Delta Tau PMAC VME, TURBO PMAC VME User Manual

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^1 HARDWARE REFERENCE MANUAL

^2 PMAC VME

^3 Programmable Multi-Axis Controller

^4 4Ax-602203-xHxx

^5 November 4, 2004

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656 Fax: (818) 998-7807 Email: support@deltatau.com Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain static sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only qualified personnel should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or conductive materials and/or environments that could cause harm to the controller by damaging components or causing electrical shorts. When our products are used in an industrial environment, install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are directly exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.

PMAC VME Hardware Reference Manual

Table of Contents

PMAC VME E-POINT DESCRIPTIONS ................................................................................................................1

PMAC VME Bottom Board......................................................................................................................................1

E1 - E2: Machine Output Supply Voltage Configure............................................................................................1

E3 - E6: Servo Clock Frequency Control............................................................................................................2

E7: Machine Input Source/Sink Control..............................................................................................................2

E8: RS232 Converter Power Supply Control ......................................................................................................3

E9 - E16: Serial Interface Handshake Control....................................................................................................3

E17A-E17D: Amplifier-Enable/Direction Polarity Control.................................................................................4

E22 - E23: Control Panel Handwheel Enable.....................................................................................................4

E24 - E27: Encoder Single-Ended/Differential Control......................................................................................4

E28: Warning Following Error/Watchdog Timer Signal Control.......................................................................5

E29 - E33: Phase Clock Frequency Control.......................................................................................................5

E34 - E38: Encoder Sampling Clock Frequency Control....................................................................................5

E39: Reset-From-Bus Enable...................................................................................................................................6

E40 - E43: Software Address Control .................................................................................................................6

E44 - E47: Communications Control ..................................................................................................................7

E48: RAM Wait State Control (Standard CPU Section)......................................................................................7

E48: CPU Clock Frequency Control (Option CPU Section)...............................................................................8

E49: Serial Communications Parity Control.......................................................................................................8

E50: EAROM Save Enable/Disable.....................................................................................................................8

E51: Normal/Re-Initializing Power-Up...............................................................................................................8

E52 - E53: DSP Interrupt Signal Select...............................................................................................................8

E72 - E73: Panel Analog Time Base Signal Enable............................................................................................9

E74 - E75: Clock Output Control for External Interpolation..............................................................................9

E85, E87, E88: Host-Supplied Analog Power Source Enable.............................................................................9

E89: Amplifier-Supplied Switch Pull-Up Enable...............................................................................................10

E90: Host-Supplied Switch Pull-Up Enable......................................................................................................10

E93 - E94: Compare-Equal Output Voltage Configure......................................................................................10

E96 - E97: Analog Source Isolate from Option 1V.............................................................................................11

E98: DAC/ADC Clock Frequency Control........................................................................................................11

E99: Analog Source Isolate from Option 1V......................................................................................................11

PMAC VME Option 1A Jumpers............................................................................................................................12

E17E - E17H: Amplifier Enable Polarity Control.............................................................................................12

E18 - E21: Encoder Single-Ended/Differential Control....................................................................................12

E185, E187, E188: Host-Supplied Analog Power Source Enable.....................................................................13

E189: Amplifier-Supplied Switch Pull-Up Enable.............................................................................................13

E190: Host-Supplied Switch Pull-Up Enable....................................................................................................13

E196, E197, E199: Analog Source Isolate from Main Board.............................................................................14

PMAC VME CPU BOARDS....................................................................................................................................15

Legacy PMAC Universal CPU (602705-10x).........................................................................................................15

E1: Watchdog Disable Jumper...........................................................................................................................15

E2-E3: Expansion Port Configure......................................................................................................................15

E4: Power-Up/Reset Load Source.....................................................................................................................15

E8: Expansion Port Configure ...........................................................................................................................15

Legacy PMAC VME Standard CPU Board (602398, 602271) ...............................................................................16

Legacy PMAC VME Option CPU Board................................................................................................................16

PMAC VME MATING CONNECTORS................................................................................................................17

Base Board Connectors...........................................................................................................................................17

J1 (JDISP)/Display.............................................................................................................................................17

J2 (JPAN)/Control Panel....................................................................................................................................17

J3 (JTHW)/Multiplexer Port...............................................................................................................................17

J4 (JRS422)/RS232 or 422/Serial Communications...........................................................................................17

Table of Contents i

PMAC VME Hardware Reference Manual

J5 (JOPT)/OPTO I/O..........................................................................................................................................17

J6 (JXIO)/Expansion Board................................................................................................................................17

J7 (JEQU)/Position Compare.............................................................................................................................17

J8 (JS1)/A-D Inputs 1-4......................................................................................................................................17

P1 (JVME)/Standard VME Connector................................................................................................................17

P2 (JMACH1)/1st Machine Connector...............................................................................................................17

Axis-Expansion Piggyback Board Connectors........................................................................................................18

P2A (JMACH2)/2nd Machine Connector...........................................................................................................18

J1 (JS2)/A-D Inputs 5-8 (J9 on Option 3 Front Panel)......................................................................................18

CPU Board Connectors...........................................................................................................................................18

J2 (JEXP)/Expansion (J10 on Option 3 Front Panel)........................................................................................18

J4 (JDPRAM)/Dual-Ported RAM.......................................................................................................................18

PMAC VME CONNECTOR PINOUTS.................................................................................................................19

J1 JDISP (14-Pin Connector)............................................................................................................................. 19

J2 JPAN (26-Pin Connector)..............................................................................................................................20

J3 JTHW Connector (26-Pin Connector)...........................................................................................................21

J4 JRS422 (26-Pin Connector)...........................................................................................................................22

J5 JOPT (34-Pin Connector)..............................................................................................................................23

J6 JXI0 (10-Pin Connector)................................................................................................................................24

J7 JEQU (10-Pin Connector).............................................................................................................................24

J8 JS1 (16-Pin Header)......................................................................................................................................24

P1 JVME (96-Pin Header) .................................................................................................................................25

P2 JMACH1 (96-Pin Header) ............................................................................................................................26

P2 JMACH1 (96-Pin Header) Continued...........................................................................................................27

J1 JS2 (16-Pin Header on Option 1A)................................................................................................................28

P2A JMACH2 (96-Pin Header on Option 1A)....................................................................................................28

P2A JMACH2 (96-Pin Header on Option 1A) Continued.................................................................................29

P2A JMACH2 (96-Pin Header on Option 1A)...................................................................................................29

P2A JMACH2 (96-Pin Header on Option 1A)...................................................................................................30

PMAC BASIC SPECIFICATIONS.........................................................................................................................31

Physical Specifications............................................................................................................................................31

Electrical Specifications..........................................................................................................................................31

Memory Specifications............................................................................................................................................31

CPU Specifications .................................................................................................................................................31

Performance Specifications.....................................................................................................................................32

I/O Specifications....................................................................................................................................................33

Software Specifications...........................................................................................................................................35

Options....................................................................................................................................................................36

Accessories..............................................................................................................................................................37

Accessory 1: +5V Power Supplies and Batteries...............................................................................................37

Accessory 2: +/-15V Power Supplies ................................................................................................................37

Accessory 3: Serial Communications Cable......................................................................................................37

Accessory 4: Additional Instruction Manual.................................................................................... .................37

Accessory 6: Handwheel Encoder.....................................................................................................................37

Accessory 8: Terminal Block.............................................................................................................................38

Accessory 9: IBM PC Software .........................................................................................................................39

Accessory 12: Liquid Crystal/Vacuum Fluorescent Display..............................................................................39

Accessory-14: I/O Expansion Board ..................................................................................................................40

Accessory 16D: Control Panel And Display Box..............................................................................................41

Accessory 17: PMACAD Cad Conversion Software..........................................................................................41

Accessory-17DA:................................................................................................................................................41

Accessory 18: Thumbwheel Multiplexer Board.................................................................................................41

Accessory 20: Hand-Held Terminal..................................................................................................................42

Accessory 21: I/O Simulators and Cables.........................................................................................................42

Accessory 22: Extended Warranty.....................................................................................................................42

ii Table of Contents

PMAC VME Hardware Reference Manual

Accessory 24: Axis Expansion Board................................................................................................................42

Accessory 25: Extended Servo Algorithm Tuning Software..............................................................................43

Accessory 26A: Serial Communications Converter...........................................................................................43

Accessory 27: Optically Isolated I/O Board.......................................................................................................43

Accessory 28: A/D Conversion Board................................................................................................................43

Accessory 29: Magnetostrictive Linear Displacement Transducer Interface Board.........................................44

Accessory 31: PMAC Demonstration Box Unit.................................................................................................44

Accessory 32: PMAC Software Upgrade/Update Kit........................................................................................44

Accessory 33: PMAC NC Software Library ......................................................................................................44

Accessory 34: Multiplexed I/O Expansion Board..............................................................................................44

Accessory 35: Multiplexer Port Line Driver and Receiver................................................................................45

Accessory 36: Analog to Digital Converter Board............................................................................................45

Accessory 39: Handwheel Encoder Converter Board.......................................................................................46

Accessory 40: On-Site Field Service and Training............................................................................................46

Accessory 41: Servo Training Systems..............................................................................................................46

Future Accessories..............................................................................................................................................46

Table of Contents iii

PMAC VME Hardware Reference Manual

iv Table of Contents

PMAC VME Hardware Reference Manual

PMAC VME E-POINT DESCRIPTIONS

PMAC VME Bottom Board

E Point and

Location Description Default

Physical Layout

B5 For future use. No jumper

E1 - E2: Machine Output Supply Voltage Configure

E Point and

Physical Layout

The jumper settings for both E1 and E2 must match the type of driver IC, or damage to the IC will result.

Location Description Default

CAUTION:

A5 Jump pin 1 to 2 to apply +V (+5V to 24V)

to pin 11 of U33 (should be ULN2803A for sink output configuration) JOPTO Machine outputs M01-M08.

Jump pin 2 to 3 to apply GND to pin 11 of U33 (should be UDN2981A for source output configuration).

A5 Jump pin 1 to 2 to apply GND to pin 10 of

U33 (should be ULN2803A for sink output configuration).

Jump pin 2 to 3 to apply +V (+5V to 24V) to pin 10 of U33 (should be UDN2981A for source output configuration).

1-2 Jumper installed

PMAC VME E-Point Descriptions 1

PMAC VME Hardware Reference Manual

E3 - E6: Servo Clock Frequency Control

The servo clock (which determines how often the servo loop is closed) is derived from the phase clock (see E29 - E33) through a "divide-by-N" counter. Jumpers E3 through E6 control this dividing function.

E3 E4 E5 E6 Servo Clock = Phase

Clock Divided by N

ON ON ON ON N = divided by 1

OFF ON ON ON N = divided by 2

ON OFF ON ON N = divided by 3

OFF OFF ON ON N = divided by 4 Only E5 and E6 ON

ON OFF ON ON N = divided by 5

OFF ON OFF ON N = divided by 6 Only E4 and E6 ON (option 5 only)

ON OFF OFF ON N = divided by 7

OFF OFF OFF ON N = divided by 8

ON ON ON OFF N = divided by 9

OFF ON ON OFF N = divided by 10

ON OFF ON OFF N = divided by 11

OFF OFF ON OFF N = divided by 12

ON ON OFF OFF N = divided by 13

OFF ON OFF OFF N = divided by 14

ON OFF OFF OFF N = divided by 15

OFF OFF OFF OFF N = divided by 16 The setting of I-variable I10 should be adjusted to match the servo interrupt cycle time set by E98, E3 -- E6, E29 -- E33, and the crystal clock frequency. I10 holds the length of a servo interrupt cycle, scaled so that 8,388,608 equals one millisecond. Since I10 has a maximum value of 8,388,607, the servo interrupt cycle time should always be less than a millisecond (unless you want to make your basic unit of time on PMAC something other than a millisecond). To have a servo sample time greater than one millisecond, the sampling may be slowed in software with variable Ix60.

Frequency can be checked on J4 pins 21 and 22. It can also be checke d fr o m software by typing RX:0 in the PMAC terminal at 10-second intervals and dividing the difference of successive responses by

10000. The resulting number is the approximate servo clock frequency in kHz. If E40-E43 are set up so that the card has a software address other than @0, the servo clock signal must be

received over the serial port from card @0, so these jumpers have no effect. All versions of the PMAC except Option 5 (30MHz), have a 19.6608MHz ("20MHz) clock crystal, even the

40 and 60 MHz CPU versions.

Default and Physical Layout

E3 E4 E5 E6

Location: B4 B4 B5 B5

E7: Machine Input Source/Sink Control

E Point and

Physical Layout

2 PMAC VME E-Point Descriptions

Location Description Default

A4 Jump pin 1 to 2 to apply +5V to input reference

resistor sip pack; this will bias MI1 to MI8 inputs to +5V for off state; input must then be grounded for on state.

Jump pin 2 to 3 to apply GND to input reference resistor sip pack; this will bias MI1 to MI8 inputs to GND for off state; input must then be pulled up for on state (+5V to +24V).

1-2 Jumper installed

PMAC VME Hardware Reference Manual

E8: RS232 Converter Power Supply Control

E Point and

Location Description Default

Physical Layout

A4 Jump pin 1 to 2 to apply +5V to J4 pin 2 (JRS422);

this can be used to power optional RS422 to RS232 converter module which requires +5V for operation.

Jumper installed

E9 - E16: Serial Interface Handshake Control

E9 to E16 jumpers control whether the RS-422 serial port will be in DCE or DTE format. The default configuration permits straight-across connection to a PC DB-25 serial port.

E Point and

Physical Layout

E9 E10

E11 E12

E13 E14

E15 E16

Location Description Default

A3 Jump, E9-1 to E9-2 to allow RD- to be input on J4-

3; jump E10-1 to E10-2 to allow SD- to be output on J4-5.

Jump E9-1 to E10-1 to allow RD- to be output on J4-3; jump E9-2 to E10-2 to allow SD- to be input on J4-5.

A3 Jump E11-1 to E11-2 to allow RD+ to be input on

J4-4; jump E12-1 to E12-2 to allow SD+ to be output on J4-6.

Jump E11-1 to E12-1 to allow RD+ to be output on J4-4; jump E11-2 to E12-2 to allow SD+ to be input on J4-6.

A4 D5 jump E13-1 to E13-2 to 1-2 allow CS+ to be

input jumper on J4-7; jump E14-1 to installed E142 to allow RS+ to be output on J4-9.

Jump E13-1 to E14-1 to allow CS+ to be output on J4-7; jump E13-2 to E14-2 to allow RS+ to be input on J4-9.

A4 D5 jump E15-1 to E15-2 to allow CS- to be input

on J4-8. Jump E16-1 to E16-2 to allow RS- to be output on

J4-10. Jump E15-1 to E16-1 to allow CS- to be output on

J4-8; jump E15-2 to E16-2 to allow RS- to be input on J4-10.

1-2 Jumper installed

PMAC VME E-Point Descriptions 3

PMAC VME Hardware Reference Manual

E17A-E17D: Amplifier-Enable/Direction Polarity Control

E Point and

Location Description Default

Physical Layout

E17A

E17B

E17C

E17D

Low-true enable is the fail-safe option because of the sinking (open-collector) ULN2803A output driver IC.

B2 Jump 1-2 for high TRUE AENA (1-4).

Remove jumper for low TRUE AENA (1-4).

C2 Jump 1-2 for high TRUE AENA (1-4).

Remove jumper for low TRUE AENA (1-4).

