Delta Tau TURBO PMAC2 PCI, TURBO PMAC2 PCI LITE User Manual

^1 HARDWARE REFERENCE MANUAL

^2 Turbo PMAC2 PCI

^3 Programmable Multi-Axis Controller

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

21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com

^4 4xx-603367-xHxx

^5 May 26, 2004

Copyright Information

© 2003 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are

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

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: [phone]
Fax: [phone]
Email: [e-mail]
Website: http://www.deltatau.com

Operating Conditions

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

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

Turbo PMAC2 PCI Hardware Reference Manual

Table of Contents

INTRODUCTION.......................................................................................................................................................1

Board Configuration.................................................................................................................................................1

Base Version ........................................................................................................................................................1

Option 1: Additional Four Channels Axis Interface Circuitry............................................................................1

Option 2: Dual-Ported RAM...............................................................................................................................1

Option 5: CPU and Memory Configurations......................................................................................................2

Option 7: Plate Mounting ...................................................................................................................................2

Option 8: High-Accuracy Clock Crystal.............................................................................................................3

Option 9: Serial Port Configuration...................................................................................................................3

Option 10: Firmware Version Specification.......................................................................................................3

Option 12: Analog-to-Digital Converters...........................................................................................................3

Option 16: Battery-Backed Parameter Memory.................................................................................................3

Option 18: Identification Number and Real Time Clock/Calendar Module .......................................................3

HARDWARE SETUP.................................................................................................................................................5

Piggyback Turbo CPU Board Jumper Configuration...............................................................................................5

Watchdog Timer Jumper......................................................................................................................................5

Dual-Ported RAM Source Jumper.......................................................................................................................5

Power-Up State Jumpers......................................................................................................................................5

Firmware Load Jumper........................................................................................................................................5

Base Board Jumper Configuration............................................................................................................................5

Servo and Phase Clock Direction Control...........................................................................................................5

Re-Initialization Jumper.......................................................................................................................................6

Encoder Sample Clock Source Jumpers...............................................................................................................6

Serial Port Selection Jumper................................................................................................................................6

Output Disable State Jumpers..............................................................................................................................6

Resistor Pack Configuration.....................................................................................................................................6

Termination Resistors ..........................................................................................................................................6

Pull-Up/Pull-Down Resistors...............................................................................................................................7

Connections..............................................................................................................................................................7

Mounting..............................................................................................................................................................7

Power Supply Connection....................................................................................................................................8

Machine Port Connections...................................................................................................................................8

Display Port.........................................................................................................................................................8

Multiplexer Port...................................................................................................................................................8

I/O Port................................................................................................................................................................8

Serial Ports ..........................................................................................................................................................9

A/D-Converter Port..............................................................................................................................................9

Handwheel Port ...................................................................................................................................................9

COMMUNICATIONS SETUP................................................................................................................................11

CPU BOARD E-POINT DESCRIPTIONS.............................................................................................................13

E1: Watchdog Disable Jumper ...............................................................................................................................13

E2: DPRAM Location Configure ...........................................................................................................................13

E4 – E6: Power-Up/Reset Load Source..................................................................................................................13

E7: Firmware Reload Enable..................................................................................................... .............................13

BASE BOARD JUMPER DESCRIPTIONS...........................................................................................................15

E1: Servo and Phase Clock Direction Control.......................................................................................................15

E2: CPU Frequency Select ....................................................................................................................................15

E3: Normal/Re-Initializing Power-Up/Reset.........................................................................................................15

E4: CPU Frequency Select .....................................................................................................................................15

E5 – E6: (Reserved for Future Use).......................................................................................................................15

E13 - E14: Encoder Sample Clock Direction Control...........................................................................................16

Table of Contents i

Turbo PMAC2 PCI Hardware Reference Manual

E17 - E18: Serial Port Type Selection...................................................................................................................16

E111-118: Command Output Disable State...........................................................................................................17

MATING CONNECTORS.......................................................................................................................................19

CPU Board Connectors...........................................................................................................................................19

J2 (JEXP)/Expansion.........................................................................................................................................19

J8 (JAUX232)/Auxiliary RS232 .........................................................................................................................19

Base Board Connectors...........................................................................................................................................19

J1 (JANA)/Analog (Option 12)...........................................................................................................................19

J2 (JTHW)/Multiplexer Port ..............................................................................................................................19

J3 (JIO)/Digital I/O............................................................................................................................................19

J5 (JRS232)/RS-232 Serial Communications.....................................................................................................19

J5A (JRS422)/RS-422 Serial Communications ..................................................................................................19

J6 (JDISP)/Display............................................................................................................................................19

J7 (JHW)/Auxiliary Channel..............................................................................................................................19

J8 (JEQU)/Position Compare............................................................................................................................20

J9 (JMACH1)/Machine Port 1...........................................................................................................................20

J10 (JMACH2)/Machine Port 2.........................................................................................................................20

J11 (JMACH3)/Machine Port 3.........................................................................................................................20

J12 (JMACH4)/Machine Port 4.........................................................................................................................20

CPU BOARD CONNECTOR PINOUTS................................................................................................................21

J8 (JAUX232)/Auxiliary Serial Port.......................................................................................................................21

BASEBOARD CONNECTOR PINOUTS...............................................................................................................23

J1 (JANA) Analog Input Port Connector................................................................................................................23

J2 (JTHW) Multiplexer Port Connector..................................................................................................................24

J3 (JI/O) General Input/Output Connector..............................................................................................................24

J5 (JRS232) Serial Port Connector.........................................................................................................................25

J5A: RS422 Serial Port Connector .........................................................................................................................26

J6 (JDISP) Display Connector................................................................................................................................26

J7 (JHW) Handwheel Encoder Connector..............................................................................................................27

