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conform in every respect to former issues.
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static sensitive components that can be damaged by incorrect handling. When installing or
handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.
Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial
environment, install them into an industrial electrical cabinet or industrial PC to protect them
from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials.
If Delta Tau Data Systems, Inc. products are exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.
Base Version .........................................................................................................................................................1
Option 2A: PC/104 Bus Stack Interface ..............................................................................................................1
Option 5xF: CPU Speed Options.........................................................................................................................1
CPU Configuration Jumpers .....................................................................................................................................6
Communication Jumpers...........................................................................................................................................6
Power Supplies..........................................................................................................................................................9
Digital Power Supply............................................................................................................................................9
DAC Outputs Power Supply .................................................................................................................................9
Flags Power Supply............................................................................................................................................10
Overtravel Limits and Home Switches....................................................................................................................10
Types of Overtravel Limits..................................................................................................................................10
Home Switches....................................................................................................................................................10
Motor Signals Connections .....................................................................................................................................10
Pulse and Direction (Stepper) Drivers ...............................................................................................................11
Amplifier Enable Signal (AENAx/DIRn).............................................................................................................11
Amplifier Fault Signal (FAULT-) .......................................................................................................................12
Optional Analog Inputs ...........................................................................................................................................12
Serial Port (JRS232 Port) ........................................................................................................................................12
Machine Connections Example: Using Analog ±10V Amplifier............................................................................13
Machine Connections Example: Using Pulse and Direction Drivers......................................................................14
Parameters to Set up Global Hardware Signals.................................................................................................17
Parameters to Set Up Per-Channel Hardware Signals ......................................................................................18
Table of Contents i
PMAC2A PC104 Hardware Reference Manual
Effects of Changing I900 on the System .............................................................................................................18
How does changing I900 effect other settings in PMAC ....................................................................................20
Effects of Output Resolution and Servo Interrupt Frequency on Servo Gains....................................................21
Using Flag I/O as General-Purpose I/O...................................................................................................................22
Analog Inputs Setup................................................................................................................................................22
CPU Analog Inputs.............................................................................................................................................22
From v106 to 107................................................................................................................................................23
From v107 to 108................................................................................................................................................24
From v108 to 109................................................................................................................................................25
Connectors and Indicators.......................................................................................................................................27
J8 - Serial Port (JRS232 Port)............................................................................................................................27
TB1 – Power Supply Terminal Block (JPWR Connector) ..................................................................................27
LED Indicators ...................................................................................................................................................27
E0: Forced Reset Control .......................................................................................................................................29
E1: Servo and Phase Clock Direction Control .......................................................................................................29
E2: CPU Frequency Select.....................................................................................................................................29
E4: CPU Frequency Select.....................................................................................................................................30
TB1 (JPWR): Power Supply ..................................................................................................................................33
J4 (JRS232) Serial Port Connector..........................................................................................................................33
J3 (JMACH1): Machine Port Connector.................................................................................................................34
The PMAC2A PC/104 motion controller is a compact, cost-effective version of Delta Tau’s PMAC2
family of controllers. The PMAC2A PC/104 can be composed of three boards in a stack configuration.
The CPU provides four channels of either DAC ±10V or pulse and direction command outputs. The
optional axis expansion board provides a set of four additional servo channels and I/O ports. The optional
communications board provides extra I/O ports and either the USB or Ethernet interface for faster
communications.
Board Configuration
Base Version
The base version of the PMAC2A PC/104 ordered with no options provides a 90mm x 95mm board with:
• 40 MHz DSP563xx CPU (80 MHz 560xx equivalent)
• 128k x 24 internal zero-wait-state SRAM
• 512k x 8 flash memory for user backup and firmware
• Latest released firmware version
• RS-232 serial interface
• Four channels axis interface circuitry, each including:
Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular servo
algorithm firmware. This is required only in difficult-to-control systems (resonances, backlash, friction,
disturbances, changing dynamics).
Option 6L: Multi-block Lookahead Firmware
Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles
execution. With the lookahead firmware PMAC controls the speed along the path automatically (but
without changing the path) to ensure that axis limits are not violated.
Introduction 1
PMAC2A PC104 Hardware Reference Manual
Option 10: Firmware Version Specification
Normally the PMAC2A PC/104 is provided with the newest released firmware version. A label on the
memory IC shows the firmware version loaded at the factory. Option 10 provides for a user-specified
firmware version.
Option 12: Analog-to-Digital Converters
Option 12 permits the installation of two channels of on-board analog-to-digital converters with ±10V
input range and 12-bits resolution. The key component installed with this option is U20.
Additional Accessories
Acc-1P: Axis Expansion Piggyback Board
Acc-1P provides four additional channels axis interface circuitry for a total of eight servo channels, each
including:
Option 1 provides the following ports on the Acc-1P axes expansion board for digital I/O connections.
• Multiplexer Port: This connector provides eight input lines and eight output lines at TTL levels.
When using the PMAC Acc-34x type boards these lines allow multiplexing large numbers of
inputs and outputs on the port. Up to 32 of the multiplexed I/O boards may be daisy-chained on
the port, in any combination.
• I/O Port: This port provides eight general-purpose digital inputs and eight general-purpose digital
outputs at 5 to 24Vdc levels. This 34-pin connector was designed for easy interface to OPTO-22
or equivalent optically isolated I/O modules when different voltage levels or opto-isolation to the
PMAC2A PC/104 is necessary.
• Handwheel port: this port provides two extra channels, each jumper selectable between encoder
input or pulse output.
Acc-1P Option 2: Analog-to-Digital Converters
Option 2 permits the installation on the Acc-1P of two channels of analog-to-digital converters with ±10V
input range and 12-bits resolution. The key component installed with this option is U20.
Acc-2P: Communications Board
Without any options, the PMAC2A PC/104 communicates through the RS-232 serial interface (using the
optional Acc-3L flat cable) or PC/104 bus. This board provides added communication and I/O features.
Acc-2P Option 1A: USB Interface
Option 1A it provides a 480 Mbit/sec USB 2.0 interface.
Acc-2P Option 1B: Ethernet Interface
Option 1B provides a 100 Mbit/sec Ethernet.
Acc-2P Option 2: DPRAM Circuitry
Option 2 provides an 8K x 16 dual-ported RAM used with USB, Ethernet or PC/104 bus applications. If
using for USB or Ethernet communications, Acc-2P-Opt-1A or Acc-2P-Opt-1B must be ordered. If used
2 Introduction
PMAC2A PC104 Hardware Reference Manual
for PC/104-bus communications, PMAC2A PC/104 Option-2A must be ordered. The key component
installed with this option is U17. USB/Ethernet and PC/104 bus communications cannot be made
simultaneously it is jumper selectable.
Acc-2P Option 3: I/O Ports
Option 3 provides the following ports on the Acc-2P communications board for digital I/O connections.
• Multiplexer Port: this connector provides eight input lines and eight output lines at TTL levels.
