y:$E801 bit 7. Jump 2-3 to bring the PowerGood signal into register XIN7 at Y:$E801 bit 7.
Reserved Configuration Jumpers
E109: Reserved for future use
Piggyback CPU (FLEX) Board Jumper Configuration
Watchdog Timer Jumper
Jumper E1 on the Non-Turbo CPU board must be OFF for the watchdog timer to operate. This is a very
important safety feature, so it is vital that this jumper be OFF in normal operation. E1 should only be put
ON to debug problems with the watchdog timer circuit.
Dual-Ported RAM Source Jumper
Jumper E2 must connect pins 1 and 2 to access dual-ported RAM (non-Turbo addresses $Dxxx, Turbo
addresses $06xxxx) from the base board. If it is desired to use the Option 2 DPRAM on the base board,
jumper E2 must be in this setting. All Delta Tau base boards except the PMAC(1)-PC board have the
option for installing DPRAM on the base board.
Jumper E2 must connect pins 2 and 3 to access dual-ported RAM (non-Turbo addresses $Dxxx, Turbo
addresses $06xxxx) through the JEXP expansion port. If it is desired to use DPRAM on an external
accessory board, jumper E2 must be in this setting. The PMAC(1)-PC base board (part # 602191-10x)
does not have the option for installing on-board DPRAM; it requires the external Option 2 DPRAM board
(part #602240-10x) for this functionality. Use of this DPRAM board, interfacing through the JEXP port,
requires E2 to connect pins 2 and 3.
Jumper Summary 11
PMAC-PCI Hardware Reference
Power-Up State Jumpers
Jumper E4 on the Non-Turbo CPU board must be OFF, jumper E5 must be ON, and jumper E6 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 E7 on the CPU board 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 automatically
detect that the board is in bootstrap mode and ask you what file you want to download as the new
firmware.
Jumper E7 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.
Installation
The Flex CPU board installs on the base controller board using the P1 and P3 stack connectors on the
solder side of the CPU board. The CPU board can be further secured to the base board with a standoff
and screw through the central hole. When a complete PMAC or Turbo PMAC controller is purchased,
this assembly is done at the factory. In the case of retrofits or updates to existing controllers, this
assembly is easy to do in the field.
WARNING:
The Flex CPU board and PMAC controller boards contain static-sensitive
components. Make sure proper ESD protection is employed.
12 Jumper Summary
PMAC-PCI Hardware Reference
E-POINT DESCRIPTIONS
CPU Board E-Point Descriptions
The following jumper descriptions are for the PMAC CPU part number 602705-107.
E1: Watchdog Disable Jumper
E Point and
Physical Layout
E1
Description Default
Jump pin 1 to 2 to disable Watchdog timer (for test purposes only).
Remove jumper to enable Watchdog timer.
No Jumper
E2: DPRAM Location Configure
E Point and
Physical Layout
E2
Note: Jumper E2 is present on –108 and newer boards only. Older versions could access DPRAM from either
source without a jumper configuration, but with less robust buffering.
Description Default
Jump pin 1 to 2 to access the dual-ported RAM on baseboard.
Jump pin 2 to 3 to access the dual-ported RAM through JEXP
expansion port.
Jumper connects
pins 1 and 2
E4 – E6: Power-Up/Reset Load Source
E Point and
Physical Layout
E4
Remove jumper E4; jump E5 pin 1 to 2; jump E6
pin 1 to 2 to read flash IC on power-up/reset.
Description Default
No E4 jumper installed;
E5 and E6 jump pin 1 to 2.
E6
Note: Other combinations are for factory use only; the board will not operate in any other configuration
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
No jumper installed
PMAC-PCI E-Point Jumper Descriptions 13
PMAC-PCI Hardware Reference
Main Board E-Point Jumper Descriptions
E0: Machine Output
E Point and
Physical Layout
E0
E1 - E2: Machine Output Supply Voltage Configure
Location Description Default
A6
Jump pin 1 to 2
To provide use of 5V outputs
No jumper
E Point and
Physical Layout
E1
E2
Location Description Default
A6
The jumper setting must match the type of driver IC,
A6
or damage to the IC will result.
Jump pin 1 to 2 to apply +V (+5V to 24V) to pin 10
of U13 (should be ULN2803A for sink output
configuration) JOPTO machine outputs M01-M08.
Jump pin 2 to 3 to apply GND to pin 10 of U13
(should be UDN2981A for source output
configuration).
The jumper setting must match the type of driver IC,
or damage to the IC will result.
Jump pin 1 to 2 to apply GND to pin 10 of U13
(should be ULN2803A for sink output configuration).
Jump pin 2 to 3 to apply +V (+5V to 24V) to pin 10
of U13 (should be UDN2981A for source output
configuration).
CAUTION
CAUTION
1-2 Jumper
installed
1-2 Jumper
installed
14 PMAC-PCI E-Point Jumper Descriptions
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