C2 Jump 1-2 for high TRUE AENA (1-4).

Remove jumper for low TRUE AENA (1-4).

C2 Jump 1-2 for high TRUE AENA (1-4).

Remove jumper for low TRUE AENA (1-4).

No jumper installed

E22 - E23: Control Panel Handwheel Enable

E Point and

Physical Layout

E22

E23

With these jumpers ON, no encoder should be wired into ENC2 on JMACH1. Jumper E26 must connect pins 1-2, because these are single-ended inputs. This function is unrelated to the encoder brought in thr ough Acc39 on J2.

Location Description Default

C2 Jump pin 1 to 2 to obtain handwheel encoder signal

from front panel at J2-16 for CHB2 (ENC2-B).

C2 Jump pin 1 to 2 to obtain handwheel encoder signal

from front panel at J2-22 for CHA2 (ENC2-A).

No jumper

E24 - E27: Encoder Single-Ended/Differential Control

E Point and

Physical Layout

E24

E25

E26

E27

Location Description Default

D2 ENC 4 through 1:

Jump pin 1 to 2 to tie complementary encoder inputs to 2.5V.

D2 Jump pin 2 to 3 to tie complementary encoder

inputs to 5V. For no encoder connection: Jump pin 1 to 2.

D2 For single-ended encoders: Jump pin 1 to 2.

For differential line-driver encoders: Do not care.

D2 For complementary open-collector encoders: Jump

pin 2 to 3.

1-2 Jumper installed for E24 E27.

E24: ENC 4 E25: ENC 3 E26: ENC 2 E27: ENC 1

4 PMAC VME E-Point Descriptions

PMAC VME Hardware Reference Manual

E28: Warning Following Error/Watchdog Timer Signal Control

E Point and

Location Description Default

Physical Layout

E28

B3 Jump pin 1 to 2 to allow warning following error

(Ix12) for the selected coordinate system to control FEFCO/ on J8-57.

Jump pin 2 to 3 to cause Watchdog timer output to control FEFCO/ (low true output in either case).

2-3 Jumper installed

E29 - E33: Phase Clock Frequency Control

Jumpers E29 through E33 control the speed of the phase clock, and, indirectly, the servo clock, which is divided down from the phase clock (see E3 - E6). No more than one of these five jumpers may be on at a time.

E29 E30 E31 E32 E33

ON OFF OFF OFF OFF 2.26 kHz 3.39 kHz

OFF ON OFF OFF OFF 4.52 kHz 6.78 kHz OFF OFF ON OFF OFF 9.04 kHz 13.55 kHz OFF OFF OFF ON OFF 18.07 kHz 27.10 kHz OFF OFF OFF OFF ON 36.14 kHz 54.21 kHz

1. True for standard 20 MHz PMAC and those with Options 4A, 5A, and 5B

2. True only for PMACs with Option 5

Phase Clock Frequency

19.6608 MHz Master Clock See Note 1

29.4912 MHz Master Clock See Note 2

Note:

If jumper E98 has been changed to connect pins 2-3 (default is 1-2), the phase clock frequency is exactly 1/2 that shown in the above table.

Default and

Physical Layout

E33 E32 E31 E30 E29

Location: All B4

Note:

If E40-E43 are set so that the card has a software address other than @0, the phase clock signal must be received over the serial port from card @0, so these jumpers have no effect.

E34 - E38: Encoder Sampling Clock Frequency Control

Jumpers E34 - E38 control the encoder sampling clock (SCLK) used by the gate array ICs. No more than 1 of these 5 jumpers may be on at a time.

E34 E35 E36 E37 E38

ON OFF OFF OFF OFF 9.8304 MHz 14.7456 MHz OFF ON OFF OFF OFF 4.9152 MHz 7.3728 MHz OFF OFF ON OFF OFF 2.4576 MHz 3.6864 MHz OFF OFF OFF ON OFF 1.2288 MHz 1.8432 MHz OFF OFF OFF OFF ON External clock 1 to 30 mhz maximum

1. True for standard 20 MHz PMAC and those with Options 4A, 5A, and 5B

2. True only for PMACs with Option 5.

SCLK Clock Frequency

19.6608 MHz Master Clock

See Note 1

input on CHC4 & CHC4/

29.4912 Mhz

Master Clock

See Note 1

Default and

Physical Layout

E34 E35 E36 E37 E38

Location: All B4

PMAC VME E-Point Descriptions 5

PMAC VME Hardware Reference Manual

E39: Reset-From-Bus Enable

E Point and

Location Description Default

Physical Layout

E39

B5 Jump pin 1 to 2 to p ermit VME bus reset

line to reset PMAC VME. Remove jumper so that the VME bus reset

line does not reset PMAC VME.

1-2 jumper installed

E40 - E43: Software Address Control

Jumpers E40-E43 control the software address of the card, for serial addressing and for sharing the servo clock over the serial connector. Card @0 sends the clock and cards @1-@F receive the clock.

Card Address Control E-Points Default and

Physical Layout

E40 E41 E42 E43 Card Address

ON ON ON ON @0 @0

OFF ON ON ON @1

ON OFF ON ON @2

OFF OFF ON ON @3

ON ON OFF ON @4

OFF ON OFF ON @5

ON OFF OFF ON @6

OFF OFF OFF ON @7

ON ON ON OFF @8

OFF ON ON OFF @9

ON OFF ON OFF @A

OFF OFF ON OFF @B

ON ON OFF OFF @C

OFF ON OFF OFF @D

ON OFF OFF OFF @E

OFF OFF OFF OFF @F The card must either be set up as @0, or receiving clock signals over the serial port from another card that is set up as @0, or the Watchdog timer will trip (red light ON) and the card will shut down.

E40 E41 E42 E43

Location; All D3

6 PMAC VME E-Point Descriptions

PMAC VME Hardware Reference Manual

E44 - E47: Communications Control

Jumpers E44 - E47 control what baud rate to use for serial communications. Any character received over the bus causes PMAC to use the bus for its standard communications. The serial port is disabled if E44E47 are all on.

Baud Rate Control E-Points Baud Rate

E44 E45 E46 E47

Option 4A Standard,

Option 5A

ON ON ON ON Disabled Disabled Disabled

OFF ON ON ON 300 600 900

ON OFF ON ON 400* 800* 1200

OFF OFF ON ON 600 1200 1800

ON ON OFF ON 800* 1600* 2400

OFF ON OFF ON 1200 2400 3600

Option 5, Option 5B

Default and

Physical Layout

E44 E45 E46 E47

Location: All D3 Picture is for a PMAC with a Standard or Option 5A CPU

ON OFF OFF ON 1600* 3200* 4800

OFF OFF OFF ON 2400 4800 7200

ON ON ON OFF 3200* 6400* 9600 Options 5, 5B

OFF ON ON OFF 4800 9600 14400 Std., Opt. 5A

ON OFF ON OFF 6400* 12800* 19200

OFF OFF ON OFF 9600 19200 28800 Option 4A

ON ON OFF OFF 12800* 25600* 38400

OFF ON OFF OFF 19200 38400 57600

ON OFF OFF OFF 25600* 51200* 76800

OFF OFF OFF OFF 38400 76800 115200

These jumpers are used only to set the baud rate at power-on/reset. * Non-standard baud rates

E48: RAM Wait State Control (Standard CPU Section)

E48 controls the memory wait states only on PMACs with a standard CPU section using battery backup. This CPU section is used on PMACs ordered with no CPU or memory options and Option 5 (not Opt 4A, 5A, or 5B).

E Point and

Location Description Default

Physical Layout

E48

C2 Jump pin 1 to 2 for zero wait state

operation; remove jumper for one wait state operation.

No jumper installed (standard configuration)

Jumper installed (Option 5)

PMAC VME E-Point Descriptions 7

PMAC VME Hardware Reference Manual

E48: CPU Clock Frequency Control (Option CPU Section)

E48 controls the CPU clock frequency only on PMAC with an option CPU section using flash memory backup (no battery). This CPU section is used on PMACs ordered with Opt 4A, 5A, or 5B (not Option 5).

E Point and

Location Description Default

Physical Layout

E48

It may be possible to operate a board with 40 MHz components (Option 5A) at 60 MHz under some conditions by changing the setting of jumper E48. However, this operates the components outside of their specified operating range, and proper execution of PMAC under these conditions is not guaranteed. PMAC software failure is possible, even probable, under these conditions, and this can lead to very dangerous machine failure. Operation in this mode is done completely at the user’s own risk; Delta Tau can accept no responsibility for the operation of PMAC or the machine under these conditions.

C2 Jump pins 1 and 2 to multiply crystal

frequency by 3 inside CPU for 60 MHz operation.

Remove jumper to multiply crystal frequency by 2 inside CPU for 40 MHz operation.

Jumper installed (Option 5, 5B)

Jumper not installed (Standard, Option 4A, 5A)

E49: Serial Communications Parity Control

E Point and

Physical Layout

E49

Location Description Default

D3 Jump pin 1 to 2 for NO serial parity.

Remove jumper for ODD serial parity.

Jumper installed

E50: EAROM Save Enable/Disable

E Point and

Physical Layout

E50

Location Description Default

D3 Jump pin 1 to 2 to enable save to EAROM.

Remove jumper to disable save to EAROM.

Jumper installed

E51: Normal/Re-Initializing Power-Up

E Point and

Physical Layout

E51

Location Description Default

D3 Jump pin 1 to 2 to re-initialize ON power-

up/reset. Remove jumper for NORMAL power-up/reset.

No jumper installed

E52 - E53: DSP Interrupt Signal Select

E Point and

Physical Layout

E52

E53

8 PMAC VME E-Point Descriptions

Location Description Default

B5 Jump pin 1 to 2 to allow LIRQ0 to interrupt

local DSP-CPU at IRQB.

B5 Jump pin 1 to 2 to allow MI3 to interrupt local

DSP-CPU at IRQB.

Jumper installed

No jumper installed

PMAC VME Hardware Reference Manual

E72 - E73: Panel Analog Time Base Signal Enable

E Point and

Location Description Default

Physical Layout

E72

E73

With these jumpers ON, no encoder should be wired into ENC4 on JMACH1. E27 must connect pins 1 to 2 because these are single-ended inputs. Variable I915 should be set to 4 to create a positive voltage (frequency) number in PMAC.

C3 Jump pin 1 to 2 to allow V to F converter

FOUT derived from wiper input on J2 to connect to CHA4.

C3 Jump pin 1 to 2 to allow V to F converter

FOUT/ derived from wiper input on J2 to connect to CHA4/.

No jumper installed

E74 - E75: Clock Output Control for External Interpolation

E Point and

Physical Layout

E74

E75

SCLK out permits synchronous latching of analog encoder interpolators such as Acc-8D Opt 8.

Location Description Default

C3 Jump pin 1 to 2 to allow SCLK/ to output on

CHC4/.

C3 Jump pin 1 to 2 to allow SCLK to output on

CHC4.

No jumper installed

E85, E87, E88: Host-Supplied Analog Power Source Enable

E Point and

Physical Layout

E85

E87

E88

Location Description Default

B2 Jump pin 1 to pin 2 to allow A+14V to come

from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)

Note that if E85 is changed, E88 and E87 must also be changed.

Also, see E90.

D1 Jump pin 1 to pin 2 to allow analog GND to

come from P1 (ties amplifier and PMAC VME GND together. Defeats OPTO coupling.)

Note that if E87 is changed, E85 and E88 must also be changed.

Also, see E90.

A2 Jump pin 1 to pin 2 to allow A-14V to come

from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)

Note that if E88 is changed; E87 and E85 must also be changed.

Also, see E90.

No jumper

PMAC VME E-Point Descriptions 9

PMAC VME Hardware Reference Manual

E89: Amplifier-Supplied Switch Pull-Up Enable

E Point and

Location Description Default

Physical Layout

E89

A2 Jump pin 1 to 2 to supply flags from A+15V

input (P2 pin C30). E90 must jump pins 1 to 2 to bring power to flags.

Jump pin 2 to 3 to supply flags from A+V input on option 1V (P2 pin C30). E90 must jump pins 1 to 2 to bring power to flags.

See also E85, E87, E88, E89 and PMAC VME power supply connection diagram.

E90: Host-Supplied Switch Pull-Up Enable

E Point and

Physical Layout

E90

Location Description Default

D1 Jump pin 1 to 2 to allow A+15V/OPT+V on

P2 or P2A (JMACH) pin C30, (also see E89) to supply flags.

Jump pin 2 to 3 to allow +12V from VME bus connector to supply flags. Optical isolation is then lost.

See also E85, E87, E88, E89 and PMAC VME power supply connection diagram.

E93 - E94: Compare-Equal Output Voltage Configure

1-2 Jumper installed

E Point and

Physical Layout

E93

E94

E95

Location Description Default

A3 Jump pin 1 to 2 to apply +V (+5V to +24V)

to pin 11 of U28 (should be ULN2803A f or sink output configuration).

Jump pin 2 to 3 to apply GND to pin 11 of U28 (should be UDN2981A for source output configuration).

Also, see E2

B3 Jump pin 1 to 2 to apply GND to pin 10 of

U28 (Should be ULN2803A for sink output configuration).

Jump pin 2 to 3 to apply +V (+5V to +24V) to pin 10 of U28 (Should be UDN2981A for source output configuration).

Also, see E1

A3 Reserved for future use. No jumper

1-2 Jumper installed

10 PMAC VME E-Point Descriptions

PMAC VME Hardware Reference Manual

E96 - E97: Analog Source Isolate from Option 1V

E Point and

Location Description Default

Physical Layout

E96

E97

A2 Jump 1 to 2 to connect A+15V on main

PMAC VME board to A+15V on option 1V piggyback board.

Remove jumper to keep A+15V isolated between option 1V board and main boa r d.

A2 Jump 1 to 2 to connect A-15V on main

PMAC VME board to A-15V on option 1V piggyback board.

Remove jumper to keep A-15V isolated between option 1V board and main boa r d.

E98: DAC/ADC Clock Frequency Control

E Point and

Physical Layout

E98

Location Description Default

B4 Jump 1-2 to provide a 2.45 MHz (3.67 MHz

for Option 5) DCLK signal to DACs and ADCs.

Jump 2-3 to provide a 1.22 MHz (1.83 MHz for Option 5) DCLK signal to DACs and ADCs. Important for high accuracy A/D conversion on Acc-28.

Note: This also divides the phase and servo clock frequencies in half.

See E29-E33, E3-E6, I10

No jumper installed

1-2 Jumper installed

E99: Analog Source Isolate from Option 1V

E Point and

Physical Layout

E99

Location Description Default

A2 Jump 1 to 2 to connect AGND on main

PMAC VME board to AGND on option 1V piggyback board.

Remove jumper to keep AGND isolated between option 1V board and main boa r d.

No jumper installed

PMAC VME E-Point Descriptions 11

PMAC VME Hardware Reference Manual

PMAC VME Option 1A Jumpers

E17E - E17H: Amplifier Enable Polarity Control

E Point and

Location Description Default

Physical Layout

E17E

E17F

E17G

E17H

Low-true enable is the fail-safe option because of the sinking (open-collector) ULN2803A output driver IC.

B1 Jump 1-2 for high TRUE AENA (5-8).

Remove jumper for low TRUE AENA (5-8).

C1 Jump 1-2 for high TRUE AENA (5-8).

Remove jumper for low TRUE AENA (5-8).

C1 Jump 1-2 for high TRUE AENA (5-8).

Remove jumper for low TRUE AENA (5-8).