When using the PMAC Acc-34x type boards these lines allow multiplexing large numbers of
inputs and outputs on the port. Up to 32 of the multiplexed I/O boards may be daisy-chained on
the port, in any combination.
• I/O Port: this port provides 16 general-purpose digital I/O lines at TTL levels and these can be
configured as all inputs, all outputs or eight inputs and eight outputs.
• Handwheel port: this port provides two extra channels, each jumper selectable between encoder
input or pulse output.
Acc-8TS Connections Board
Acc-8TS is a stack interface board to for the connection of either one or two Acc-28B A/D converter
boards. When a digital amplifier with current feedback is used, the analog inputs provided by the Acc28B cannot be used.
Acc-8ES Four-Channel Dual-DAC Analog Stack Board
Acc-8ES provides four channels of 18-bit dual-DAC with four DB-9 connectors. This accessory is
stacked to the PMAC2A PC/104 board and it is mostly used with amplifiers that require two ±10 V
command signals for sinusoidal commutation.
Acc-8FS Four-Channel Direct PWM Stack Breakout Board
Acc-8FS it is a 4-channel direct PWM stack breakout board for PMAC2A PC/104. This is used for
controlling digital amplifiers that require direct PWM control signals. When a digital amplifier with
current feedback is used, the analog inputs provided by the Option 12 of the PMAC2A PC/104 (the
Option 2 of the Acc-1P or the Acc-28B) could not be used.
Introduction 3
PMAC2A PC104 Hardware Reference Manual
4 Introduction
PMAC2A PC104 Hardware Reference Manual
HARDWARE SETUP
On the PMAC2 PC/104 CPU, there are a number of jumpers called E-points or W-points. That customize
the hardware features of the CPU for a given application and must be setup appropriately. The following
is an overview grouped in appropriate categories. For an itemized description of the jumper setup
configuration, refer to the E-Point Descriptions section.
Clock Configuration Jumpers
E1: Servo and Phase Clock Direction Control – Jumper E1 should be OFF if the board is to use its
own internally generated phase and servo clock signals. In this case, these signals are output on spare
pins on the J8 RS-232 serial-port connector, where they can be used by other PMAC controllers set up to
take external phase and servo clock signals.
Jumper E1 should be ON if the board is to use externally generated phase and servo clock signals brought
in on the J8 RS-232 serial port connector. In this case, typically the clock signals are generated by
another PMAC controller and output on its serial port connector.
If E1 is ON for external phase and clock signals, and these clock signals are not brought in on the serial
port connector, the watchdog timer will trip almost immediately and shut down the board.
E2 and E4: CPU Frequency Control Jumpers – When the PMAC I46 I- variable is set to zero jumpers
E2 and E4 on the base PMAC2A PC/104 board control the frequency at which the CPU will operate (or
attempt to operate). Generally, this will be the highest frequency at which the CPU is rated to operate.
Note that it is always possible to operate a CPU at a frequency lower than its maximum rating. While it
may be possible to operate an individual processor at a frequency higher than its maximum rating,
particularly at low ambient temperatures, performance cannot be guaranteed at such a setting, and this
operation is done completely at the user’s own risk.
• If jumpers E2 and E4 are both OFF, the CPU will operate at a 40 MHz frequency.
• If E2 is ON and E4 is OFF, the CPU will operate at a 60 MHz frequency.
• If E2 is OFF and E4 is ON, the CPU will operate at an 80 MHz frequency.
If I46 is set to a value greater than 0, the operational frequency is set to 10MHz * (I46 + 1), regardless of
the jumper setting. See the Software Setup section for details on this.
E8: Phase Clock Lines Output Enable – Jump pin 1 to 2 to enable the Phase clock line on the J8
connector. Remove jumper to disconnect the Phase clock line on the J8 connector.
E9: Servo Clock Lines Output Enable – Jump pin 1 to 2 to enable the Servo clock line on the J8
connector. Remove jumper to disconnect the Servo clock line on the J8 connector.
Reset Jumpers
E0: Forced Reset Control – Remove E0 for normal operation. Installing E0 forces PMAC to a reset
state, this configuration is for factory use only; the board will not operate with E0 installed.
E3: Re-Initialization on Reset Control – If E3 is OFF (default), PMAC executes a normal reset,
loading active memory from the last saved configuration in non-volatile flash memory. If E3 is ON,
PMAC re-initializes on reset, loading active memory with the factory default values.
E13: Firmware Load Jumper – If jumper E13 is ON during power-up/reset, the board comes up in
bootstrap mode which permits loading of firmware into the flash-memory IC. When the PMAC
Executive program tries to establish communications with a board in this mode, it will detect
automatically that the board is in bootstrap mode and ask what file to download as the new firmware.
Jumper E13 must be OFF during power-up/reset for the board to come up in normal operational mode.
Hardware Setup 5
PMAC2A PC104 Hardware Reference Manual
6
CPU Configuration Jumpers
E15A-E15C: Flash Memory Bank Select Jumpers – The flash-memory IC in location U10 on the
PMAC2A PC/104 base board has the capacity for eight separate banks of firmware, only one of which
can be used at any given time. The eight combinations of settings for jumpers E15A, E15B, and E15C
select which bank of the flash memory is used. In the factory production process, firmware is loaded only
into Bank 0, which is selected by having all of these jumpers OFF.
E10-E12: Power-Up State Jumpers – Jumper E10 must be OFF, jumper E11 must be ON, and jumper
E12 must be ON, in order for the CPU to copy the firmware from flash memory into active RAM on powerup/reset. This is necessary for normal operation of the card. (Other settings are for factory use only.)
E14: Watchdog Timer Jumper – Jumper E14 must be OFF for the watchdog timer to operate. This is a
very important safety feature, so it is vital that this jumper be OFF for normal operation. E14 should only
be put ON to debug problems with the watchdog timer circuit.
W1: Flash chip select – Jumper W1 in position 1-2 selects a 28F320J3A part for the U10 flash chip.
Jumper W1 in position 2-3 selects a 28F320J5A part for the U10 flash chip. This jumper is installed in
the factory and must not be changed from its default state.
Communication Jumpers
E18-E19: PC/104 Bus Base Address Control – Jumpers E18 and E19 on the PMAC2A PC/104 CPU
determine the base address of the card in the I/O space of the host PC. Together, they specify four
consecutive addresses on the bus where the card can be found. The jumpers form the base address in the
following fashion:
E18 E19 Address (hex) Address (dec.)
OFF OFF $200 512
OFF ON $210 528
ON OFF $220 544
ON ON $230 560
The default base address is 528 ($210) formed with jumper E18 removed and E19 installed. This setting
is necessary when using the USB or Ethernet ports of the Acc-2P communications board.
ADC Configuration Jumpers
E16: ADC Enable Jumper – Install E16 to enable the analog-to-digital converter circuitry ordered
through Option-12. Remove this jumper to disable this option, which might be necessary to control
motor 1 through a digital amplifier with current feedback.
