Delta Tau PMAC PCI Reference Manual

^1HARDWARE REFERENCE MANUAL

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. [phone] Fax. [phone] // 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: [phone]

Fax: [phone]

Email: [e-mail] 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

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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

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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

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	PMAC - PCI Hardware Reference
Configuring PMAC with Option-5C for 80 MHz Operation	..................................................................................58
Option 16 Supplemental Memory ...........................................................................................................................	59
SCHEMATICS ..........................................................................................................................................................	61

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PMAC-PCI Hardware Reference

Table of Contents

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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

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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 I- variable (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

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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

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3

4

5

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PMAC-PCI Hardware Reference

					E17D
					E17C
					E17B
		E38			E17A
		E37			E29
		E36			E30
		E35			E31
		E34			E32
		E34A			E33
E3 E4 E5 E6
	E65	E64	E63	E62
	E61	E60	E59	E58
	E57	E56	E55	E54

A	B	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	Description	Default
	Physical Layout
	E1	Jump pin 1 to 2 to disable Watchdog timer (for test purposes only).	No Jumper
		Remove jumper to enable Watchdog timer.

E2: DPRAM Location Configure

	E Point and	Description	Default
	Physical Layout
	E2	Jump pin 1 to 2 to access the dual-ported RAM on baseboard.	Jumper connects
		Jump pin 2 to 3 to access the dual-ported RAM through JEXP	pins 1 and 2
		expansion port.
	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.
E4 – E6: Power-Up/Reset Load Source

E Point and	Description	Default
Physical Layout
E4	Remove jumper E4; jump E5 pin 1 to 2; jump E6	No E4 jumper installed;
	pin 1 to 2 to read flash IC on power-up/reset.	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	Description	Default
Physical Layout
E7	Jump pin 1 to 2 to reload firmware through serial	No jumper installed
	or bus port.
	Remove jumper for normal operation.

PMAC-PCI E-Point Jumper Descriptions

13

				PMAC-PCI Hardware Reference
Main Board E-Point Jumper Descriptions
E0: Machine Output
	E Point and	Location	Description		Default
	Physical Layout
	E0
		A6	Jump pin 1 to 2		No jumper
			To provide use of 5V outputs

E1 - E2: Machine Output Supply Voltage Configure

E Point and	Location		Description				Default
Physical Layout
E1	A6						1-2 Jumper
			CAUTION
							installed
			The jumper setting must match the type of driver IC,
			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).
E2	A6						1-2 Jumper
			CAUTION
							installed
		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).

14	PMAC-PCI E-Point Jumper Descriptions