C1 Jump 1-2 for high TRUE AENA (5-8).

Remove jumper for low TRUE AENA (5-8).

No jumper installed

E18 - E21: Encoder Single-Ended/Differential Control

E Point and

Physical Layout

E18

E19

E20

E21

Location Description Default

D2 ENC 5 through 8:

Jump pin 1 to 2 to tie complementary encoder inputs to 2.5V.

D2 Jump pin 2 to 3 to tie complementary encoder

inputs to 5V. For no encoder connection: Jump pin 1 to 2.

D2 For single-ended encoders: Jump pin 1 to 2.

For differential line-driver encoders: Do not care.

D2 For complementary open-collector encoders:

Jump pin 2 to 3.

1-2 Jumper installed for E18 - E21.

E18: ENC 5 E19: ENC 6 E20: ENC 7 E21: ENC 8

12 PMAC VME E-Point Descriptions

PMAC VME Hardware Reference Manual

E185, E187, E188: Host-Supplied Analog Power Source Enable

E Point and

Physical Layout

E185

E187

E188

Location Description Default

B2 Jump pin 1 to pin 2 to allow A+14V to come

from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)

Note that if E185 is changed, E188 and E187 must also be changed.

Also see E190.

A1 Jump pin 1 to pin 2 to allow analog GND to

come from P1 (ties amplifier and PMAC VME GND together. Defeats OPTO coupling.)

Note that if E187 is changed, E185 and E188 must also be changed.

Also, see E190.

A2 Jump pin 1 to pin 2 to allow A-14V to come

from P1 (ties amplifier and PMAC VME power supply together. Defeats OPTO coupling.)

Note that if E188 is changed; E187 and E185 must also be changed.

Also, see E190.

No jumper installed

No jumper

E189: Amplifier-Supplied Switch Pull-Up Enable

E Point and

Physical Layout

E189

Location Description Default

A2 Jump pin 1 to 2 to allow A+15V/+V on P2A

(JMACH2) pin 59, to tie to A+15V on P2 (JMACH1) pin C30.

This jumper must be installed to allow A+15V to power the OPTO switch sensor inputs (including limits) from the same OPTO-power supply that powers the amplifier output stage.

Also, see E190

E190: Host-Supplied Switch Pull-Up Enable

E Point and

Physical

Layout

E190

Location Description Default

D1 Jump pin 1 to 2 to allow A+15V/OPT+V on

P2A (JMACH2) pin C30, (also see E189) to power OPTO switch sensor inputs (including limits).

Jump pin 2 to 3 to allow +12V from VME bus connector to power OPTO switch sensor inputs (including limits). Optical isolation is then lost.

See also E185, E187, E188, and figure on PMAC OPTO isolation

1-2 Jumper installed

PMAC VME E-Point Descriptions 13

PMAC VME Hardware Reference Manual

E196, E197, E199: Analog Source Isolate from Main Board

E Point and

Physical Layout

E196

E197

E199

Location Description Default

A2 Jump 1 to 2 to connect A+15V on option 1V

piggyback board to main PMAC VME board. Remove jumper to keep A+15V isolated

between main board and option 1V board.

A2 Jump 1 to 2 to connect A-15V on optio n 1 V

piggyback board to main PMAC VME board. Remove jumper to keep A-15V isolated

between main board and option 1V board.

A2 Jump 1 to 2 to connect AGND on optio n 1 V

piggyback board to main PMAC VME board. Remove jumper to keep AGND isolated

between main board and option 1V board.

No jumper installed

14 PMAC VME E-Point Descriptions

PMAC VME Hardware Reference Manual

PMAC VME CPU BOARDS

Current PMAC1 VME cards use the Flex CPU. For information regarding the Flex CPU, refer to the Flex CPU User manual.

For convenience, two other versions of the CPU have been included in this manual.

Legacy PMAC Universal CPU (602705-10x)

The following jumper descriptions are for the PMAC CPU, part number 602705-107.

E1: Watchdog Disable Jumper

E Point and

Physical Layout

Location Description Default

Jump pin 1 to 2 to disable watchdog timer (for test purposes only).

Remove jumper to enable Watchdog timer.

E2-E3: Expansion Port Configure

E Point and

Physical Layout

Location Description

No longer used No Jumper

E4: Power-Up/Reset Load Source

E Point and

Physical Layout

Location Description Default

Jump pin 1 to 2 to reload firmware through serial or bus port. Must also install E51 jumper on baseboard.

Remove jumper for normal operation.

No jumper

E8: Expansion Port Configure

E Point and

Physical Layout

PMAC VME CPU Boards 15

Location Description Default

Jump pin 1 to 2 for using the Acc-24P2 expansion board.

Remove jumper for normal operation.

No jumper

PMAC VME Hardware Reference Manual

Legacy PMAC VME Standard CPU Board (602398, 602271)

This table shows the jumper settings for the standard PMAC CPU boards with batteries. These boards are used when the PMAC is ordered without any memory or CPU options, or with Option 5 (not 4A, 5A, or 5B).

E Point and

Description Default

Physical Layout

Jump pin 1 to 2 to disable watchdog timer (for test purposes only).

Remove jumper to enable watchdog timer. Note: On old CPU boards with white CPU IC, E1 function

is opposite. Jump pin 1 to 2 to boot from host port.

Remove jumper to boot from IC. Jump pin 1 to 2 to use BAT1 battery (shorts BAT2 positive terminal to GND).

Jump pin 2 to 3 to use BAT2 battery (shorts BAT1 positive terminal to GND).

Remove jumper to use both batteries.

No jumper installed

2-3 jumper installed (20 MHz)

No jumper installed (30 MHz).

Legacy PMAC VME Option CPU Board

This table shows the jumper setting for the option PMAC CPU boards with flash memory backup (no battery). These boards are used only when the PMAC is ordered with Option 4A, 5A, or 5B (not standard or Option 5).

E Point and

Physical Layout

* Pins for jumpers E2 and E3 may not be installed on Option CPU boards for 1st generation PMACs.

Jump pin 1 to 2 to disable watchdog timer (for test purposes only).

Remove jumper to enable watchdog Remove jumper for use on first generation PMAC.

Jump pin 1 to 2 for use on second generation PMAC (PMAC2). Remove jumper for use on first generation PMAC.

Jump pin 1 to 2 for use on second generation PMAC (PMAC2).

Description Default

No jumper installed

timer.

No jumper installed *

16 PMAC VME CPU Boards

PMAC VME Hardware Reference Manual

PMAC VME MATING CONNECTORS

This section lists several options for each connector. Choose an appropriate one for the application. (See attached PMAC mating connector sketch for typical connection.)

Base Board Connectors

J1 (JDISP)/Display

1. Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 T&B Ansley P/N 609-1441

2. 171-14 T&B Ansley standard flat cable stranded 14-wire

3. Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1

J2 (JPAN)/Control Panel

1. Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 T&B Ansley P/N 609-2641

2. 171.26.T&B Ansley standard flat cable stranded 26-wire

3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0

J3 (JTHW)/Multiplexer Port

1. Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 T&B Ansley P/N 609-2641

2. 171-26 T&B Ansley standard flat cable stranded 26-wire

3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0

J4 (JRS422)/RS232 or 422/Serial Communications

1. Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 T&B Ansley P/N 609-2641

2. 171-26 T&B Ansley standard flat cable stranded 26-wire

3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0

J5 (JOPT)/OPTO I/O

1. Two 60-pin female flat cable connector Delta Tau P/N 014-R00F34-0k0 T&B Ansley P/N 609-3441

2. 171-34 T&B Ansley standard flat cable stranded 34-wire

3. Phoenix varioface module type FLKM 34 (male pins) P/N 22 81 06 3

J6 (JXIO)/Expansion Board

1. Two 10 pin female flat cable connector Delta Tau P/N 014-R00F10-0K0 T&B Ansley P/N 609-1041

2. 171-10 T&B Ansley standard flat cable stranded 10 wire

3. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8

J7 (JEQU)/Position Compare

1. Two 10 pin female flat cable connector Delta Tau P/N 014-R00F10-0K0 T&B Ansley P/N 609-1041

2. 171-10 T&B Ansley standard flat cable stranded 10 wire

3. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8

J8 (JS1)/A-D Inputs 1-4

1. Two 16-pin female flat cable connector Delta Tau P/N 014-R00F16-0K0 T&B Ansley P/N 609-1641

2. 171-16 T&B Ansley standard flat cable stranded 16-wire

3. Phoenix varioface module type FLKM 16 (male pins) P/N 22 81 03 4

P1 (JVME)/Standard VME Connector

1. 96 pin VME connector AMLAN P/N C96F3LA+B+C

P2 (JMACH1)/1st Machine Connector

96 pin VME connector. AMLAN P/N C96F3LA+B+C

PMAC VME Mating Connectors 17

PMAC VME Hardware Reference Manual

Note:

Normally, P2 and P2A are used with Acc-8P or Acc-8D with Option V which provides complete terminal strip fan-out of all connections.

Axis-Expansion Piggyback Board Connectors

P2A (JMACH2)/2nd Machine Connector

1. 96 pin VME connector. AMLAN P/N C96F3LA+B+C

Note:

Normally, P2 and P2A are used with Acc-8P or 8D with Option V which provides complete terminal strip fan-out of all connections.

J1 (JS2)/A-D Inputs 5-8 (J9 on Option 3 Front Panel)

1. Two 16 pin female flat cable connector Delta Tau P/N 014-R00F16-0K0 T&B Ansley P/N 609-1641

2. 171-16 T&B Ansley standard flat cable stranded 16 wire

3. Phoenix varioface module type FLKM 16 (male pins) P/N 22 81 03 4

CPU Board Connectors

J2 (JEXP)/Expansion (J10 on Option 3 Front Panel)

1. Two 50-pin female flat cable connector Delta Tau P/N 014-R00F50-0K0 T&B Ansley P/N 609-5041

2. 171-50 T&B Ansley standard flat cable stranded 50-wire

3. Phoenix varioface module type FLKM 50 (male pins) P/N 22 81 08 9 used for daisy chaining Acc-14 I/0, -23 A and D connectors -24 expansion

J4 (JDPRAM)/Dual-Ported RAM

1. Two 10 pin female flat cable connector Delta Tau P/N 014-ROOF10-0K0 T&B Ansley P/N 609-1041

2. 171-10 T&B Ansley standard flat cable stranded 10 wire

3. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8

18 PMAC VME Mating Connectors

PMAC VME Hardware Reference Manual

PMAC VME CONNECTOR PINOUTS

J1 JDISP (14-Pin Connector)

Front View

Pin # Symbol Function Description Notes

1 VDD Output +5V Power Power supply out 2 VSS Common PMAC Common 3 RS Output Read Strobe TTL signal out 4 VEE Output Contrast Adjust Vee 0 TO +5 VDC * 5 E Output Display Enable High is enable 6 R/W Output Read or Write TTL signal out 7 DB1 Output Display DATA1 8 DB0 Output Display DATA0

9 DB3 Output Display DATA3 10 DB2 Output Display DATA2 11 DB5 Output Display DATA5 12 DB4 Output Display DATA4 13 DB7 Output Display DATA7 14 DB6 Output Display DATA6

The JDISP connector is used to drive the 2-line x 24-character (Acc-12), 2 x 40 (Acc-12A) LCD, or the 2 x 40 vacuum fluorescent (Acc-12C) display unit. The DISPLAY command may be used to send messages and values to the display.

* Note: Controlled by potentiometer R2.

J2 JPAN (26-Pin Connector)

Front View

Pin # Symbol Function Description Notes

1 +5V Output +5V Power For remote panel 2 GND Common PMAC Common 3 FPD0/ Input Motor/C.S. Select Bit 0 Low is True 4 JOG-/ Input Jog In - DIR. Low is JOG 5 FPD1/ Input Motor/C.S. Select Bit 1 Low is True 6 JOG+/ Input Jog In + DIR. Low is JOG + 7 PREJ/ Input Return to Pre-Jog Po sition Low is Return, Equiv to J= CMD 8 STRT/ Input Start Program Run Low is Start, Equiv to R CMD

9 STEP/ Input Step Through Program Low is Step, Equiv to S or Q 10 STOP/ Input Stop Program Run Low is Stop, Equiv to A 11 HOME/ Input Home Search Command Low is Go Home, Equiv to HM 12 HOLD/ Input Hold Motion Low is Hold, Equiv to H 13 FPD2/ Input Motor/C.S. Select Bit 2 Low is True 14 FPD3/ Input Motor/C.S. Select Bit 3 Low is True 15 INIT/ Input Reset PMAC Low is Reset, Equiv to $$$ 16 HWCA Input Handwheel Enc. A Channel 5V TTL SQ. pulse must use E23

(CHA2) 17 IPLD/ Output In Position Ind. (C.S.) Low lights LED 18 BRLD/ Output Buffer Request Ind. Low lights LED 19 ERLD/ Output Fatal Follow Err (C.S.) Low lights LED 20 WIPER Input Feed Pot Wiper 0 to +10V input must use E72,

E73 (CHA4) 21 (SPARE) N.C. 22 HWCB Input Handwheel Enc. B Channel 5V TTL SQ. pulse must use E22

(CHB2) 23 F1LD/ Output Warn Follow Err (C.S.) Low lights LED 24 F2LD/ Output Watchdog Timer Low lights LED 25 +5V Output +5V Power For remote travel 26 GND Common PMAC Common

The JPAN connector can be used to connect the Accessory 16 (Control Panel), or customer-provided I/O, to the PMAC, providing manual control of PMAC functions via simple toggle switches. If the automatic control panel input functions are disabled (I2=1), the inputs become general-purpose TTL inputs, and the coordinate system (C.S.) specific outputs pertain to the host-addressed coordinate system.

J3 JTHW Connector (26-Pin Connector)

Front View

Pin # Symbol Function Description Notes

1 GND Common PMAC Common 2 GND Common PMAC Common 3 DAT0 Input Data-0 Input Data input from thumbwheel switches 4 SEL0 Output Select-0 Output Scanner output for reading TW switches 5 DAT1 Input Data-1 Input Data input from thumbwheel switches 6 SEL1 Output Select-1 Input Scanner output for reading TW switches 7 DAT2 Input Data-2 Input Data input from thumbwheel switches 8 SEL2 Output Select-2 Output Scanner output for reading TW switches 9 DAT3 Input Data-3 Input Data input from thumbwheel switches

10 SEL3 Output Select-3 Output Scanner output for reading TW switches 11 DAT4 Input Data-4 Input Data input from thumbwheel switches 12 SEL4 Output Select-4 Output Scanner output for reading TW switches 13 DAT5 Input Data-5 Input Data input from thumbwheel switches 14 SEL5 Output Select-5 Output Scanner output for reading TW switches 15 DAT6 Input Data-6 Input Data input from thumbwheel switches 16 SEL6 Output Select-6 Output Scanner output for reading TW switches 17 DAT7 Input Data-7 Input Data input from thumbwheel switches 18 SEL7 Output Select-7 Output Scanner output for reading TW switches 19 N.C. N.C. No Connection 20 GND Common PMAC Common 21 BRLD/ Output Buffer Request Low is "Buffer Request 22 GND Common PMAC Common 23 IPLD/ Output In Position Low is In Position 24 GND Common PMAC Common 25 +5V Output +5VDC Supply Power supply out

26 INIT/ Input PMAC Reset Low is Reset The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels. While these I/O can be used in un-multiplexed form for 16 discrete I/O points, most users will utilize PMAC software and accessories to use this port in multiplexed form to greatly multiply the number of I/O that can be accessed on this port. In multiplexed form, some of the SELn outputs are used to select which of the multiplexed I/O are to be accessed.