Encoder Configuration Jumpers
E20-E23: Encoder Single Ended/Differential Select – PMAC has differential line receivers for each
encoder channel, but can accept either single-ended (one signal line per channel) or differential (two
signal lines, main and complementary, per channel). A jumper for each encoder permits customized
configurations, as described below.
Single-Ended Encoders
With the jumper for an encoder set for single-ended, the differential input lines for that encoder are tied to
2.5V; the single signal line for each channel is then compared to this reference as it changes between 0
and 5V.
When using single-ended TTL-level digital encoders, the differential line input should be left open, not
grounded or tied high; this is required for The PMAC differential line receivers to work properly.
Differential Encoders
Differential encoder signals can enhance noise immunity by providing common-mode noise rejection.
Modern design standards virtually mandate their use for industrial systems, especially in the presence of
PWM power amplifiers, which generate a great deal of electromagnetic interference.
Hardware Setup
PMAC2A PC104 Hardware Reference Manual
Connect pin 1 to 2 to tie differential line to +2.5V
• Tie to +2.5V when no connection
• Tie to +2.5V for single-ended encoders
Connect pin 2 to 3 to tie differential line to +5V
• Don’t care for differential line driver encoders
• Tie to +5V for complementary open-collector encoders (obsolete)
Hardware Setup 7
PMAC2A PC104 Hardware Reference Manual
Hardware Setup
8
PMAC2A PC104 Hardware Reference Manual
MACHINE CONNECTIONS
Typically, the user connections are made to terminal blocks that attach to the JMACH connectors by a
flat cable. The following are the terminal blocks recommended for connections:
• 34-Pin IDC header to terminal block breakouts (Phoenix part number 2281063) Delta Tau
part number 100-FLKM34-000
• 50-Pin IDC header to terminal block breakouts (Phoenix part number 2281089) Delta Tau
part number 100-FLKM50-000
Mounting
The PMAC2A PC/104 is typically installed using standoffs when stacked
to a PC/104 computer or as a stand-alone controller. At each of the four
corners of the PMAC2A PC/104 board, there are mounting holes that can
be used for this.
The PMAC2A PC/104 CPU is placed always at the bottom of the stack.
The order of the Acc-1P or Acc-2P with respect to the CPU does not
matter.
Power Supplies
Baseboard mounted at
the bottom of the stack
Digital Power Supply
3A @ +5V (±5%) (15 W) with a minimum 5 msec rise time
(Eight-channel configuration, with a typical load of encoders)
The PMAC2A PC/104, the Acc-1P and the Acc-2P each require a 1A @ 5VDC power supply for
operation. Therefore, a 3A @ 5VDC power supply is recommended for a PMAC2A PC/104 board
stack with Acc-1P and Acc-2P boards.
• The host computer provides the 5 Volts power when installed in the PC/104 bus and cannot
be disconnected. In this case, there must be no external +5V supply, or the two supplies will
"fight" each other, possibly causing damage. This voltage could be measured on the TB1
terminal block or the JMACH1 connector.
• In a stand-alone configuration, when PMAC is not plugged in a computer bus, it will need an
external 5V supply to power its digital circuits. The 5V power supply can be brought in
either from the TB1 terminal block or from the JMACH1 connector.
• When an ACC-2P is used, a minimum rise time of 5 msec is a requirement of the power
supply. In addition, the power supply ramp-down time should not exceed 20 msec. While
solutions to this issue can involve complex circuitry that minimizes power loss during normal
operation, the simplest method of quickly bringing down the power rail is to add a bleeddown resistor between VCC and GND. The resistor should be large enough that it does not
cause unnecessary power consumption, while still discharging the bulk capacitance as
quickly as possible. Specific resistor values will depend on the overall design of the system,
but in general the voltage drop-off time should not exceed 20 msec. A value that has been
found to work for some systems is 18k.
DAC Outputs Power Supply
0.3A @ +12 to +15V (4.5W)
0.25A @ -12 to -15V (3.8W)
(Eight-channel configuration)
• The host computer provides the ±12 Volts power supply in the case PMAC is installed in the
PC/104 bus. With the board stack into the bus, it will pull ±12V power from the bus
automatically and it cannot be disconnected. In this case, there must be no external ±12V
Machine Connections 9
PMAC2A PC104 Hardware Reference Manual
0
supply, or the two supplies will fight each other, possibly causing damage. This voltage
could be measured on the TB1 terminal block.
• In a stand-alone configuration, when PMAC is not plugged in a computer bus, it will need an
external ±12V supply only when the digital-to-analog converter (DAC) outputs are used. The
±12V lines from the supply, including the ground reference, can be brought in either from the
TB1 terminal block or from the JMACH1 connector.
Flags Power Supply
Each channel of PMAC has five dedicated digital inputs on the machine connector: PLIMn, MLIMn
(overtravel limits), HOMEn (home flag), FAULTn (amplifier fault), and USERn. A power supply
from 5 to 24V must be used to power the circuits related to these inputs. This power supply can be
the same used to power PMAC and can be connected from the TB1 terminal block or the JMACH1
connector.
Overtravel Limits and Home Switches
When assigned for the dedicated uses, these signals provide important safety and accuracy functions.
PLIMn and MLIMn are direction-sensitive over-travel limits that must conduct current to permit
motion in that direction. If no over-travel switches will be connected to a particular motor, this
feature must be disabled in the software setup through the PMAC Ix25 variable.
Types of Overtravel Limits
PMAC expects a closed-to-ground connection for the limits to not be considered on fault. This
arrangement provides a failsafe condition. Usually, a passive normally close switch is used. If a
proximity switch is needed instead, use a 5 to 24V normally closed to ground NPN sinking type
sensor.
Home Switches
While normally closed-to-ground switches are required for the overtravel limits inputs, the home
switches could be either normally close or normally open types. The polarity is determined by
the home sequence setup, through the I-variables I9n2.
Motor Signals Connections
Incremental Encoder Connection
Each JMACH1 connector provides two +5V outputs and two logic grounds for powering encoders
and other devices. The +5V outputs are on pins 1 and 2; the grounds are on pins 3 and 4. The
encoder signal pins are grouped by number: all those numbered 1 (CHA1+, CHA1-, CHB1+, CHC1+,
etc.) belong to encoder #1. The encoder number does not have to match the motor number, but
usually does. Connect the A and B (quadrature) encoder channels to the appropriate terminal block
pins. For encoder 1, the CHA1+ is pin 5 and CHB1+ is pin 9. If there is a single-ended signal, leave
the complementary signal pins floating – do not ground them. However, if single-ended encoders are
used, check the setting of the resistor packs (see the Hardware Setup section for details). For a
differential encoder, connect the complementary signal lines – CHA1- is pin 7, and CHB1- is pin 11.
The third channel (index pulse) is optional; for encoder 1, CHC1+ is pin 13, and CHC1- is pin 15.
Machine Connections
1
PMAC2A PC104 Hardware Reference Manual
Example: differential quadrature encoder connected to channel #1:
DAC Output Signals
If PMAC is not performing the commutation for the motor, only one analog output channel is
required to command the motor. This output channel can be either single-ended or differential,
depending on what the amplifier is expecting. For a single-ended command using PMAC channel 1,
connect DAC1+ (pin 29) to the command input on the amplifier. Connect the amplifier’s command
signal return line to PMAC’s GND line (pin 48). In this setup, leave the DAC1- pin floating; do not
ground it.
For a differential command using PMAC channel 1, connect DAC1 (pin 29) to the plus-command
input on the amplifier. Connect DAC1- (pin 31) to the minus-command input on the amplifier.
PMAC’s GND should still be connected to the amplifier common.
Any analog output not used for dedicated servo purposes may be utilized as a general-purpose analog
output by defining an M-variable to the command register, then writing values to the M-variable. The
analog outputs are intended to drive high-impedance inputs with no significant current draw. The
220Ω output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to
the output circuitry, but any current draw above 10 mA can result in noticeable signal distortion.
Example:
Pulse and Direction (Stepper) Drivers
The channels provided by the PMAC2A PC/104 board or the Acc-1P board can output pulse and
direction signals for controlling stepper drivers or hybrid amplifiers. These signals are at TTL levels.
Amplifier Enable Signal (AENAx/DIRn)
Most amplifiers have an enable/disable input that permits complete shutdown of the amplifier
regardless of the voltage of the command signal. PMAC’s AENA line is meant for this purpose.
AENA1- is pin 33. This signal is an open-collector output and an external 3.3 kΩ pull-up resistor can
be used if necessary.
Machine Connections 11
PMAC2A PC104 Hardware Reference Manual
Amplifier Fault Signal (FAULT-)
This input can take a signal from the amplifier so PMAC knows when the amplifier is having
problems, and can shut down action. The polarity is programmable with I-variable Ix25 (I125 for
motor 1) and the return signal is ground (GND). FAULT1- is pin 35. With the default setup, this
signal must actively be pulled low for a fault condition. In this setup, if nothing is wired into this
input, PMAC will consider the motor not to be in a fault condition.
Optional Analog Inputs
The optional analog-to-digital converter inputs are ordered either through Option-12 on the CPU or
Option-2 on the axes expansion board. Each option provides two 12-bit analog inputs analog inputs
with a ±10Vdc range.
Compare Equal Outputs
The compare-equals (EQU) outputs have a dedicated use of providing a signal edge when an encoder
position reaches a pre-loaded value. This is very useful for scanning and measurement applications.
Instructions for use of these outputs are covered in detail in the PMAC2 User Manual.
Serial Port (JRS232 Port)
For serial communications, use a serial cable to connect your PC's COM port to the J8 serial port
connector present on the PMAC2A PC/104 CPU. Delta Tau provides the Acc-3L cable for this
purpose that connects the PMAC to a DB-9 connector. Standard DB-9-to-DB-25 or DB-25-to-DB-9
adapters may be needed for your particular setup.
Machine Connections
12
PMAC2A PC104 Hardware Reference Manual
If a cable needs to be made, the easiest approach is to use a flat cable prepared with flat-cable type
connectors as indicated in the following diagram:
Machine Connections Example: Using Analog ±10V Amplifier
Machine Connections 13
PMAC2A PC104 Hardware Reference Manual
4
Machine Connections Example: Using Pulse and Direction Drivers
Machine Connections
1
PMAC2A PC104 Hardware Reference Manual
SOFTWARE SETUP
Note:
The PMAC2A PC/104 requires the use of V1.17 or newer firmware. There are
few differences between the previous V1.16H firmware and the V1.17 firmware
other than the addition of internal support for the Flex CPU design.
PMAC I-Variables
PMAC has a large set of Initialization parameters (I-variables) that determine the "personality" of the card
for a specific application. Many of these are used to configure a motor properly. Once set up, these
variables may be stored in non-volatile EAROM memory (using the SAVE command) so the card is
always configured properly (PMAC loads the EAROM I-variable values into RAM on power-up).
The programming features and configuration variables for the PMAC2A PC/104 are described fully in the
PMAC2 User and Software manuals.
Communications
Delta Tau provides software tools that allow communicating with of the PMAC2A PC/104 board by
either its standard RS-232 port or the optional USB or Ethernet ports. PEWIN is the most important in
the series of software accessories, and it allows configuring and programming the PMAC for any
particular application.
Operational Frequency and Baud Rate Setup
Note:
Older PMAC boards required a start-up PLC for setting the operational frequency
at 80 MHz. That method is not compatible with the PMAC2A PC/104 board and
will shutdown the board when used.
The operational frequency of the CPU can be set in software by the variable I46. If this variable is set to
0, PMAC firmware looks at the jumpers E2 and E4 to set the operational frequency for 40, 60, and 80
MHz operation. If I46 is set to a value greater than 0, the operational frequency is set to 10MHz * (I46 +
1), regardless of the jumper setting. If the desired operational frequency is higher than the maximum
rated frequency for that CPU, the operational frequency will be reduced to the rated maximum. It is
always possible to operate the Flex CPU board at a frequency below its rated maximum. I46 is used only
at power-up/reset, so to change the operational frequency, set a new value of I46, issue a SAVE command
to store this value in non-volatile flash memory, then issue a $$$ command to reset the controller.
To determine the frequency at which the CPU is actually operating, issue the TYPE command to the
PMAC. The PMAC will respond with five data items, the last of which is CLK Xn, where n is the
multiplication factor from the 20 MHz crystal frequency (not 10 MHz). n should be equivalent to
(I46+1)/2 if I46 is not requesting a frequency greater than the maximum rated for that CPU board. n will
be 2 for 40 MHz operation, 4 for 80 MHz operation, and 8 for 160 MHz operation.
Software Setup 15
PMAC2A PC104 Hardware Reference Manual
If the CPU’s operational frequency has been determined by (a non-zero setting of) I46, the serial
communications baud rate is determined at power-up/reset by variable I54 alone according to the
following table:
The PMAC2 PC104 is a PMAC2 style board with default +/-10V outputs produced by filtering a PWM
signal. This technique has been used been for some time now by many of our competitors. Although this
technique does not contain the same levels of performance as a true Digital to Analog converter, for most
servo applications it is more than adequate. Many of our customers using this product have migrated over
from the PMAC1 style board with a true 16-bit DAC. This document is meant for explaining the
tradeoffs of PWM frequency vs. resolution in the PMAC2PC104 base configuration as well as a
comparison to the PMAC1 style 16 bit DACs.
Both the resolution and the frequency of the Filtered PWM outputs are configured in software on the
PMAC2PC104 through the variable I900. This I900 variable also effects the phase and servo interrupts.
Therefore as we change I900 we will also have to change I901 (phase clock divider), I902 (servo clock
divider), and I10 (servo interrupt time). These four variables are all related and must be understood
before adjusting parameters.