See also: I/O and Memory Map Y:$FFC1 Suggested M-variables M40 - M58 M-variable formats TWB, TWD, TWR, TWS Acc-8D Opt 7, Acc-8D Opt 9, Acc-18, Acc-34x, NC Control Panel

PMAC VME Connector Pinouts 21

PMAC VME Hardware Reference Manual

J4 JRS422 (26-Pin Connector)

Front View

Pin # Symbol Function Description Notes

1 CHASSI Common PMAC Common 2 S+5V Output +5VDC Supply Deactivated by E8 3 RD- Input Receive Data Diff. I/O low true ** 4 RD+ Input Receive Data Diff. I/O high true * 5 SD- Output Send Data Diff. I/O low true ** 6 SD+ Output Send Data Diff. I/O high true * 7 CS+ Input Clear to Send Diff. I/O high true ** 8 CS- Input Clear to Send Diff. I/O low true *

9 RS+ Output Request to Send Diff. I/O high true ** 10 RS- Output Request to Send Diff. I/O low true * 11 DTR Bidirectional Data Terminal Ready Tied to DSR 12 INIT/ Input PMAC Reset Low is Reset 13 GND Common PMAC Common Low is Reset 14 DSR Bidirectional Data Set Ready Tied to DSR 15 SDIO- Bidirectional Special DATA Diff. I/O low true 16 SDIO+ Bidirectional Special Data Diff. I/O high true 17 SCIO- Bidirectional Special CTRL. Diff. I/O low true 18 SCIO+ Bidirectional Special CTRL. Diff. I/O high true 19 SCK- Bidirectional Special Clock Diff. I/O low true 20 SCK+ Bidirectional Special Clock Diff. I/O high true 21 SERVO- Bidirectional Servo Clock Diff. I/O low true *** 22 SERVO+ Bidirectional Servo Clock Diff. I/O high true *** 23 PHASE- Bidirectional Phase Clock Diff. I/O low true *** 24 PHASE+ Bidirectional Phase Clock Diff. I/O high true *** 25 GND Common PMAC Common 26 +5V Output +5VDC Supply Power supply out

The JRS422 connector provides the PMAC with the ability to communicate both in RS422 and RS232. In addition, this connector is used to daisy chain interconnect multiple PMACs for synchronized operation.

* Note: Required for communications to an RS-422 host port ** Note: Required for communications to an RS-422 or RS-232 host port *** Note: Output on card @0; input on other cards. These pins are for synchronizing multiple PMACs together

by sharing their phasing and servo clocks. The PMAC designated as card 0 (@0) by its jumpers E40-E43 outputs its clock signals. Other PMACs designated as cards 1-15 (@1-@F) by their jumpers E40-E43 take these signals as inputs. If synchronization is desired, these lines should be connected even if serial communications is not used.

See Also: Serial Communications Synchronizing PMAC to other PMACs

22 PMAC VME Connector Pinouts

PMAC VME Hardware Reference Manual

J5 JOPT (34-Pin Connector)

Front View

Pin # Symbol Function Description Notes

1 MI8 Input Machine Input 8 Low is true 2 GND Common PMAC Common 3 MI7 Input Machine Input 7 Low is true 4 GND Common PMAC Common 5 MI6 Input Machine Input 6 Low is true 6 GND Common PMAC Common 7 MI5 Input Machine Input 5 Low is true 8 GND Common PMAC Common

9 MI4 Input Machine Input 4 Low is true 10 GND Common PMAC Common 11 MI3 Input Machine Input 3 Low is true 12 GND Common PMAC Common 13 MI2 Input Machine Input 2 Low is true 14 GND Common PMAC Common 15 MI1 Input Machine Input 1 Low is true 16 GND Common PMAC Common 17 MO8 Output Machine Output 8 If sinking output, low is true. If source output,

high is true. 18 GND Common PMAC Common 19 MO7 Output Machine Output 7 " " 20 GND Common PMAC Common 21 MO6 Output Machine Output 6 " " 22 GND Common PMAC Common 23 MO5 Output Machine Output 5 " " 24 GND Common PMAC Common 25 MO4 Output Machine Output 4 " " 26 GND Common PMAC Common 27 MO3 Output Machine Output 3 " " 28 GND Common PMAC Common 29 MO2 Output Machine Output 2 " " 30 GND Common PMAC Common 31 MO1 Output Machine Output 1 " " 32 GND Common PMAC Common 33 +V Input/Output +V Power I/O +V = +5V to +24V

+5V out from PMAC, +5 to +24V in from

external source, diode isolation from PMAC 34 GND Common PMAC Common

This connector provides means for eight general-purpose inputs and eight general-purpose outputs. Inputs and outputs may be configured to accept or provide either +5V or +24V signals. Outputs can be made sourcing with an IC (U11 to UDN2981) and jumper (E1 & E2) change. E7 controls whether the inputs are pulled up or down internally.

PMAC VME Connector Pinouts 23

PMAC VME Hardware Reference Manual

J6 JXI0 (10-Pin Connector)

Front View

Pin # Symbol Function Description Notes

1 CHA1 Input Enc. A Ch. Pos. Axis #1 for resolver 2 CHB1 Input Enc. B Ch. Pos. Axis #1 for resolver 3 CHC1 Input Enc. C Ch. Pos. Axis #1 for resolver 4 CHA3 Input Enc. A Ch. Pos. Axis #3 for resolver 5 CHB3 Input Enc. B Ch. Pos. Axis #3 for resolver 6 CHC3 Input Enc. C Ch. Pos. Axis #3 for resolver 7 E63 Input Interrupt IR4 Interrupt from expansion board 8 E59 Input Interrupt IR5 Interrupt from expansion board 9 SCLK Output Encoder Clock Encoder sample rate

10 DCLK Output D to A, A to D Clock DAC and ADC clock for all channels

This connector is used for miscellaneous I/O functions related to expansion cards which are used with PMAC.

J7 JEQU (10-Pin Connector)

Front View

Pin # Symbol Function Description Notes

1 EQU1 Output Enc. 1 Compare-Equ Low is true 2 EQU2 Output Enc. 2 Compare-Equ Low is true 3 EQU3 Output Enc. 3 Compare-Equ Low is true 4 EQU4 Output Enc. 4 Compare-Equ Low is true 5 EQU5 Output Enc. 5 Compare-Equ Low is true 6 EQU6 Output Enc. 6 Compare-Equ Low is true 7 EQU7 Output Enc. 7 Compare-Equ Low is true 8 EQU8 Output Enc. 8 Compare-Equ Low is true 9 +V Supply Positive Supply +5V to +24V

10 GND Common Digital Ground This connector provides the positive compare outputs for the eight encoder channe ls. Refer to jumpers E93 and E94 for proper configuration of this Output (for sourcing or sinking type outputs).

J8 JS1 (16-Pin Header)

Front View

Pin # Symbol Function Description Notes

1 DCLK Output D to A, A to D Clock DAC and ADC Clock for Chan 1, 2, 3, 4

2 BDATA1 Output D to A Data DAC data for Chan 1, 2, 3, 4

3 ASEL0/ Output Channel Select Bit 0 Select for Chan 1, 2, 3, 4

4 ASEL1/ Output Channel Select Bit 1 Select for Chan 1, 2, 3, 4

5 CNVRT01 Output A to D Convert ADC convert sig chan 1, 2, 3, 4

6 ADCIN1 Input A to D Data ADC data for Chan 1, 2, 3, 4

7 OUT1/ Output Amp Enable/Dir Amp Enable/Dir. for Chan 1

8 OUT2/ Output Amp Enable/Dir Amp Enable/Dir. for Chan 2

9 OUT3/ Output Amp Enable/Dir Amp Enable/Dir. for Chan 3

10 OUT4/ Output Amp Enable/Dir Amp Enable/Dir. for Chan 4 11 HF41 Input Amp Fault Amp fault input for Chan 1 12 HF42 Input Amp Fault Amp fault input for Chan 2 13 HF43 Input Amp Fault Amp fault input for Chan 3 14 HF44 Input Amp Fault Amp fault input for Chan 4 15 +5V Output +5V Supply Power supply out 16 GND Common PMAC Common

Miscellaneous I/O

24 PMAC VME Connector Pinouts

PMAC VME Hardware Reference Manual

P1 JVME (96-Pin Header)

Front View

Pin # Row A Signal Mnemonic Row B Signal Mnemonic Row A Signal Mnemonic

01 D00 BBSY/ D08 02 D01 BCLR/ D09 03 D02 ACFAIL/ D10 04 D03 B0IN/ D11 05 D04 BG0OUT/ D12 06 D05 BG1IN/ D13 07 D06 BG1OUT/ D14 08 D07 BG2IN/ D15 09 GND BG2OUT/ GND 10 SYSCLK BG3IN/ SYSFAIL/ 11 GND BG3OUT/ BERR/ 12 DS1/ BR0/ SYSRESET/ 13 DS0/ BR1/ LWORD/ 14 WRITE/ BR2/ AM5 15 GND BR3/ A23 16 DTACK/ AM0 A22 17 GND AM1 A21 18 AS/ AM2 A20 19 GND AM3 A19 20 IACK/ GND A18 21 IACKIN/ SERCLK A17 22 IACKOUT/ SERDAT/ A16 23 AM4 GND A15 24 A07 IRQ7/ A14 25 A06 IRQ6/ A13 26 A05 IRQ5/ A12 27 A04 IRQ4/ A11 28 A03 IRQ3/ A10 29 A02 IRQ2/ A09 30 A01 IRQ1/ A08 31 -12V +5V STDBY +12V

32 +5V +5V +5V This is the standard VME connector. It is sufficient for 16-bit or 24-bit addressing, and for 8-bit or 16-bit data. For 32-bit addressing the B-row of P2 must be used as well. PMAC does not support 32-bit data transfers over the bus, even with the B-row of P2.

If P1 is connected to the VME backplane, PMAC is connected to the +5V supply and GND automatically. In this case, no other +5V supply should be connected.

If desired, the +12V and -12V power supplies of the VME bus could be used to provide power to the Optoisolated outputs of PMAC VME using jumpers E85, E87, and E88, with the resultant loss of optical isolation between the PMAC VME and the Amplifier/Power section.

PMAC VME Connector Pinouts 25

PMAC VME Hardware Reference Manual

P2 JMACH1 (96-Pin Header)

Front View

Pin # Symbol Function Description Notes

A01 +5V Output +5V Power 1 A02 GND Common Digital Common A03 CHC4 Input Encoder C CH. Pos. 2 A04 CHC4/ Input Encoder C CH. Neg. 2,3 A05 CHB4 Input Encoder B CH. Pos. 2 A06 CHB4/ Input Encoder B CH. Neg. 2, 3 A07 CHA4 Input Encoder A CH. Pos. 2 A08 CHA4/ Input Encoder A CH. Neg. 2, 3 A09 CHC2 Input Encoder C CH. Pos. 2 A10 CHC2/ Input Encoder C CH. Neg. 2, 3 A11 CHB2 Input Encoder B CH. Pos. 2 A12 CHB2/ Input Encoder B CH. Neg. 2, 3 A13 CHA2 Input Encoder A CH. Pos. 2 A14 CHA2/ Input Encoder A CH. Neg. 2, 3 A15 DAC4 Output Analog Out Pos. 4 4 A16 DAC4/ Output Analog Out Neg. 4 4, 5 A17 AENA4/DIR4 Output Amp-Ena/Di r 4 6 A18 FAULT4 Input Amp-Fault 4 7 A19 +LIM4 Input Neg. End Limit 4 8, 9 A20 -LIM4 Input Pos. End Limit 4 8, 9 A21 HMFL4 Input HOME-FLAG 4 10 A22 DAC2 Output Analog Out Pos. 2 4 A23 DAC2/ Output Analog Out Neg. 2 4, 5 A24 AENA2/DIR2 Output Amp-Ena/Di r 2 6 A25 FAULT2 Input Amp-Fault 2 7 A26 +LIM2 Input Neg. End Limit 2 8, 9 A27 -LIM2 Input Pos. End Limit 2 8, 9 A28 HMFL2 Input Home Flag 2 10 A29 AGND Common Analog Common A30 A-15V Input Analog -15V Supply A31 GND Common Digital Common A32 +5V Output +5V Power 1 C01 +5V Output +5V Power 1 C02 GND Common Digital Common C03 CHC3 Input Encoder C Ch. Pos. 2 C04 CHC3/ Input Encoder C Ch. Neg. 2,3 C05 CHB3 Input Encoder B Ch. Pos. 2 C06 CHB3/ Input Encoder B Ch. Neg. 2, 3 C07 CHA3 Input Encoder A Ch. Pos. 2 C08 CHA3/ Input Encoder A Ch. Neg. 2, 3 C09 CHC1 Input Encoder C Ch. Pos. 2 C10 CHC1/ Input Encoder C Ch. Neg. 2, 3

26 PMAC VME Connector Pinouts

PMAC VME Hardware Reference Manual

P2 JMACH1 (96-Pin Header) Continued

Front View

Pin # Symbol Function Description Notes

C11 CHB1 Input Encoder B Ch. Pos. 2 C12 CHB1/ Input Encoder B Ch. Neg. 2, 3 C13 CHA1 Input Encoder A Ch. Pos. 2 C14 CHA1/ Input Encoder A Ch. Neg. 2, 3 C15 DAC3 Output Analog out Pos. 3 4 C16 DAC3/ Output Analog out Neg. 3 4, 5 C17 AENA3/DIR3 Output Amp-Ena/Dir. 3 6 C18 FAULT3 Input Amp-Fault 3 7 C19 +LIM3 Input Neg. End Limit 3 8, 9 C20 -LIM3 Input Pos. End Limit 3 8, 9 C21 HMFL3 Input Home-Flag 3 10 C22 DAC1 Output Analog out Pos. 1 4 C23 DAC1/ Output Analog out Neg. 1 4, 5 C24 AENA1/DIR1 Output Amp-Ena/Dir. 1 6 C25 FAULT1 Input Amp-Fault 1 7 C26 +LIM1 Input Neg. End Limit 1 8, 9 C27 -LIM1 Input Pos. End Limit 1 8, 9 C28 HMFL1 Input Home-Flag 1 10 C29 FEFCO/ Output C30 A+15V Input

FE/Watchdog Output Analog +15V Supply

C31 GND Common Digital Common

C32 +5V Output +5V Power 1 The P2 connector is used to connect the PMAC to the first four channels (Channels 1, 2, 3, and 4) of servo amps, flags, and encoders.

Note 1: In standalone applications, these lines can be used as +5V power supply inputs to power PMAC’s digital circuitry. However, if a terminal block is available on your version of PMAC, it is preferable to bring the +5V power in through the terminal block.

Note 2: Referenced to digital common (GND). Maximum of +

12V permitted between this signal and its

complement. Note 3: Leave this input floating if not used (i.e. digital single-ended encoders). In this case, jumper (E18 - 21, E24

- 27) for channel should hold input at 2.5V. Note 4: +

10V, 10mA max, referenced to analog common (AGND).