Software Setup
16
PMAC2A PC104 Hardware Reference Manual
Since the PMAC2PC104 uses standard PMAC2 firmware the following I-variables must be set properly
to use the digital-to-analog (filtered DAC) outputs:
n = channel number from 1 to 8
x = motor number from 1 to 8
Parameters to Set up Global Hardware Signals
I900
I900 determines the frequency of the MaxPhase clock signal from which the actual phase clock
signal is derived. It also determines the PWM cycle frequency for Channels 1 to 4. This variable
is set according to the equation:
I900 = INT[117,964.8/(4*PWMFreq(KHz)) - 1]
The PMAC2 PC/104 filtered PWM circuits were optimized for 30KHz. I900 should be set to
1088 (calculated as 27.06856KHz)
I901
I901 determines how the actual phase clock is generated from the MaxPhase clock, using the
equation:
PhaseFreq(kHz) = MaxPhaseFreq(kHz)/(I901+1)
I901 is an integer value with a range of 0 to 15, permitting a division range of 1 to 16. Typically,
the phase clock frequency is in the range of 8 kHz to 12 kHz. 9KHz is standard, set I901 = 5
(calculated as 9.02285 KHz).
I902
I902 determines how the servo clock is generated from the phase clock, using the equation:
ServoFreq(KHz) = PhaseFreq(KHz)/(I902+1)
I902 is an integer value with a range of 0 to 15, permitting a division range of 1 to 16. On the
servo update, which occurs once per servo clock cycle, PMAC2 updates commanded position
(interpolates) and closes the position/velocity servo loop for all active motors, whether or not
commutation and/or a digital current loop is closed by PMAC2. Typical servo clock frequencies
are 1 to 4 kHz. The PMAC standard is 2.26 KHz, set I902 = 3 (calculated as 2.25571 KHz).
I10 tells the PMAC2 interpolation routines how much time there is between servo clock cycles. It
must be changed any time I900, I901, or I902 is changed. I10 can be set according to the
formula:
I10 = (2*I900+3)(I901+1)(I902+1)*640/9
I10 should be set to 3718827.
Software Setup 17
PMAC2A PC104 Hardware Reference Manual
I903
I903 determines the frequency of four hardware clock signals used for machine interface channels 1-4;
This can be left at the default value (I903=*). The four hardware clock signals are SCLK (encoder sample
clock), PFM_CLK (pulse frequency modulator clock), DAC_CLK (digital-to-analog converter clock),
and ADC_CLK (analog-to-digital converter clock).
Parameters to Set Up Per-Channel Hardware Signals
I9n6
I9n6 is the output mode; “n” is the output channel number (i.e. for channel 1 the variable to set would be
i916, i926 for channel 2 etc.). On Pmac1 there is only one output and one output mode, DAC output. On
PMAC2 boards, each channel has 3 outputs, and there are 4 output modes. Since this is board was
designed to output filtered PWM signals we want to configure at least the first output as PWM. Therefore
the default value of 0 is the choice. For information on this variable consult the PMAC1/PMAC2
software reference manual.
Ix69
Ix69 is the motor output command limit. The analog outputs on PMAC1 style boards and some PMAC2
accessories are 16-bit DACs, which map a numerical range of -32,768 to +32,767 into a voltage range of 10V to +10V relative to analog ground (AGND). For our purposes of a filtered PWM output this value
still represents the maximum voltage output; however the ratio is slightly different. With a true DAC,
Ix69=32767 allows a maximum voltage of 10V output. With the filtered PWM circuit, Ix69 is a function
of I900. A 10V signal in the output register is no longer 32767 as was in PMAC1, a 10V signal is
corresponds to a value equal to I900. Anything over I900 will just rail the Dac at 10V. For Example:
Desired Maximum Output Value = 6V
Ix69=6/10 * i900
Desired Maximum Output Value = 10V
Ix69= I900 + 10 ; add a little headroom to assure a full 10V
Effects of Changing I900 on the System
It should now be understood that a full 10 volts is output when the output register is equal to i900. The
output register is suggested m-variable Mx02 (I.e. M102-> Y:$C002,8,16,S ; OUT1A command value;
DAC or PWM). With default setting of I900, 10Volts is output when m102 is equal to i900, or 1001.
Since the output register is an integer value the smallest increment of change is about 10mV (1/1001 *
10V). Some users may want to calibrate their analog output using Ix29. Ix29 is an integer similar to
Mx02 except the value is added to the output register every servo cycle to apply a digital offset to the
output register. Therefore the resolution of our output signal affects how Ix29 should be set. As
mentioned earlier, with the default parameters, 1 bit change in the output register changes the analog
output by about 10mV. Therefore if there is an analog output offset less than 5mV, Ix29 cannot decrease
your offset. By increasing I900 you increase your resolution, so if you double i900, 1 bit change in the
output register corresponds to about 5mV. So with Ix29 you can only change the offset in increments of
5mV.
You can see above that by increasing I900 you increase the resolution of our command output register.
This sounds like a good thing, right? There are tradeoffs when you change I900 between resolution and
ripple.
Software Setup
18
PMAC2A PC104 Hardware Reference Manual
By increasing I900 we are essentially decreasing our PWM Frequency. The two are related by the
following equation:
I900 = INT[117,964.8/(4*PWMFreq(KHz)) - 1]
Passing the PWM signal through a 10KHz low pass filter creates the +/-10V signal output. The duty
cycle of the PWM signal is what generates the magnitude the voltage output. The frequency of the PWM
signal determines the magnitude and frequency of ripple on that +/-10V signal. As you lower the PWM
frequency and subsequently increase your output resolution, you increase the magnitude of the ripple as
well as slow down the frequency of the ripple as well. Depending on the system, this ripple can affect
performance at different levels.
So what do we mean by ripple? Ripple is the small signal that will you will see on top of the +/-10V
signal if you put an oscilloscope on it. In other words if I command a 4V signal out of the PMAC2PC104
and scope it, I will see a small sinusoidal type wave centered on 4V. At the default PWM frequency and
output resolution this will have a magnitude of about 230mV and a frequency of about 33kHz. This is
typically faster than any of the control loops so the amplifier essentially filters it out of the system.
Say I wanted to double the resolution of my output signal, I would merely double my I900 value from
1001 to 2002. How does this affect the ripple? From a test I calculated the ripple magnitude to increase
from around 230mV to about 700mV. The frequency of the ripple decreased from about @30kHz to
@15kHz. Here are some measurements taken with a PMAC2PC104:
I900 Value Output
Resolution
Signed
1001 @11 bit 9.9mV 29.4177 KHz 230mV 30KHz
2002 @12 bit 4.99mV 14.72 Khz 700mV 15KHz
4004 @13bit 2.49mV 7.36 Khz 2V 7Khz
Voltage
Output Change
Per 1bit increment
In output register
PWM
Frequency
Approximate
Ripple
Magnitude
Approximate
Ripple
Frequency
How does the ripple affect servo performance? It really depends on the system. For most servo systems
the mechanics can’t respond anywhere near these frequencies. Some systems with linear amplifiers it will
effect the performance especially as you lower the PWM frequency and effectively the ripple frequency,
i.e. galvanometers, etc. In the overall majority of the servo world, these ripple frequencies will not show
in the system due to mechanical and electrical time constants of most systems. This will happen
regardless of the amplifier used.