Note 5: Leave floating if not used; do not tie to AGND. In this case, AGND is the return line. Note 6: Functional polarity controlled by j u mper(s) E17. Choice between AENA and DIR use contro l l e d by Ix 0 2

and Ix25. Note 7: Functional polarity controlled by variable Ix25. Must be conducting to 0V (usually AGND) to produce a

'0' in PMAC software. Automatic fault function can be disabled with Ix25. Note 8: Pins marked -LIMn should be connected to switches at the positive end of travel. Pins marked +LIMn

should be connected to switches at the negative end of travel. Note 9: Must be conducting to 0V (usually AGND) for PMAC to consider itself not into this limit. Automatic limit

function can be disabled with Ix25. Note 10: Functional polarity for homing or other trigger use of HMFLn c ontrolled by Encoder/Flag Vari abl e 2

(I902, I907, etc.) HMFLn selected for trigger by Encoder/Flag Variable 3 (I903, I908, etc.). Must be conducting to 0V (usually AGND) to produce a 0 in PMAC software.

PMAC VME Connector Pinouts 27

PMAC VME Hardware Reference Manual

J1 JS2 (16-Pin Header on Option 1A)

(Labeled J9 of OPT-3 front panel)

Front View

Pin # Symbol Function Description Notes

1 DCLK Output D to A, A to D Clock DAC and ADC Clock for Chan. 5, 6, 7, 8 2 BDATA2 Output D to A Data DAC Data for Chan. 5, 6, 7, 8 3 ASEL2/ Output Chan. Select Bit 2 Select for Chan. 5, 6, 7, 8 4 ASEL3/ Output Chan. Select Bit 3 Select for Chan. 5, 6, 7, 8 5 CNVRT23 Output A to D Convert ADC Convert Sig. Chan. 5, 6, 7, 8 6 ADCIN2 Input A to D Data ADC data for Chan. 5, 6, 7, 8 7 OUT5/ Output Amp. Enable/Dir Amp/Enable/Dir for Chan. 5 8 OUT6/ Output Amp. Enable/Dir Amp/Enable/Dir for Chan. 5

9 OUT7/ Output Amp. Enable/Dir Amp/Enable/Dir for Chan. 5 10 OUT8/ Output Amp. Enable/Dir Amp/Enable/Dir for Chan. 5 11 HF45 Input Amp. Fault Amp fault input for Chan. 5 12 HF46 Input Amp. Fault Amp fault input for Chan. 6 13 HF47 Input Amp. Fault Amp fault input for Chan. 7 14 HF48 Input Amp. Fault Amp fault input for Chan. 8 15 +5V Output +5V Supply Power supply out 16 GND Common PMAC Common

Miscellaneous I/O.

P2A JMACH2 (96-Pin Header on Option 1A)

Pin # Symbol Function Description Notes

A01 +5V Output +5V Power 1 A02 GND Common PMAC Common A03 CHC8 Input Encoder C Chan. Pos. 2 A04 CHC8/ Input Encoder C Chan. Neg. 2,3 A05 CHB8 Input Encoder B Chan. Pos. 2 A06 CHB8/ Input Encoder B Chan. Neg. 2, 3 A07 CHA8 Input Encoder A Chan. Pos. 2 A08 CHA8/ Input Encoder A Chan. Neg. 2, 3 A09 CHC6 Input Encoder C Chan. Pos. 2 A10 CHC6/ Input Encoder C Chan. Neg. 2, 3 A11 CHB6 Input Encoder B Chan. Pos. 2 A12 CHB6/ Input Encoder B Chan. Neg. 2, 3 A13 CHA6 Input Encoder A Chan. Pos. 2 A14 CHA6/ Input Encoder A Chan. Neg. 2, 3 A15 DAC8 Output Analog Out Pos. 8 4 A16 DAC8/ Output Analog Out Neg. 8 4, 5 A17 AENA8/DIR8 Output Amp-Ena/Dir. 8 6 A18 FAULT8 Input Amp-Fault 8 7 A19 +LIM8 Input Neg. End Limit 8 8, 9 A20 -LIM8 Input Pos. End limit 8 8, 9 A21 HMFL8 Input Home-Flag 8 10 A22 DAC6 Output Analog Out Pos. 6 4 A23 DAC6/ Output Analog Out Neg. 6 4, 5 A24 AENA6/DIR6 Output Amp-Ena/Dir. 6 6 A25 FAULT6 Input Amp-Fault 6 7

Front View

28 PMAC VME Connector Pinouts

PMAC VME Hardware Reference Manual

P2A JMACH2 (96-Pin Header on Option 1A) Continued

A26 +LIM6 Input Neg. End Limit 6 8, 9 A27 -LIM6 Input Pos. End Limit 6 8, 9 A28 HMFL6 Input Home-Flag 6 10 A29 AGND Common Analog Common A30 A-15V Input Analog -15V Supply A31 GND Common Digital Common A32 +5V Output +5V Power 1

Front View

P2A JMACH2 (96-Pin Header on Option 1A)

Front View

Pin # Symbol Function Description Notes

C01 +5V Output +5V Power 1 C02 GND Common Digital Common C03 CHC7 Input Encoder C Channel Positive 2 C04 CHC7/ Input Encoder C Channel Negative 2,3 C05 CHB7 Input Encoder B Channe l Positive 2 C06 CHB7/ Input Encoder B Channel Negative 2, 3 C07 CHA7 Input Encoder A Channel Positive 2 C08 CHA7/ Input Encoder Channel Negative 2, 3 C09 CHC5 Input Encoder C Channe l Positive 2 C10 CHC5/ Input Encoder C Channel Negative 2, 3 C11 CHB5 Input Encoder B Channe l Positive 2 C12 CHB5/ Input Encoder B Channel Negative 2, 3 C13 CHA5 Input Encoder A Channel Positive 2 C14 CHA5/ Input Encoder A Channel Negative 2, 3 C15 DAC7 Output Analog Out Positive 7 4 C16 DAC7/ Output Analog Out Negative 7 4, 5 C17 AENA7/DIR7 Output Amp-Ena/Dir. 7 6 C18 FAULT7 Input Amp-Fault 7 7 C19 +LIM7 Input Neg. End Limit 7 8, 9 C20 -LIM7 Input Pos. End Limit 7 8, 9 C21 HMFL7 Input Home-Flag 7 10 C22 DAC5 Output Analog Out Positive 5 4 C23 DAC5/ Output Analog Out Negative 5 4, 5 C24 AENA5/DIR5 Output Amp-Ena/Dir. 5 6 C25 FAULT5 Input Amp-Fault 5 7 C26 +LIM5 Input Neg. End Limit 5 8, 9 C27 -LIM5 Input Pos. End Limit 5 8, 9 C28 HMFL5 Input Home-Flag 5 10 C29 ORST/ Output Reset Output C30 A+15V Input C31 GND Common Digital Common C32 +5V Output +5V Power 1

Analog +15V Supply

PMAC VME Connector Pinouts 29

PMAC VME Hardware Reference Manual

P2A JMACH2 (96-Pin Header on Option 1A)

Front View

The P2A connector is used to connect PMAC to the first four channels (Channels 1, 2, 3, and 4) of servo amps, flags, and encoders.

Note 2: Referenced to digital common (GND). Maximum of + complement.

Note 3: Leave this input floating if not used (i.e. digital single-ended encoders). In this case, jumper (E18 - 21, E24 -

27) for channel should hold input at 2.5V. Note 4: +

10V, 10mA max, referenced to analog common (AGND).

Note 5: Leave floating if not used; do not tie to AGND. In this case, AGND is the return line. Note 6: Functional polarity controlled by ju mper(s) E17. Choice between AENA and DIR use contro l l e d by Ix0 2 a n d

Ix25. Note 7: Functional polarity controlled by variable Ix25. Must be conducting to 0V (usually AGND) to produce a 0 in

PMAC software. Automatic fault function can be disabled with Ix25. Note 8: Pins marked -LIMn should be connected to switches at the positive end of travel. Pins marked +LIMn should

be connected to switches at the negative end of travel. Note 9: Must be conducting to 0V (usually AGND) for PMAC to consider itself not into this limit. Automatic limit

function can be disabled with Ix25. Note 10: Functional polarity for homing or other trigger use of HMFLn c ontrolled by Encoder/Flag Vari abl e 2 (I 90 2,

I907, etc.) HMFLn selected for trigger by Encoder/Flag Variable 3 (I903, I908, etc.). Must be conducting to 0V (usually AGND) to produce a '0' in PMAC software.

12V permitted between this signal and its

30 PMAC VME Connector Pinouts

PMAC VME Hardware Reference Manual

PMAC BASIC SPECIFICATIONS

Physical Specifications

Size

Weight Temperature

Humidity

33.5cm x 9.9cm x 3.8cm (13.2" x 3.9" x 1.4") PMAC PC

33.5cm x 12.0cm x 1.3cm (13.2" x 4.7" x 0.5") PM AC Li t e

23.4cm x 16.0cm x 3.8cm (9.2" x 6.3" x 1.4") PMAC VME

15.6cm x 11.4cm x 3.2/4.8cm (6.1" x 4.4" x 1.2/1.8") PMAC STD

0.5-0.7 kg (1.1-1.5 lb) Operating: 0oC to 60oC (32oF to 140oF)

Storage: -12oC to 82oC (10oF to 180oF) 10% to 95%, non-condensing

Electrical Specifications

Power

Battery

1.5A @ +5V (+/-5%) (7.5W)

0.3A @ +12 to +15V (4.5W)

0.25A @ -12 to -15V (3.8W) (Eight-channel configuration, with a typical load of encoders) Not applicable to PMACs with Options 4A, 5A, or 5B

3.6V Lithium Cell, 1000 mAh, Can Stack Or 3.0V Lithium Cell, 1200 mAh, 2/3Asize, no tabs (old style) Expected battery life: 10 years (standard), 9 months (Opt 5) Recommended replacement: 24 months (standard), 3-6 months (Opt 5)

Memory Specifications

ROM Flash

RAM

EAROM

(Standard, Option 5 only) 128 KBytes EPROM firmware for master control program (Option 4A, 5A, 5B only): 512 KBytes segmented flash memory for both firmware and user program/parameter storage. 384 KBytes Static (128K 24-bit words) for active memory; Battery-backed (standard, Option 5) Savable to flash memory (Option 4A, 5A , 5 B ) One wait state (standard); zero wait states (Option 4A, 5, 5A, 5B) User program storage: 42K 48-bit words = 252KBytes; ('X1000 Y1000' is 2 words) 2KBytes EEPROM non-volatile memory for setup parameter storage (used only with battery-backed RAM boards; not used even if present on flash-mem ory bo a rds )

CPU Specifications

Type Clock Speed

Architecture

PMAC Basic Specifications 31

Motorola DSP56002 (Option 4A, 5A, 5B) Motorola DSP56001

19.6608 MHz ("20 MHz": Standard, Option 4A)

39.3216 MHz ("40 MHz": Option 5A)

58.9824 MHz ("60 MHz": Option 5B) Harvard Architecture Dual (X and Y) internal 24-bit data buses Single external 24-bit data bus Separate 24-bit internal program bus 56-bit data accumulator

PMAC VME Hardware Reference Manual

Performance Specifications

Servo Cycle Time

Servo Algorithm Standard

Optional (OPT 6) Phasing Update Time

Phasing Algorithm

Block Execution Rate

Velocity Range Commanded Velocity Measured Velocity

Velocity Accuracy Long-term

Short-term Position Range

Position Accuracy

Position Capture Accuracy Position Compare Accuracy

Synchronization

Minimum of 55 microseconds per axis controlled (110 usec for two axes; 440 usec for eight axes) for 20 MHz CPU; proportionally less with faster CPUs. Actual time can be set with hardware jumpers.

PID with velocity and acceleration feedforward plus 2nd-order notch filter; all gains with 24-bit resolution. Auto-tunable through PMAC Executive program. Capability to accept custom servo algorithms written in DSP56000 assembly language. Advanced 7th-order pole-placement algorithm; 35 terms Auto-tunable through Servo Evaluation Package software for IBM-PC and compatibles. Minimum of 27 microseconds (1 axis); Minimum of 110 microseconds (8 axes) for 20 MHz CPU; proportionally less with faster CPUs. Actual time can be set with hardware jumpers. Suitable for permanent magnet brushless motors, AC induction motors, switched reluctance servo motors, micro-stepped stepping motors. 2, 3, or 4-phase motors, Y-wound, delta-wound, or electrically independent phases. Capability to accept custom phase algorithms written in DSP56000 assembly language. Up to 200 to 800 blocks (moves) per second (dependent on number of axes, servo cycle time, CPU speed, and program complexity) for 20 MHz CPU; proportionally greater with faster CPUs. Higher rates possible with careful optimization.

0, +/-0.0001 to 256M (268,435,456) counts/second Dependent on type of feedback used.

Quadrature Feedback:

0 to 19,660, 800-encoder counts/second (edge rate) (slight hardware

modification required on PMAC PC to exceed 9,830,400 encoder counts/second).

0 to 30,000,000 encoder counts per second with externally provided encoder

sample clock.

Parallel Feedback:

For N-bit feedback word, 2^(N-1)-1 counts/servo cycle

0.005% absolute accuracy with standard crystal; 0.001% absolute accuracy with optional crystal (OPT 8) System-dependent; typically 0.2% to 1.0%

+/-128 trillion counts maximum (no sub-count interpolation, minimum position scale factor) +/-32 billion counts typical (sub-count interpolation, default position scale factor) +/- 1 count; Sub-count interpolation possible with automatic 1/T decoding of incremental encoder signal, or with parallel input lines from A/D converter processing analog signal from which quadrature is derived. +/- 1 count at any speed

(Signal output on reaching preset position) +/- 1 count at any speed Up to 1000 Hz repetition rate Axes in the same coordinate system on one PMAC are perfectly synchronized (to the servo cycle); Axes in different coordinate systems on one PMAC can be synchronized to within +/-2 msec; Coordinate systems on separate PMACs sharing same SYNC signal can be synchronized to +/-1 servo cycle.

32 PMAC Basic Specifications

PMAC VME Hardware Reference Manual

I/O Specifications

Position Feedback Quadrature Encoders

Absolute Encoders

Resolvers

Analog Outputs

On-Board Analog Input

Accessory Analog Inputs (Thru Accessory 28 Analog-to-Digital Converter Board) (Thru Accessory 36 Analog-to-Digital Converter Board)

Dedicated Axis Digital Inputs

Dedicated Axis Digital Outputs Amplifier Enable

Position Compare

(JMACH1, JMACH2) (Also Acc-24 JMACH3, JMACH4) 4 (standard) to 16 (depending on options) digital quadrature incremental encoders.

5V TTL or CMOS levels; single-ended or differential. Sockets provided for termination resist o r packs. Input rate: DC to 19.66 MHz (count rate). X1, X2, X4 decoding, or pulse and direction . Digital delay filter for removing noise spikes. 3rd channel input available for position capture. Unused counters available as timers. (Thru Accessory-14D I/O Expansion card) (Or other binary parallel-word position data source) Up to 12 absolute parallel encoders of 24 bits or less or up to six absolute parallel encoders of over 24 bits (limit of 6 Acc-14D cards of 48 bits each); straight binary; 5V, single-ended. (Thru Accessory-8D, Option 7 Resolver-to-Digital Converter card, two or four resolvers per accessory card). 12-bit resolution; absolute position data read on power-up or reset; thereafter, simulated quadrature signal is read through incremental encoder input. (JMACH1, JMACH2) (Also Acc-24 JMACH3, JMACH4) four (standard) to 16 (depending on options) outputs of +/-10V; 16-bit resolution (300 uV/bit), optically isolated; Standard use is for servo output; one per axis if PMAC is not commutating axis; two per axis if PMAC is commutating axis; uncommitted analog outputs may be used for other purpose s. (JPAN - requires Option 15) 1 input, 0 to +10V, converted to frequency at 25 kHz/V (On PMAC Lite +/-10V, converted to sign and frequency) Can be jumpered to Encoder 4 counter; time-base conversion of counter yields 24-bit register value proportional to voltage. Effective A/D resolution of 10 bits.

4 to 16 (depending on number) inputs of +/-10V; 16-bit resolution; single-ended or differential inputs. Conversion time less than 50 usec, all inputs.

8 or 16 inputs of 0 to 10V or +/-5V 12-bit resol uti o n per board; single-ended or differential inputs. Effective conversion time 1 phasing cycle per channel.

(JMACH1, JMACH2) (Also Acc-24 JMACH3, JMACH4) Four dedicated digital inputs accompanying each quadrature encoder; optically isolated from PMAC digital circuits; operate from +15V voltage source. Inputs for each encoder are: +LIMIT, -LIMIT, HOME, FAULT. Uncommitted sets of inputs may be used as general-purpose optically isolated digital inputs. (JMACH1], JMACH2) (Also Acc-24 JMACH3, JMACH 4)

One dedicated digital output accompanying each quadrature encoder; optically isolated from PMAC digital circuits, operates from +15V voltage source. Serves as amplifier-enable signal or direction bit; polarity is can be set by hardware jumper (E17). Uncommitted lines may be used as general-purpose optically isolated digital outputs. One dedicated digital output accompanying each quadrature encoder; serves as position compare output providing pulse exactly when preset count value is reached. Uncommitted compare outputs may be used as general-purpose outputs by using polarity control.

PMAC Basic Specifications 33

PMAC VME Hardware Reference Manual

General-Purpose Digital Inputs

General-Purpose Digital Outputs

Serial Communications

Bus (Parallel) Communications

Dual-Ported RAM Control-Panel

Dedicated Inputs

Thumbwheel Multiplexer I/O

(JOPTO) Eight general-purpose digital inp ut s; 0-24V levels; Hardware jumper sets as normally high or normally low; Connector configured for easy hook-up to OPTO-22. Rated to 100 mA. (JOPTO) Eight general-purpose digital outputs; +5V to +24V high level (if greater than +5V, work from external voltage) Sinking (standard) or sourcing (no-cost option) configurations possible; rated to 100 mA; Connector configured for easy hook-up to OPTO-22. RS-232 serial data port (PMAC Lite or STD) Single-ended +/-6-10V levels RS-422 serial data port (PMAC PC, VME, STD, or Lite with Opt-9L); Differential 0-5V TTL levels. PMAC receivers accept standard RS-232 signals. PMAC transmitters send signals recognizable by most RS-232 receivers. (Acc-26 available for optically isolated conversion between RS-422 and RS-232 levels.) Configurable for 300 to 76,800 baud Eight bits, one start bit, one stop bit, no parity . Uses RD+, RD- (RXD/), SD+, SD- (TXD/), CS+, CS-, (CTS), RS+, RS- (RTS), and GND lines. Shorts DSR to DTR. Up to 16 cards may be daisy-chained on a single communications line with software addressing. Bus communications (8-bit wide data); ty pe of bus det ermined by version of card. For PMAC PC, Lite, or STD, on-board Programmable Interrupt Controller permits interrupting of host on excess following error, in-position, buffer request, character request, position-compare-equals, or programmatically. For PMAC VME, 16 8-bit mailbox registers for bi- di rec t i onal tra nsmission of commands and data. A16, A24, and A32 addressing modes possible. D08 data transmission used. (Option 2 Required) 8K x 16 bits of dual-p o rt e d R AM fo r PM AC PC, Lit e, or VM E Usable for binary data transmission in either direction (JPAN) 9 dedicated manual control functions on low-true 0-5V TTL inputs: RUN, STEP, ABORT, HOLD, HOME, JOG+, JOG-, PREJOG, RESET; intended for momentary toggle switches. 4 motor-/coordinate-system-select lines (BCD coded; low-true TTL) that set what the above inputs affect. 1 0-10V analog input for feedrate override cont rol (requires Option 15). 1 2-channel handwheel encoder input (TTL levels). Discrete inputs may be used as general-purpose inputs with I2=1 or with select lines at 0. Discrete outputs may be used as general-purpose outputs with select lines at 0. (JTHW) Eight TTL input lines; eight TTL output lines; Automatic firmware support for multiplexed I/O accessories: Acc-8D Opt 7 R/D converters (absolute serial data) Acc-8D Opt 9 Yaskawa encoder interface (absolute serial) Acc-18 Thumbwheel Board Acc-34 Family of I/O Boards Up to 16 of these boards may be multiplexed on the port. Port may also be used as non-multiplexed general-purpose I/O.

34 PMAC Basic Specifications

PMAC VME Hardware Reference Manual

Display Outputs Expansion Digital I/O

Connector to standard 2x24 or 2x40 character alpha-numeric liquid-crystal or vacuum fluorescent display. JEXP connector provides access to up to six Accessory 14 I/O Expansion cards with 48 bits each of digital I/O, configurable to inputs or outputs by byte, configurable to high-voltage level by 24-bit word; sinking or sourcing av ailable with +5 to +24V high levels, totem-pole +5V outputs available.

Software Specifications

Constants

Variables

Operators

Comparators

Functions Motion Program

Language

PLC Program Language

Specifiable in hexadecimal (with $ prefix) or decimal (without prefix); range depends on use, but can be up to full range of 48-bit floating-point range (36-bit mantissa, 12bit exponent). 1024 I-Variables of pre-defined meaning for initialization and setup (gains, limits, modes, etc.). 1024 P-Variables: general-purpose user variables; 48-bit floating-point (36-bit mantissa, 12-bit exponent) format, global meaning. 1024 Q-Variables: general-purpose user variables; 48-bit floating-point (36-bit mantissa, 12-bit exponent) format, local to a coordinate system. 1024 M-Variables: pointers to locations in PMAC’s memory and I/O space; userdefined address, offset, bit-width, decode. 1-48 bit, fixed and floating point. For compiled PLC programs only: 1024 L-Variables pointers to locations in PMAC's memory and I/O space, 1-24 bit integer values only. For use in user programs: + (add), - (subtract), * (multiply), / (divide), % (modulo), & (bit-by-bit AND), | (bit-by-bit OR), ^ (bit-by-bit XOR). For use in conditional statements in programs: = (equal to), != (not equal to), > (greater than), !> (not greater than), < (less than), !< (not less than), ~ (approximately equal to), !~ (not approximately equal to). For use in user programs: SIN, COS, TAN, ASIN, ACOS, ATAN, ATAN2, LN, EXP, ABS, SQRT, INT Custom language; incorporates features of BASIC-type high-level languages (computation, IF, WHILE, GOTO, GOSUB, CAL L) a n d m achi ne to ol l a ng uages (RS-274 G-Codes). User-definable G-, M-, T-, an d D-codes. 256 separate motion programs may be stored at once. Custom language for constantly re-circulating background program; much like BASIC-type high-level languages. 32 separate interpreted PLC programs and 32 separate compiled PLC programs may be stored at once.

PMAC Basic Specifications 35

PMAC VME Hardware Reference Manual

Options

Option 0 Option 1

Option 2

Option 3 Option 4A

Option 5A

Option 5B

Option 5C

Option 6

Option 7 Option 8 Option 9L

Option 10 Option 14

Option 15

For PMAC VME only, reduces cost for standalone applications by removing the special interface chip used to communicate with the VMEbus. Additional four channels each of: quadratur e enc oders, analog (DAC) outputs, analog inputs (serial digital data from Acc-23 or Acc-28) for eight channels each on a PMAC. On PMAC VME or PMAC STD, this option is a piggyback board. On PMAC PC, this option is extra ICs on the baseboard. This option is not available for PMAC Lite. 8Kx16 Dual-ported RAM: for high-speed repetitious co mmun ication of data. On PMAC VME, this option is extra ICs on the baseboard. On PMAC PC and Lite, this option is a separate half-size board. This option is not available for PMAC STD. For PMAC VME, enhanced front plate that provides more connectors for auxiliary I/O on the front plate. Optional CPU section with 20 MHz CPU, 128K x 24 bit zero-wait-state Static RAM, 4 Mbit flash ROM for firmware and user prog ram storage (no battery), on-board buffers for expansion port. Provides approximately 25% computational speed increase over base version. Standard on all PMAC Packs purchased after July 1, 1995. Optional CPU section with 40 MHz CPU, 128K x 24 bit zero-wait-state Static RAM, 4 Mbit flash ROM for firmware and user prog ram storage (no battery), on-board buffers for expansion port. Provides approximately 125% computational speed increase over base version. Optional CPU section with 60 MHz CPU, 128K x 24 bit zero-wait-state Static RAM, 4 Mbit flash ROM for firmware and user prog ram storage (no battery), on-board buffers for expansion port. Provides approximately 250% computational speed increase over base version. Optional CPU section with 80 MHz CPU, 128K x 24 bit zero-wait-state Static RAM, 4 Mbit flash ROM for firmware and user prog ram storage (no battery), on-board buffers for expansion port. Provides approximately 375% computational speed increase over base version. Extended (Pole-Placement) Servo Algorithm: Firmware option for servo filter more sophisticated than standard PID; to be used with difficult-to-control systems (resonances, backlash, friction, disturbances, changing dynamics). Requires one-time purchase of Acc-25A or Acc-25B. Mounting plate for PMAC PC (Opt-7) or PMAC VME (Opt-7V) to provide supp ort in standalone applications. Super-high accuracy clock crystal (<10 ppm) for long-term velocity accuracy. Available for all CPU Options (standard, 4A, 5A, 5B, and 5C) with Opt-8A. RS-422 serial interface for PMAC Lite. Replaces standard RS-232 interface.

PROM Version Specification: Permits customer to specify version of firmware to be installed onboard. If this option is not selected, newest firmware version is installed. Replacement of flag input opto-isolators with socketed shunts. This permits parallel sub-count interpolation from Acc-8D Option 8 or equivalent, or 5V-level flag inputs from Opto-22 or equivalent modules. Voltage to frequency converter chip for Wiper analog input on JPAN connector.

36 PMAC Basic Specifications

PMAC VME Hardware Reference Manual

Accessories

Accessory 1: +5V Power Supplies and Batteries

These power supplies are needed only for stand-alone applications of the PMAC, when the cards are not getting their +5V supply from the bus. The version of this accessory is selected by capacity:

Acc-1: for one PMAC (3.0A rating). Acc-1A: for two or three PMACs (6.0A rating). Acc-1B: for four or five PMACs (9.0A rating). Acc-1C: for six, seven, or eight PMACs (12.0A rating). Acc-1L: is a replacement battery for the RAM on older PMAC PC or PMAC VME CPU boards.

It is a 3V lithium battery, 1200 mAh, 2/3A-size, no tabs.

Acc-1LS: is a replacement battery for the RAM on PMAC STD, PMAC Lite and newer PMAC

PC and PMAC VME boards. It is a 3.6V lithium battery, 1000 mAh, 1.15" diameter can.

Acc-1SA: 5V-switching power supply for one PMAC (1.2A rating). Gives better transient

suppression.

Accessory 2: +/-15V Power Supplies

These power supplies provide +/- 15V to the analog output stage of PMAC, which is optically isolated from the digital 5V circuitry. This accessory has the following versions:

Acc-2: +/-15V only for one PMAC (1.5A rating at each level). Acc-2A: +/-15V, +5V for one PMAC (16W rating). Acc-2B: +/-15V, +5V for two PMACs (40W rating). Acc-2SA: 12V-switching power supply for one PMAC (1.2A rating). Gives better transient

suppression.

Accessory 3: Serial Communications Cable

This is a three-meter (ten-foot) 26-strand flat cable with a DB-25 connector on one end (for connection to the host computer) and an IDC 26-pin connector on the other end (for connection to PMAC’s serial port). It is not to be purchased if Acc-26 serial-communications-converter card is purchased. Multi-drop versions of the cable are available for daisy-chained PMAC systems:

Acc-3D: Single-drop 3-meter DB-25 to IDC-26 flat cable (PC/VME). Acc-3E: One additional PMAC drop on Acc-3D. Acc-3L: Single-drop 3-meter DB-9 to IDC-10 flat cable (Lite). Acc-3S: Single-drop 3-meter DB-25 to SIP-5 cable (STD).

Accessory 4: Additional Instruction Manual

This accessory provides an additional instruction manual for the PMAC. Normally, one manual is provided with every four PMACs or fraction thereof shipped together.

Acc-4: PMAC Family User Manual and Software Reference Manual Acc-4P: PMAC PC Hardware Reference Manual Acc-4S1: PMAC STD Hardware Reference Manual Acc-4V: PMAC VME Hardware Reference Manual Acc-4L: PMAC Lite Hardware Reference Manual Acc-4AG: GE Fanuc 90/70 PLC Interface Manual

Accessory 6: Handwheel Encoder

This is a Hewlett-Packard HEDS-7501 rotary pulse generator or handwheel encoder with 256 lines per revolution. A six-foot flat cable is provided with the encoder. PMAC Acc-8D has matching sockets for this cable.

PMAC Basic Specifications 37

PMAC VME Hardware Reference Manual

Accessory 8: Terminal Block

The Acc-8 family of terminal blocks provides an easy means of connecting the lines from the control system to PMAC’s machine connector. One Acc-8 provides all the pinouts from a single JMACH connector on PMAC. The screw-down terminal points on the board give a quick yet reliable connection.

Acc-8P: 60-point terminal block. No connectors for option boards. OPT-P: 60-pin connector and cable to PMAC PC, STD, and Lite. OPT-V: 96-pin connector and cable to PMAC VME. (Note: a longer cable may be specified. Not

to exceed three feet.) Acc-8D: 60-point terminal block with connectors for option boards. OPT-P: 60-pin connector and cable to PMAC PC, STD, and Lite. OPT-V: 96-pin connector and cable to PMAC VME. (Note: a longer cable may be specified. Not

to exceed three feet.) OPT-1: Provides a third phase of output for two PMAC-commutated motors. Normally this

function is provided in the amplifier, but if the amplifier is expecting commands for all

three phases, this option generates a third phase as the negative sum of the two phases

provided by PMAC. This option is located on the main Acc-8D board. OPT-2: Provides four voltage-to-frequency (V/F) converters for commanding stepper motor

driver systems. These convert PMAC’s analog output for each channel to a pulse output.

The pulse output can be jumpered back to PMAC’s encoder input for the motor if the

system is to be run open loop; or an actual encoder can be used for true closed-loop

servo. The maximum frequency is selectable from 10 kHz (2A) to 2MHz (2F). This

option is on a small, separate board and comes with 5 40-cm (16") cables to Acc-8D, one

16-pin and four 10-pin. Must be ordered as one of the following (2A - 2F) depending on

the frequency requirements.

OPT-2A: V-to-F converters (4); 10 kHz max.

OPT-2B: V-to-F converters (4); 50 kHz max.

OPT-2C: V-to-F converters (4); 100 kHz max.

OPT-2D: V-to-F converters (4); 500 kHz max.

OPT-2E: V-to-F converters (4); 1 MHz max.

OPT-2F: V-to-F converters (4); 2 MHz max.