So why is the recommended setup for 30KHz? A few reasons, the first is aesthetics. Nobody wants to
put a scope on an output signal and see 1 or 2V of hash. If you increase that frequency the hash is
minimized. The second reason is response of the output with respect to the servo filter. If you increase
the output resolution and thus lower the PWM frequency far enough you will notice some lag in the
system from the delays between the output register value actually being picked up by the slower PWM
frequency.
For high response systems we suggest using Acc8es and a true 18bit DAC. However the filtered PWM
technique will be more than adequate for most applications.
Software Setup 19
PMAC2A PC104 Hardware Reference Manual
0
How does changing I900 effect other settings in PMAC
I900 is does not only set the PWM frequency for the PWM outputs but it also sets the Max Phase
Frequency.
MaxPhase Frequency = 117,964.8 kHz / [2*I900+3]
PWM Frequency = 117,964.8 kHz / [4*I900+6]
The Max Phase Frequency is then divided by I901 to generate the frequency for the phase interrupt and its
routines. If you change I900 you have to change I901 to keep the same phase interrupt.
PHASE Clock Frequency = MaxPhase Frequency / (I901+1)
The Phase Clock Frequency setting also effects the servo interrupt frequency. If you change the phase
interrupt frequency then you must change I902 to keep the same servo interrupt.
Servo Clock Frequency = PHASE Clock Frequency / (I902+1)
When you change the servo interrupt you must always change the servo interrupt time, i10, to match or all
of your timing will be off in PMAC.
I10=8388608/(Servo Frequency (KHz)) = 8388608 * ServoTime(msec)
If you decide to change I900 be sure to reset Ix69 to the proper safety setting per the following formula:
Ix69=MaxVolts/10 * I900
Examples:
Default Example:
I900=1001
I901=2
I902=3
Ix69=1024
I10=1710933
MaxPhase Frequency = 117,964.8 kHz / [2*1001+3] = 58.835KHz
PWM Frequency = 117,964.8 kHz / [4*1001+6] = 29.418KHz
PHASE Clock Frequency = MaxPhase Frequency / (2+1) = 19.61KHz
Servo Clock Frequency = PHASE Clock Frequency / (3+1) = 4.90KHz
I10=8388608/(4.902943) = 1710933
Ix69=10V/10 * I900 = 1001 add headroom to 1024
Now lets say I wanted to double my resolution:
I900=2002
MaxPhase Frequency = 117,964.8 kHz / [2*2002+3] = 29.44KHz
PWM Frequency = 117,964.8 kHz / [4*2002+6] = 14.72KHz
In order to save headroom on firmware routines that trigger off the phase and servo interrupts it is best to
keep those frequencies about the same as above. Some systems may want higher phase and servo
Software Setup
2
PMAC2A PC104 Hardware Reference Manual
interrupt frequencies for better servo performance, but our default frequencies are typically more than fast
enough for many applications. We will discuss tuning parameter a bit later in this document.
I901= 29.44KHz/19.61KHz -1 = @0.5 set it at 1 or 14.72KHz
This is not exactly the same since I901 is an integer value but pretty close. Since we are doing any
commutation with a +/-10V signal it doesn’t make that much of a difference. The Servo Frequency we
will be able to get close though:
I902=14.72KHz/4.9 – 1 = 2.004 or 2 which is @4.9KHz
For a 10V max signal output:
Ix69=i900 + headroom = 2024
We must set I10 whenever we change the servo clock but since we kept it basically the same, I19 stays
pretty much the same. Without rounding it works out to the following:
I10 = 8388608/4.906613 = 1709653
For precise timing within your motion application it is important not to round off when calculating I10.
Effects of Output Resolution and Servo Interrupt Frequency on Servo
Gains
When you change your output resolution and/or servo interrupt timing your tuning parameters will no
longer respond the same. The system will have to be tuned again in order to achieve the desired
performance. There is an approximate relation of output resolution to servo loop gains . If you were
switching an application from a PMAC style 16bit Dac to a PMAC2Pc104 with default resolution of
about 11bits you can expect a change of your gains in order to get similar response.
The max output value of the output command with a 16bit Dac is 32767. With the PMAC2Pc104 at its
default parameters the max output value is 1001. If you had equal servo interrupt frequencies the
proportional gain on the PC104 system would have a proportional gain 1001/32767 or about 1/32 smaller.
This is more a rule of thumb than an exact formula. It is always recommended to go through a full tuning
procedure when changing output resolution.
If you decide to change the Servo Interrupt Frequency, then you are also changing the dynamics of the
servo filter and thus the system. You will need to retune the system in order to get the desired
performance. If you increase the servo frequency you will need to lower the proportional gain in order to
achieve similar performance. The reason you increased the frequency in the first place was more likely to
achieve a higher performance so relations here are not very helpful.
If you desire to change servo interrupt frequency in order to have your foreground PLCs execute more
often you can also adjust Ix60 to keep your gains the same, see the Pmac1/2 Software Reference Manual
for a further description of this parameter.
Software Setup 21
PMAC2A PC104 Hardware Reference Manual
Using Flag I/O as General-Purpose I/O
Either the user flags or other not assigned axes flag on the base board can be used as general-purpose I/O
for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions,
which are defined in the PMAC2 Software reference, allows accessing each particular line according to
the following table:
When using these lines as regular I/O points the appropriate setting of the Ix25
variable must be used to enable or disable the safety flags feature.
Analog Inputs Setup
The optional analog-to-digital converter inputs are ordered either through Option-12 on the CPU or Option2 on the axes expansion board. Each option provides two 12-bit analog inputs with a ±10Vdc range. The
M-variables associated with these inputs provided a range of values between +2048 and –2048 for the
respective ±10Vdc input range. The following is the software procedure to setup and read these ports.
CPU Analog Inputs
I903 = 1746 ;Set ADC clock frequency at 4.9152 MHz
WX:$C014, $1FFFFF ;Clock strobe set for bipolar inputs
M105->X:$0710,12,12,S ;ADCIN_1 on JMACH1 connector pin 45
M205->X:$0711,12,12,S ;ADCIN_2 on JMACH1 connector pin 46
Software Setup
22
PMAC2A PC104 Hardware Reference Manual
HARDWARE REFERENCE SUMMARY
The following information is based on the PMAC2A PC/104 board, part number 603670-100.
The primary machine interface connector is JMACH1, labeled J3 on the PMAC. It contains the pins for
four channels of machine I/O: analog outputs, incremental encoder inputs, amplifier fault and enable
signals and power-supply connections.
This machine interface connector is labeled JMACH2 or J4 on the PMAC. It contains the pins for four
channels of machine I/O: end-of-travel input flags, home flag and pulse-and-direction output signals. In
addition, the B_WDO output allows monitoring the state of the Watchdog safety feature.