OPT-2G: DIN rail mount for OPT-2. OPT-4: Family of four low-power current-loop (transconductance) amplifier circuits for driving

hydraulic valves or very small DC motors. This option is a small, separate board with a

built-in heat sink and fan. A voltage mode provides a proportional voltage output. This

option must be ordered as either 4 or 4A. Comes with 1 40-cm (16") cable to Acc-8D.

OPT-4: Quad hydraulic valve driver; 20W/channel, 30V max, 1.0A cont, 2.0A peak.

OPT-4A: Quad motor driver; 150W/channel, 48V max, 3.0A cont, 5.0A peak.

OPT-4B: DIN rail mount for OPT-4 and 4A. OPT-5: Provides a DIN rail mount for the Acc-8D board.

OPT-6: Provides optically isolated connection for four incremental encoders (three channels

each) on a separate board. Comes with 4 40-cm (16") cables to Acc-8D. OPT-A: DIN rail mount for OPT-6. OPT-7: Provides two channels of 12-bit fixed resolution resolver-to-digital conversion on a

separate board. Two additional channels can be added to this board with sub-option A.

Comes with two 10-pin 40-cm (16") cables to Acc-8D and one 26-pin 1 meter (3') cable

to PMAC.

OPT A: Provides two additional channels of resolver-to-digital conversion on the same

board as OPT-7. Comes with two 10-pin 40-cm (16") cables to Acc-8D.

OPT-B: In rail mount for OPT-7.

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PMAC VME Hardware Reference Manual

OPT-8: The analog encoder interpolator board provides 128 or 256 pulses per cycle of an analog

encoder. Each Option 8 allows connection of one analog encoder to PMAC and requires

two encoder channels on the PMAC. Up to eight Option 8s can be connected to one 16-

channel PMAC (PMAC with Option 1 and Acc-24 with Option 1). Comes with three 10-

pin 40-cm (16") cables, two to Acc-8D and one to PMAC’s JxIO connector. OPT-A: DIN rail mount for OPT-8 OPT-9: Provides connection for four Sigma series type S and W Yaskawa absolute encoders.

Comes with four 10-pin 40-cm (16") cables to Acc-8D and one 26-pin 60-cm (24") cable

to PMAC’s multiplexer port. OPT-B: DIN rail mount for OPT-9.

Accessory 9: IBM PC Software

The software for the IBM-PC and compatibles includes development tools used in setting up the PMAC controller and developing a host computer interface for a PMAC application. Acc-9 is a once-percustomer purchase. OEMs wishing to re-sell the program to their customers must purchase one copy for each customer. Such OEMs should contact the factory for volume purchase agreements.

Acc-9C: COMLIB (COMmunications LIBrary) written in C provides a set of basic (low level)

communications drivers callable from DOS or Windows  based programs. This

software is recommended for any user who intends on developing MMI (Man Machine

Interface) for PMAC. Comes on one 3.5" diskette and is purchased as a Site License. OPT-1: Executable code upgrade and Site License. Acc-9L: LIPS (Library Interface for PMAC Systems) Provides a set of high level communication

functions (functions such as Set Up Master Slave and Why Is My Motor Not Moving)

callable from DOS or Windows  (DLL) based programs. This software requires Acc-

9C. Comes on one 3.5" diskette and is purchased as a Site License. OPT-1: Executable code upgrade and Site License.

The PMAC Executive Program for the IBM PC and compatibles is a DOS/Windows 

based host computer program for the PMAC controller that is intended as a development

tool in starting a PMAC application. It provides a terminal emulator, PMAC program

editor with disk file functions, and special screens for viewing PMAC variables, status,

and tuning. The program was written in the "C" programming language. The program is

not copy-protected and comes on a 3.5" diskette. Acc-9DA: PMAC Executive PC Program for DOS on 3.5" diskette OPT-1: PMAC Executive Program upgrade, site license Acc-9W: PMAC Executive PC Program for Windows  on 3.5" diskette OPT-1: Executable code upgrade, site license Acc-9P: PCOMM (PMAC COMmunications) written in C/C++ provides a set of basic (low level)

communications drivers linkable from DOS or Windows  (DLL) based programs. This

software is recommended for any user who intends on developing custom MMI (Man

Machine Interface) for PMAC. Comes on one 3.5" diskette and is purchased as a Site

License. OPT-1: Executable code upgrade, site license Acc-9DG: PLC Program for GE Fanuc 90/70 interface to PMAC VME.

Accessory 12: Liquid Crystal/Vacuum Fluorescent Display

Acc-12 provides display capability for the PMAC independent of the host interface. It connects to the J1 (JDISP) connector on PMAC. The user can program (through the DISPLAY command) what is needed to show on the display. The vacuum fluorescent (VF) display is larger and brighter than the liquid crystal (LCD) display.

Acc-12: 2x24 character alphanumeric LCD display.

PMAC Basic Specifications 39

PMAC VME Hardware Reference Manual

Acc-12A: 2x40 character alphanumeric LCD display. Acc-12C: 2x40 character alphanumeric VF display. Acc-12C1: Acc-12C with filter, bezel, standoffs, and screws. Includes differential line receivers that

are latched and buffered. Acc-12D compatible. Acc-12CA: 180 cm (6') 14-pin cable and mounting PCB for separately purchased display. Acc-12D: Long distance display signal driver module (to 180 m (600') for Acc-12F). Includes 180

cm (6') 14-pin cable to PMAC. Requires Acc-12E with Option 1.

OPT-1: DIN rail mount for Acc-12D. Acc-12E: Adapter and power driver for Acc-12F (large vacuum fluorescent displays). Includes 180

cm (6') 14-pin cable to PMAC.

OPT-1: DB-25 connector (no cable) to Acc-12D. No cable to PMAC.

OPT-2: DIN rail mount for Acc-12E. Acc-12F: Display purchased separately.

OPT-1: 40x2 5mm high characters with two 180 cm (6') 14-pin cables to Acc-

12E, bezel, no filter (P/N IEE S03601-51-096).

OPT-2: 20x4 11mm high characters with two 180 cm (6') 14-pin cables to Acc-

12E, bezel, no filter (P/N IEE S03601-24-080).

OPT-3: IEE large screen display.

Accessory-14: I/O Expansion Board

PMAC’s Acc-14D/V provides expanded and flexible digital I/O capabilities for the controller (Acc-14D is the PC bus form; Acc-14V is the VME bus form; there is no STD bus form). It may be configured for a wide variety of different uses by selecting different voltage levels, sinking/sourcing, and latched/nonlatched I/O to serve many diverse applications. It is commonly used for discrete I/O and for parallel feedback (absolute encoders, laser interferometers, and resolvers). In order to provide this flexibility, the customer must take care in ordering a configuration.

Acc-14D: 48 digital I/O points, PC bus compatible, requires an Option 1-4. Acc-14V: 48 digital I/O points, VME bus compatible, requires an Option 1-4. OPT-1: 24 inputs and 24 outputs, TTL levels (0 - 5V), low true. OPT-2: 24 inputs and 24 outputs, 0 - 24V, low true. OPT-3: 48 inputs, TTL levels (0 - 5V), latching for parallel binary feedback. OPT-4: Custom configuration to be specified by the user. Fill out specification sheet. OPT-6: Dual parallel to quadrature converter. Required if PMAC is to commutate a motor using

a parallel feedback device. OPT-7: 20cm (8") 50-Pin 3-drop connector cable. For use with Acc-14D/V when PMAC Option

2, Acc-24P, or Acc-36P is also used.

Purchasing the Proper Acc-14D/V Configuration

Acc-14D/V’s 48 bits of I/O are grouped into two ports (A and B), each with its own connector (J7 and J15, respectively). Each port has a single high supply voltage and a single strobe source (or lack of one). Each port contains three bytes: Port A has bytes 1, 2, and 3; Port B has bytes 4, 5, and 6. The I/O can be specified by port (standard) or by byte (custom), as explained below.

Standard Configurations: Three standard configurations of the Acc-14D/V can be ordered. These are specified as Options 1 to 3:

Option 1: Port A is low-true TTL inputs (24) Port B is low-true TTL outputs (24) (Typically this option is for use with OPTO-22.)

Option 2: Port A is low-true 24V 100mA inputs (24) Port B is low-true 24V 100mA outputs (24) (Typically this option is for driving I/O directly.)

40 PMAC Basic Specifications

PMAC VME Hardware Reference Manual

Option 3: Port A is high-true latched TTL inputs (24) Port B is high-true latched TTL inputs (24) (Typically this option is for parallel feedback.)

Option 4 - Custom Configurations: If one of the above configurations is not suitable, a customized configuration is possible under Option 4.

In selecting Option 4, each byte should be specified as to input option or output option. These options are detailed as follows (the IC used for each option is provided for reference):

Input Options:

I1: 14-25V inverting unlatched inputs (ULN2802A) (external voltage source required) I2: 6-15V inverting unlatched inputs (ULN2804A) (external voltage source required) I3: 5V non-inverting unlatched inputs (74AC573) I4: 5V inverting unlatched inputs (74AC563) (for input from OPTO-22) I5: 5V non-inverting edge-triggered inputs (74AC574) (for absolute encoders)

Output Options:

O1: 5-24V inverting open-collector (sinking) outputs (ULN2803A) (external source may be required) O2: 5-24V non-inverting sourcing outputs (UDN2981A) (external source may be required) O3: 5V non-inverting sinking/sourcing outputs (74AC573) O4: 5V inverting sinking/sourcing outputs (74AC563) (for output to OPTO-22)

For example, to use Port A for an absolute encoder input and Port B for 16 bits of OPTO-22 output and 8 bits of OPTO-22 input, specify:

Acc-14D with Option 4: Bytes 1:I5, 2:I5, 3:I5, 4:O4, 5:O4, 6:I4. Of course, it is possible to set up incompatible configurations; for example, I1 and O3 could not work on

the same port together because of voltage differences. A configuration sheet is available and should be completed by the customer when ordering a custom

configuration, in order to create a permanent configuration record as well as to avoid misunderstandings.

Accessory 16D: Control Panel And Display Box

The Acc-16D control panel provides all the means for using PMAC’s dedicated hardware control inputs and display outputs. It has nine toggle switches for the hardware functions, a 10-way rotary switch for motor-/coordinate-system-select (1 to 8, all, and none), a handwheel encoder, an analog potentiometer, a frequency generator, a 2x40 character alphanumeric LCD display, and five status LEDs. Comes with two 180 cm (6') cables, one 26-pin and one 16-pin.

Accessory 17: PMACAD Cad Conversion Software

This accessory is a program for IBM PC and compatible computers that converts a CAD file to the PMAC motion language. No PMAC need be attached for this conversion program to run.

The Acc-17 is a once-per-customer purchase. OEMs wishing to re-sell the program to their customers must purchase one copy for each customer. Such OEMs should contact the factory for volume purchase agreements.

Accessory-17DA:

PMACAD Conversion Program on 3.5" diskette.

Accessory 18: Thumbwheel Multiplexer Board

This accessory is a printed circuit board that provides the needed circuitry for PMAC to interface to 16 thumbwheel switches or similar inputs. Up to 32 thumbwheel multiplexer boards can be daisy-chained together to permit the reading of up to 512 thumbwheel digits or other TTL level inputs (256 bytes). Thumbwheels may be mounted directly on the board, or can be remotely connected to it. Alternatively, 8-position dip switches may be mounted on the board for input.

PMAC Basic Specifications 41

PMAC VME Hardware Reference Manual

Acc-18: Thumbwheel Multiplexer Board (bare). Comes with 1 180 cm (6') 26-pin cable.

OPT-1: Expansion Connector (for daisy-chain to next Acc-18). OPT-2: One 8-Position DIP Switch (eight max; in place of two thumbwheel digits). OPT-4: One decimal thumbwheel digit (16 max; specify location). OPT-5: External Power Connector. OPT-6: Molex connectors w/ mates (16 max; for remote digit).

An Acc-18 configuration sheet is available and can be used to define the required options and the number and location of all the thumbwheel digits.

Accessory 20: Hand-Held Terminal

This accessory provides a TM200G-001 hand-held or panel-mountable (~5" x 8" x 3/4") terminal for simple operational communications needs. The terminal communicates with the serial port on the PMAC. It provides a numeric keypad with 6 special programmable function keys; also an alphanumeric 2 x 24 LCD display. Comes with a 24" 26-pin cable.

Accessory 21: I/O Simulators and Cables

Acc-21 is a family of I/O simulators and cables for connection to the J5 (JOPT) connector on PMAC. Many users will purchase OPTO-22 boards and connect it to PMAC with an Acc-21 cable from Delta Tau.

Acc-21F: 180 cm (6') 50-pin card edge to 34-pin IDC header cable, for connecting PMAC JOPTO

connector to PB8/16/24 or equivalent boards. Acc-21FH: 180 cm (6') 50-pin IDC header to 34-pin IDC header cable, for connecting PMAC

JOPTO connector to PB8/16/24H or equivalent boards. Acc-21G: 180 cm (6') 50-pin card edge to 50-pin IDC header cable, for connecting Acc-14D/V and

Acc-34B to PB8/16/24 or equivalent boards. Acc-21GH: 180 cm (6') 50-pin IDC header to 50-pin IDC header cable, for connecting Acc-14D/V

and Acc-34B to PB8/16/24H or equivalent boards. Acc-21S: I/O simulator for PMAC JOPT port with eight switch inputs and eight LED outputs.

Comes with 1m (40") 34-pin cable.

Accessory 22: Extended Warranty

This accessory extends the warranty past the one year standard factory warranty, for a total of two years from the date of purchase.

Accessory 24: Axis Expansion Board

The Acc-24 Axis Expansion board (Acc-24P is for the PMAC PC; Acc-24V is for the PMAC VME; there is no Acc-24 for the PMAC STD) provides four or eight additional channels each of quadrature encoders, analog outputs, and data lines from analog inputs (for a total of 12 or 16 each for the PMAC). This accessory is for those systems that require more than the eight channels of each that can be provided on the baseboard. This would include systems with more than four PMAC-commutated motors, or with more than eight quadrature encoders and handwheels. The board fits in the next open bus slot, and communicates to PMAC via a provided 50-pin flat cable.

Acc-24P: Four-Channel Expansion Board for the PC bus. Comes with two 8 cm (3") cables, one

50-pin and one 10-pin. Acc-24V: Four-Channel Expansion Board for the VME bus. Comes with two 8 cm (3") cables, one

50-pin and one 10-pin. OPT-1: Additional four channels on the board (eight total). OPT-2: 20 cm (8") 50-pin 3-drop connector cable. When Acc-24 is used with PMAC OPT-2,

Acc-14D/V, or Acc-36P.

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PMAC VME Hardware Reference Manual

Accessory 25: Extended Servo Algorithm Tuning Software

PMAC’s Acc-25 is software for the IBM PC to be used with PMAC OPT-6, the Extended Servo Algorithm. This software allows the user to setup and tune a PMAC that has the Extended Servo Algorithm. Comes on one 3.5" diskette and is purchased as a Site License.

OPT-1: Executable code upgrade and site license

Accessory 26A: Serial Communications Converter

PMAC’s Acc-26A is a small circuit board that converts the RS-232 serial communications of the host computer to the RS-422 serial communications format that PMAC uses. This conversion is performed through an optically isolated link, enhancing the noise immunity of the communications and separating the GND of PMAC from that of the host. A cable is provided for easy connection to PMAC. Standard serial connectors, DB-9 or DB-25, can be used to connect the Acc-26 to the host computer.