This connector allows communicating with PMAC from a host computer through a RS-232 port. Delta
Tau provides the Accessory 3L cable that connects the PMAC to a DB-9 connector.
2. Standard flat cable stranded 10-wire T&B Ansley P/N 171-10
TB1 – Power Supply Terminal Block (JPWR Connector)
In almost in all cases the PMAC2A PC/104 will be powered from the PC/104 bus, when it is installed in a
host computer’s bus, or from the JMACH1 connector. This terminal block may be used as an alternative
power supply connector or to easily measure the voltages applied to the board.
1. 4-pin terminal block, 0.150 pitch
LED Indicators
D1: when this red LED is lit, it indicates that the watchdog timer has tripped and shut down the PMAC.
D2: when this green LED is lit, it indicates that power is applied to the +5V input.
Hardware Reference Summary 27
PMAC2A PC104 Hardware Reference Manual
Hardware Reference Summary
28
PMAC2A PC104 Hardware Reference Manual
E-POINT JUMPER DESCRIPTIONS
E0: Forced Reset Control
E Point and
Physical Layout
E0
Location Description Default
B3 Factory use only; the board will not operate
with E0 installed.
E1: Servo and Phase Clock Direction Control
E Point and
Physical Layout
E1
If the E1 jumper is ON and the servo and phase clocks are not brought in on the J8
serial port, the watchdog timer will trip immediately.
Location Description Default
B4 Remove jumper for PMAC to use its
internally generated servo and phase clock
signals and to output these signals on the J8
serial port connector.
Jump pins 1 and 2 for PMAC to expect to
receive its servo and phase clock signals on
the J8 serial port connector.
Note:
E2: CPU Frequency Select
No jumper
No jumper installed
E Point and
Physical Layout
E2
Location Description Default
B4 Remove jumper for 40 MHz operation (E4
OFF also) or for 80 MHz operation (E4
ON).
Jump pin 1 to 2 for 60 MHz operation (E4
OFF).
E3: Normal/Re-Initializing Power-Up/Reset
E Point and Physical
Layout
E3
Location Description Default
C4 Jump pin 1 to 2 to re-initialize on power-
up/reset, loading factory default settings.
Remove jumper for normal power-up/reset,
loading user-saved settings.
No jumper installed
No jumper installed
E-Point Jumper Descriptions 29
PMAC2A PC104 Hardware Reference Manual
E4: CPU Frequency Select
E Point and
Physical Layout
E4
Location Description Default
C4 Remove jumper for 40 MHz operation (E2
OFF also) or for 60 MHz operation (E4 ON).
Jump pin 1 to 2 for 80 MHz operation (E2
OFF).
E8: Phase Clock Lines Output Enable
E Point and
Physical Layout
E8
Location Description Default
B1 Jump pin 1 to 2 to enable the PHASE clock
line on the J8 connector, allowing
synchronization with another PMAC.
Remove jumper to disable the PHASE clock
line on the J8 connector.
E9: Servo Clock Lines Output Enable
E Point and
Physical Layout
E9
Location Description Default
Jump pin 1 to 2 to enable the SERVO clock
line on the J8 connector, allowing
B1
synchronization with another PMAC.
Remove jumper to disable the SERVO clock
line on the J8 connector.
No jumper installed
(standard or Option 5EF)
Jumper installed (Option
5CF)
No Jumper
No Jumper
E10 – E12: Power-Up State Jumpers
E Point and
Physical Layout
E10
E12
Location Description Default
E5 Remove jumper E10;
Jump E11;
Jump E12;
To read flash IC on power-up/reset
Other combinations are for factory use only;
the board will not operate in any other
configuration.
No E10 jumper installed;
Jump E11 and E12
E-Point Jumper Descriptions
30
PMAC2A PC104 Hardware Reference Manual
E13: Power-Up/Reset Load Source
E Point and
Physical Layout
E13
Location Description Default
E5 Jump pin 1 to 2 to reload firmware through
serial or bus port.
Remove jumper for normal operation.
E14: Watchdog Disable Jumper
E Point and
Physical Layout
E14
Location Description Default
B3 Jump pin 1 to 2 to disable Watchdog timer
(for test purposes only).
Remove jumper to enable Watchdog timer.
E15A, B, C: Flash Memory Bank Select
E Point and
Physical Layout
E15A
Location Description Default
E4 Remove all 3 jumpers to select flash memory
bank with factory-installed firmware.
Use other configuration to select one of the 7
other flash memory banks.
No jumper
No jumper
No jumpers installed
E15C
E16: ADC Inputs Enable
E Point and
Physical Layout
E16
Location Description Default
D1 Jump pin 1 to 2 to enable the Option-12
No jumper
ADC inputs.
Remove jumper to disable the ADC inputs,
which might be necessary for reading
current feedback signals from digital
amplifiers.
E-Point Jumper Descriptions 31
PMAC2A PC104 Hardware Reference Manual
E18 – E19: PC/104 Bus Address
E Point and Physical
Layout
E18
E19
Location Description
D4
Jumpers E18 and E19 select the PC/104 bus
address for communications according to
the following table:
E18 E19
OFF OFF $200 512
OFF ON $210 528
ON OFF $220 544
ON ON $230 560
Address
(Hex)
Address
(Dec)
No E18 jumper installed;
Jumper E19 installed
Default
Note:
Jumper E18 must be removed and jumper E19 must be installed for using either
the Ethernet or USB optional methods of communication.
E20-E23: ENCODER SINGLE ENDED/DIFFERENTIAL SELECT
(Note: v107 and above only)
E Point and
Physical Layout
E20
E21
E22
E23
Location Description Default
Jump pin 2 to 3 to obtain differential
1-2 Jumper installed
encoder input mode. This will bias
encoder negative inputs to VCC = 5V
Jump pin 1 to 2 to obtain non-differential
encoder input mode. This will bias
encoder negative inputs to 1/2 VCC =
2.5V
E-Point Jumper Descriptions
32
PMAC2A PC104 Hardware Reference Manual
CONNECTOR PINOUTS
TB1 (JPWR): Power Supply
(4-Pin Terminal Block)
Top View
Pin# Symbol Function Description Notes
1 GND Common Digital Common
2 +5V Input Logic Voltage Supplies all PMAC digital circuits
3 +12V Input DAC Supply Voltage Ref to Digital GND
4 -12V Input DAC Supply Voltage Ref to Digital GND
This terminal block can be used to provide the input for the power supply for the circuits on the PMAC board
when it is not in a bus configuration. When the PMAC is in a bus configuration, these supplies automatically
come through the bus connector from the bus power supply; in this case, this terminal block should not be used.
J4 (JRS232) Serial Port Connector
(10-PIN CONNECTOR)
Front View
Pin# Symbol Function Description Notes
1 PHASE Output Phasing Clock
2 DTR Bidirect Data Terminal Ready Tied to "DSR"
3 TXD/ Input Receive Data Host transmit data
4 CTS Input Clear to Send Host ready bit
5 RXD/ Output Send Data Host receive data
6 RTS Output Request to Send PMAC ready bit
7 DSR Bidirect Data Set Ready Tied to "DTR"
8 SERVO Output Servo Clock
9 GND Common Digital Common
10 +5V Output +5Vdc Supply Power supply out
Connector Pinouts33
PMAC2A PC104 Hardware Reference Manual
J3 (JMACH1): Machine Port Connector
(50-Pin Header)
Top View
Pin# Symbol Function Description Notes
1 +5V Output +5V Power For encoders, 1
2 +5V Output +5V Power For encoders, 1
3 GND Common Digital Common For encoders, 1
4 GND Common Digital Common For encoders, 1
5 CHA1 Input Encoder A Channel Positive 2
6 CHA2 Input Encoder A Channel Positive 2
7 CHA1/ Input Encoder A Channel Negative 2,3
8 CHA2/ Input Encoder A Channel Negative 2,3
9 CHB1 Input Encoder B Channel Positive 2
10 CHB2 Input Encoder B Channel Positive 2
11 CHB1/ Input Encoder B Channel Negative 2,3
12 CHB2/ Input Encoder B Channel Negative 2,3
13 CHC1 Input Encoder C Channel Positive 2
14 CHC2 Input Encoder C Channel Positive 2
15 CHC1/ Input Encoder C Channel Negative 2,3
16 CHC2/ Input Encoder C Channel Negative 2,3
17 CHA3 Input Encoder A Channel Positive 2
18 CHA4 Input Encoder A Channel Positive 2
19 CHA3/ Input Encoder A Channel Negative 2,3
20 CHA4/ Input Encoder A Channel Negative 2,3
21 CHB3 Input Encoder B Channel Positive 2
22 CHB4 Input Encoder B Channel Positive 2
23 CHB3/ Input Encoder B Channel Negative 2,3
24 CHB4/ Input Encoder B Channel Negative 2,3
25 CHC3 Input Encoder C Channel Positive 2
26 CHC4 Input Encoder C Channel Positive 2
27 CHC3/ Input Encoder C Channel Negative 2,3
28 CHC4/ Input Encoder C Channel Negative 2,3
29 DAC1 Output Analog Output Positive 1 4
30 DAC2 Output Analog Output Positive 2 4
31 DAC1/ Output Analog Output Negative 1 4,5
32 DAC2/ Output Analog Output Negative 2 4,5
33 AENA1/ Output Amplifier-Enable 1
34 AENA2/ Output Amplifier -Enable 2
35 FAULT1/ Input Amplifier -Fault 1 6
36 FAULT2/ Input Amplifier -Fault 2 6
37 DAC3 Output Analog Output Positive 3 4
38 DAC4 Output Analog Output Positive 4 4
39 DAC3/ Output Analog Output Negative 3 4,5
34 Connector Pinouts
PMAC2A PC104 Hardware Reference Manual
J3 JMACH1 (50-Pin Header)
(Continued)
Top View
Pin# Symbol Function Description Notes
40 DAC4/ Output Analog Output Negative 4 4,5
41 AENA3/ Output Amplifier -Enable 3
42 AENA4/ Output Amplifier -Enable 4
43 FAULT3/ Input Amplifier -Fault 3 6
44 FAULT4/ Input Amplifier -Fault 4 6
45 ADCIN_1 Input Analog Input 1 Option-12 required
46 ADCIN_2 Input Analog Input 2 Option-12 required
47 FLT_FLG_V Input Amplifier Fault pull-up V+
48 GND Common Digital Common
49 +12V Input DAC Supply Voltage 7
50 -12V Input DAC Supply Voltage 7
The J3 connector is used to connect PMAC to the first 4 channels (Channels 1, 2, 3, and 4) of servo amps
and encoders.
Note 1: In standalone applications, these lines can be used as +5V power supply inputs to power PMAC’s
digital circuitry.
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).
Note 4: ±10V, 10 mA max, referenced to common ground (GND).
Note 5: Leave floating if not used. Do not tie to GND.
Note 6: Functional polarity controlled by variable Ix25. Must be conducting to 0V (usually GND) to
produce a 0 in PMAC software. Automatic fault function can be disabled with Ix25.
Note 7: Can be used to provide input power when the PC/104 bus connector is not being used. When the
bus configuratio is used, these supply voltages automatically come through the bus connector
from the PC power supply.
Connector Pinouts35
PMAC2A PC104 Hardware Reference Manual
J4 (JMACH2): Machine Port CPU
Connector
(34-Pin Header)
Pin# Symbol Function Description Notes
1 FLG_1_2_V Input Flags 1-2 Pull-Up
2 FLG_3_4_V Input Flags 3-4 Pull-Up
3 GND Common Digital Common
4 GND Common Digital Common
5 HOME1 Input Home-Flag 1 10
6 HOME2 Input Home-Flag 2 10
7 PLIM1 Input Positive End Limit 1 8,9
8 PLIM2 Input Positive End Limit 2 8,9
9 MLIM1 Input Negative End Limit 1 8,9
10 MLIM2 Input Negative End Limit 2 8,9
11 USER1 Input User Flag 1
12 USER2 Input User Flag 2
13 PUL_1 Output Pulse Output 1
14 PUL_2 Output Pulse Output 2
15 DIR_1 Output Direction Output 1
16 DIR_2 Output Direction Output 2
17 EQU1 Output Encoder Comp-Equal 1
18 EQU2 Output Encoder Comp-Equal 2
19 HOME3 Input Home-Flag 3 10
20 HOME4 Input Home-Flag 4 10
21 PLIM3 Input Positive End Limit 3 8,9
22 PLIM4 Input Positive End Limit 4 8,9
23 MLIM3 Input Negative End Limit 3 8,9
24 MLIM4 Input Negative End Limit 4 8,9
25 USER1 Input User Flag 3
26 USER2 Input User Flag 4
27 PUL_3 Output Pulse Output 3
28 PUL_4 Output Pulse Output 4
29 DIR_3 Output Direction Output 3
30 DIR_4 Output Direction Output 4
31 EQU3 Output Encoder Comp-Equal 3
32 EQU4 Output Encoder Comp-Equal 4
33 B_WDO Output Watchdog Out Indicator/driver
34 No Connect
Note 8: Pins marked PLIMn should be connected to switches at the positive end of travel. Pins marked MLIMn
should be connected to switches at the negative end of travel.
Note 9: Must be conducting to 0V (usually GND) 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 HOMEn controlled by Encoder/Flag Variable I9n2.
HMFLn selected for trigger by Encoder/Flag Variable I9n3. Must be conducting to 0V (usually GND) to
produce a 0 in PMAC software.
Front View
36 Connector Pinouts
PMAC2A PC104 Hardware Reference Manual
Connector Pinouts37
PMAC2A PC104 Hardware Reference Manual
SCHEMATICS
38 Connector Pinouts
PMAC2A PC104 Hardware Reference Manual
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INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC.
INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC.
POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE
POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE
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