Most host computers with RS-232 can do reasonable communications directly with PMAC’s RS-422 port, straight over the Acc-3D cable. PMAC’s receivers take RS-232 signals robustly; most host RS-232 receivers take RS-422 signals, but with limited noise margin. Some cannot accept RS-422 at all. Acc-26 is for those users who cannot communicate without it, or for those who want to increase their noise margins. Anyone using the PMAC serial port in an actual industrial environment should either use an RS-422 port in their host computer, or use a level converter such as the Acc-26.

OPT-1: Host RS-232 to PMAC RS422. For PMAC PC, VME, STD, and Lite with Option 9.

IDC 26-pin 60 cm (24") serial cable provided for PMAC PC, VME, and Lite. No cable

provided for PMAC STD. OPT-2: Host RS-232 to PMAC RS232. For PMAC STD and Lite. IDC 10-pin 60 cm (24") serial

cable provided for PMAC Lite. No cable provided for PMAC STD. OPT-3: Host RS-232 to PMAC RS422. For PMAC VME to GE 90/70. User specifies 10 or 15-

pin 60 cm (24") serial cable provided.

Accessory 27: Optically Isolated I/O Board

PMAC’s Acc-27 is a small circuit board that provides eight optically isolated inputs and eight optically isolated outputs. The I/O is rated to 24V and 100 mA. The board is designed for easy connection through a provided flat cable to PMAC's JTHW port (J3). This I/O is intended for general-purpose programmatic use on PMAC. When Acc-27 is used, no other JTHW port accessories may be used (Acc8D Opt 7, Acc-8D Opt 9, Acc-18, Acc-34).

OPT-2A: DB-25 input connection OPT-2B: 18-pin input terminal block (default)

Accessory 28: A/D Conversion Board

PMAC’s Acc-28 Analog-to-Digital Conversion board has four channels of high-speed (60 usec), highresolution analog input in the +/-10V range. It is a small, DIN-rail-mountable board that connects to PMAC with a provided flat cable. These inputs can be used for servo position feedback, as from an LVDT or potentiometer, or for general-purpose use (e.g., to monitor process variables such as pressure or tension, to allow analog speed control, or to monitor motor currents). The analog inputs are optically isolated from the PMAC’s digital circuits.

For each Acc-28 in the system, there must be one DSP-GATE IC on PMAC or its Acc-24 to process the converted digital signal from the A/D.

OPT-2A: DB-15 input connection OPT-2B: 12-pin input terminal block (default)

PMAC Basic Specifications 43

PMAC VME Hardware Reference Manual

Accessory 29: Magnetostrictive Linear Displacement Transducer Interface Board

This accessory is a 1/2-size IBM-PC board and is designed to handle four, or optionally eight, channels of magnetostrictive linear displacement transducers (MLDTs) for PMAC. These transducers operate on a principle that measures the time between an excitation pulse applied to the transducer and the reception of an echo generated by a magnet's position along the transducer’s length. Generally, these transducers are environmentally tolerant and are used in rugged applications such as hydraulic controls.

Acc-29: 4-channel MLDT interface board OPT-1: Additional four channels (eight total)

Accessory 31: PMAC Demonstration Box Unit

Acc-31 is used for the purpose of demonstration of PMAC’s numerous motion control features. This accessory is a very useful tool for PMAC-based program development and verifications by OEMs. Internally the unit consists of a + line encoders, four or eight motor amplifiers, an optional PMAC board, and the necessary wiring to external connectors. It also includes a control front panel and switches in the form of PMAC’s Acc-16D to allow for input and output display independent of a host computer. In addition, an optional configuration using the demo unit with the VME-based GE-Fanuc 90/70 PLC system is available.

Acc-31A: 4-axis demo unit (PMAC must be ordered separately). OPT-3: PMAC Lite/PC (purchased separately) mounted internally. Acc-31L: 4-axis demo unit/carrying case lease. 2-week minimum, customer pays shipping both

directions. Full lease-to-own credit on continuous rental period.

15V and +5V DC power supply, four or eight DC motors with HP 500-

Accessory 32: PMAC Software Upgrade/Update Kit

At Delta Tau, we are continuously upgrading PMAC’s software for motion control. Software and documentation updates are readily available to the customer through Acc-32. Acc-32 consists of updates for an EPROM (PMAC firmware), User Manual, and Acc-9D PC Executive Program Diskette (if it was previously purchased). Delta Tau will supply Acc-32 to the customer up to two times free of charge for a period of six months from the date of purchase. If a customer has multiple PMAC cards, Acc-32 Option 1 provides extra PMAC EPROMs at a greatly reduced cost.

Acc-32: Upgrade Kit: EPROM, User Manual, Executive Diskette OPT-1: Additional EPROM

Accessory 33: PMAC NC Software Library

This accessory is Windows  based software written for the IBM-PC and compatible computers. The software is used with a PMAC and a PC to give a high quality open-architecture machine tool controller. Source code is available to allow the user to customize these modules as needed.

Acc-33: PMAC NC software for IBM PC; Window based; Executable code per machine OPT-1 Executable code upgrade per machine Acc-33L: PMAC NC software for IBM PC; Windows based; linkable DLL libraries; Site License. OPT-1 Library upgrade and Site License Acc-33S: PMAC NC software for IBM PC; Windows based; source code in C; Site License. OPT-1 Source code upgrade and Site License

Accessory 34: Multiplexed I/O Expansion Board

This accessory provides 64 points of discrete, optically isolated digital I/O connected to PMAC through the JTHW multiplexer port. Up to 32 of these accessories can be daisy-chained on a single port, for a total of 2048 I/O points. There are three versions of this accessory: the Acc-34, the Acc-34A, and the Acc-34B.

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PMAC VME Hardware Reference Manual

Acc-34: Optically isolated I/O board, 64-bits total, definable as inputs or outputs in blocks of 32

by software command. All I/O is sinking only, 5V to 24V, 400 mA. Provided with 24"

long, 26-pin cable (for 20MHz PMAC only). OPT-1: DIN Rail mount Acc-34A: Optically isolated I/O board, 64-bits total, sourcing or sinking inputs and outputs rated to

100 mA per point, 15V to 24V. The points can be selected for input or output by

software command, sourcing or sinking, in groups of eight by hardware configuration

(when ordering). The default configuration for Acc-34A is 32 inputs and 32 outputs, all

sourcing. Comes with 1 60-cm (24") cable to PMAC. OPT-1: Custom configuration, sinking/sourcing in/out (Contact factory for form) OPT-2: DIN Rail mount OPT-3: All sinking configuration, 32 in, 32 out Acc-34B: Optically isolated I/O board, 64-bits total, designed for easy connection to Opto-22 and

compatible boards (e.g. Opto-22 Models G4PB24 and G4PB16H) via standard 50-pin flat

cables (see Acc-21 cables). Both the inputs and the outputs are TTL compatible negative

logic (low true) types. OPT-1: DIN Rail mount

Accessory 35: Multiplexer Port Line Driver and Receiver

PMAC’s Acc-35A and Acc-35B are two complementary printed circuit boards. These boards are designed to provide differential signal transmission capability between PMAC and most of its accessories that communicate via its JTHW connector. Currently, this accessory pair enables the following PMAC accessories to communicate with PMAC via long distance cables:

Acc-8D Opt 7 (Resolver-to-Digital converter board) Acc-8D Opt 9 (Yaskawa Encoder interface board) Acc-18 (the Thumbwheel Multiplexer Board) Acc-34 (the Opto 64 Bit input/output Board) Acc-34A (the Opto 32-Bit Input/32-Bit Output board)

Acc-35A is the local JTHW buffer board. This board should be attached to PMAC’s JTHW connector via the supplied 26-pin flat cable. Acc-35B is the remote JTHW buffer board. One Acc-35B is required per each cluster of the remotely positioned I/O accessory boards. Note that the recommended cable length for the direct connection of PMAC to any of the above accessories is less than 3 meters (10 feet). However by buffering the signals through the Acc-35 pair, and by using twisted pair wires with proper shielding, cable lengths in excess on 100 meters may be used.

Acc-35A: Thumbwheel port differential line driver w/1, 26-pin, 24" cable (Requires OPT 1 or 2) Acc-35B: Thumbwheel port buffer differential line receiver with 1, 26-pin, 24" cable (Requires

Option 1 or 2) OPT-1: DB37 connector for communication between the local and the remote buffers OPT-2: 38-pin Phoenix terminal block connector for communication between the local and the

remote buffers (this is the default option OPT-3: A 6 ft daisy-chain JTHW cable with four headers. This provides for the connection of up

to four I/O accessory boards to a single Acc-35.

)

Accessory 36: Analog to Digital Converter Board

PMAC’s Acc-36 is an analog data acquisition board capable of converting up to 16 analog input signals. The Analog-to-Digital Converter (ADC) units used in Acc-36 are the MAX180 monolithic devices manufactured by Maxim Integrated Products. These devices have 12-bit resolution with +/- 1/2 LSB linearity specification.

PMAC Basic Specifications 45

PMAC VME Hardware Reference Manual

The Acc-36P’s design features make it an ideal analog data acquisition board for monitoring and collection of signals from a variety of sensors and transducers. Up to 24 Acc-36Ps may be connected to PMAC providing up to 384 possible analog input channels.

This accessory’s intended use differs from that of the PMAC's other ADC board (Acc-28A). Acc-28A has been designed for use in converting signals from analog transducers via the PMAC's DSPGATE gate array IC (see the PMAC User Manual and the Acc-28A Manual). As a result, one PMAC Gate Array IC is required for each Acc-28A. In contrast, Acc-36P does not have this requirement and up to 24 Acc-36Ps may be connected to PMAC providing up to 384 possible analog input channels.

Acc-36P: 16-Channel, 12-bit A/D converter board, mountable in PC bus Acc-36V: 16-Channel, 12-bit A/D converter board, mountable in VME bus OPT-2: 20-cm (8") 50-pin 3-connector cable when Acc-36P is used with PMAC OPT-2, Acc-14D,

or Acc-24P

Accessory 39: Handwheel Encoder Converter Board

PMAC’s Acc-39 is a small printed circuit board designed for the purpose of interfacing the PMAC controller with a handwheel or a slow time base encoder. Acc-39 provides a cost effective solution for PMAC applications in which the four or the eight standard high speed encoder decode circuits on the PMAC’s DSPGATES are used already and yet there is an additional need for just one handwheel encoder input. This accessory accepts one pair of A QUAD B encoder signals. Both single-ended (A and B), differential line driver encoder inputs (A, A/ and B, B/), and complementary open collector encoder signals can be accepted. The maximum rate is approximately 31 A/B square waves per servo cycle. With PMAC’s default servo frequency of 2.26 kHz this translates to a maximum encoder line rate of 62.5 kHz. The x4 circuitry provides a maximum of 250,000 counts per second at this servo frequency.

Acc-39 interfaces to PMAC through PMAC’s front panel port (JPAN) via the supplied 26-pin flat cable. When this accessory is installed then the normal PMAC panel functions cannot be used at the same time (I2 should be set to 1 or 3).

Acc-39: Handwheel encoder converter board, w/60-cm (24") cable to JPAN OPT-1: Rail mount

Accessory 40: On-Site Field Service and Training

Acc-40: On-site field service/training; 2-day (16 hr) minimum, plus lodging, travel cost and time

Accessory 41: Servo Training Systems

Acc-41A: Servo training system, torsional bar/diskette mechanism, PMAC not included Acc-41B: Servo training system mass/spring/damper mechanism, PMAC not included

Future Accessories

PMAC is constantly being upgraded with new capabilities, options, and accessories. Contact the factory for the latest update.

46 PMAC Basic Specifications

Delta Tau PMAC VME, TURBO PMAC VME User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

E1 - E2: Machine Output Supply Voltage Configure

E3 - E6: Servo Clock Frequency Control

E7: Machine Input Source/Sink Control

E8: RS232 Converter Power Supply Control

E9 - E16: Serial Interface Handshake Control

E17A-E17D: Amplifier-Enable/Direction Polarity Control

E22 - E23: Control Panel Handwheel Enable

E24 - E27: Encoder Single-Ended/Differential Control

E28: Warning Following Error/Watchdog Timer Signal Control

E29 - E33: Phase Clock Frequency Control

E34 - E38: Encoder Sampling Clock Frequency Control

E40 - E43: Software Address Control

E44 - E47: Communications Control

E48: RAM Wait State Control (Standard CPU Section)

E48: CPU Clock Frequency Control (Option CPU Section)

E49: Serial Communications Parity Control

E50: EAROM Save Enable/Disable

E51: Normal/Re-Initializing Power-Up

E52 - E53: DSP Interrupt Signal Select

E72 - E73: Panel Analog Time Base Signal Enable

E74 - E75: Clock Output Control for External Interpolation

E85, E87, E88: Host-Supplied Analog Power Source Enable

E89: Amplifier-Supplied Switch Pull-Up Enable

E90: Host-Supplied Switch Pull-Up Enable

E93 - E94: Compare-Equal Output Voltage Configure

E96 - E97: Analog Source Isolate from Option 1V

E98: DAC/ADC Clock Frequency Control

E99: Analog Source Isolate from Option 1V

E17E - E17H: Amplifier Enable Polarity Control

E18 - E21: Encoder Single-Ended/Differential Control

E185, E187, E188: Host-Supplied Analog Power Source Enable

E189: Amplifier-Supplied Switch Pull-Up Enable

E190: Host-Supplied Switch Pull-Up Enable

E196, E197, E199: Analog Source Isolate from Main Board

E1: Watchdog Disable Jumper

E2-E3: Expansion Port Configure

E4: Power-Up/Reset Load Source

E8: Expansion Port Configure

J1 (JDISP)/Display

J2 (JPAN)/Control Panel

J3 (JTHW)/Multiplexer Port

J4 (JRS422)/RS232 or 422/Serial Communications

J5 (JOPT)/OPTO I/O

J6 (JXIO)/Expansion Board

J7 (JEQU)/Position Compare

J8 (JS1)/A-D Inputs 1-4

P1 (JVME)/Standard VME Connector

P2 (JMACH1)/1st Machine Connector

P2A (JMACH2)/2nd Machine Connector

J1 (JS2)/A-D Inputs 5-8 (J9 on Option 3 Front Panel)

J2 (JEXP)/Expansion (J10 on Option 3 Front Panel)

J4 (JDPRAM)/Dual-Ported RAM

J1 JDISP (14-Pin Connector)

J2 JPAN (26-Pin Connector)

J3 JTHW Connector (26-Pin Connector)

J4 JRS422 (26-Pin Connector)

J5 JOPT (34-Pin Connector)

J6 JXI0 (10-Pin Connector)

J7 JEQU (10-Pin Connector)

J8 JS1 (16-Pin Header)

P1 JVME (96-Pin Header)

P2 JMACH1 (96-Pin Header)

P2 JMACH1 (96-Pin Header) Continued

J1 JS2 (16-Pin Header on Option 1A)

P2A JMACH2 (96-Pin Header on Option 1A)

P2A JMACH2 (96-Pin Header on Option 1A) Continued

P2A JMACH2 (96-Pin Header on Option 1A)

P2A JMACH2 (96-Pin Header on Option 1A)

Accessory 1: +5V Power Supplies and Batteries

Accessory 2: +/-15V Power Supplies

Accessory 3: Serial Communications Cable

Accessory 4: Additional Instruction Manual

Accessory 6: Handwheel Encoder

Accessory 8: Terminal Block

Accessory 9: IBM PC Software

Accessory 12: Liquid Crystal/Vacuum Fluorescent Display