J8 (JEQU) Position Compare Output Connector....................................................................................................27

J9 (JMACH1) Connector Description ....................................................................................................................28

J10 (JMACH2) Connector Description ..................................................................................................................31

J11 (JMACH3)........................................................................................................................................................34

J12 (JMACH4)........................................................................................................................................................37

TB1 (2/4-Pin Terminal Block)................................................................................................................................40

TB2 (3-Pin Terminal Block)................................................................................................................................... 40

BASE BOARD JUMPERS LAYOUT......................................................................................................................41

SCHEMATICS..........................................................................................................................................................43

ii Table of Contents

Turbo PMAC2 PCI Hardware Reference Manual

INTRODUCTION

The Turbo PMAC2 PCI (part number 400-603367-TRx) is a member of the Turbo PMAC family of
boards optimized for interface to sinewave or direct-PWM servo drives and to pulse-and-direction stepper
drives. Its software is capable of 32 axes of control. It can have up to eight channels of on-board axis
interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its
expansion port, connected to Acc-24P or Acc-24P2 ISA-format boards (Acc-24 boards in PCI format are
not yet available).

The Turbo PMAC2 PCI is a full-sized PCI-bus expansion card, with a small piggyback board containing
the CPU board. This piggyback board occupies part of the next slot, but ½-sized boards are permitted in
this next slot. While the Turbo PMAC2 PCI is capable of PCI bus communications, with or without the
optional on-board dual-ported RAM, it does not need to be inserted into a PCI expansion slot.

Communications can be done through the standard RS-232/RS-422 serial port; standalone operation is
possible.

Board Configuration

Base Version

The base version of the Turbo PMAC2 PCI provides a 1-1/2-slot board with:

• 80 MHz DSP56303 CPU (120 MHz PMAC equivalent)

• 128k x 24 SRAM compiled/assembled program memory (5C0)

• 128k x 24 SRAM user data memory (5C0)

• 1M x 8 flash memory for user backup and firmware (5C0)

• Latest released firmware version

• RS-232 serial interface, PCI (PC) bus interface

• One 16-node MACRO interface IC

• Four channels axis interface circuitry, each including:

• Three output command signal sets, configurable as either:

 Two serial data streams to external DACs, one pulse-and-direction
 Three PWM top-and-bottom pairs

• 3-channel differential/single-ended encoder input

• Nine input flags, two output flags

• Interface to two external serial ADCs, 8 to 18 bits

Two channels supplemental interface circuitry, each including:

•

• 2-channel differential/single-ended encoder input

• One output command signal set, configurable as pulse-&-direction or PWM top-and-bottom pair

• Display, MACRO, muxed I/O, direct I/O interface ports

• PID/notch/feedforward servo algorithms

• Extended pole-placement servo algorithms

• 1-year warranty from date of shipment

• One manual per set of one to four PMACs in shipment (Cables, mounting plates, mating connectors

not included)

Option 1: Additional Four Channels Axis Interface Circuitry

Option 1 provides an additional four channels of on-board axis interface circuitry, identical to the standard
first four channels. The key components are the DSPGATE1 IC at U7 and connectors J11 and J12.

Option 2: Dual-Ported RAM

Dual-ported RAM provides a high-speed communications path for bus communications with the host
computer through a bank of shared memory. DPRAM is advised if more than about 100 data items per
second are to be passed between the controller and the host computer in either direction.

Option 2 provides a 32k x 16 bank of dual-ported RAM. The key component on the board is U92.

Introduction 1

Turbo PMAC2 PCI Hardware Reference Manual

Option 5: CPU and Memory Configurations

The various versions of Option 5 provide different CPU speeds and main memory sizes on the piggyback
CPU board. Only one Option 5xx may be selected for the board.

The CPU is a DSP5630x IC as component U1. It is currently available only as an 80 MHz device (with
computational power equivalent to a 120 MHz non-Turbo PMAC), but higher speed versions will be
available shortly.

The compiled/assembled-program memory SRAM ICs are located in U14, U15, and U16. These ICs
form the active memory for the firmware, compiled PLCs, and user-written phase/servo algorithms.

These can be 128k x 8 ICs (for a 128k x 24 bank), fitting in the smaller footprint, or they can be the larger
512k x 8 ICs (for a 512k x 24 bank), fitting in the full footprint.

The user-data memory SRAM ICs are located in U11, U12, and U13. These ICs form the active memory
for user motion programs, uncompiled PLC programs, and user tables and buffers. These can be 128k x 8
ICs (for a 128k x 24 bank), fitting in the smaller footprint, or they can be the larger 512k x 8 ICs (for a
512k x 24 bank), fitting in the full footprint.

The flash memory IC is located in U10. This IC forms the non-volatile memory for the board’s firmware,
the user setup variables, and for user programs, tables, and buffers. It can be 1M x 8, 2M x 8, or 4M x 8
in capacity.

Option 4C provides an 80 MHz DSP56309 CPU with expanded internal memory to improve

•

performance for large number of commutated axes.

• Option 5C0 is the standard CPU and memory configuration. It is provided automatically if no Option

5xx is specified. It provides an 80 MHz CPU (120 MHz PMAC equivalent), 128k x24 of
compiled/assembled program memory, 128k x 24 of user data memory; and a 1M x 8 flash memory.

• Option 5C1 provides an 80 MHz CPU (120 MHz PMAC equivalent), 128k x 24 of

compiled/assembled program memory, an expanded 512k x 24 of user data memory, and a 2M x 8
flash memor y.

• Option 5C2 provides an 80 MHz CPU (120 MHz PMAC equivalent), an expanded 512k x 24 of

compiled/assembled program memory, 128k x 24 of user data memory, and a 2M x 8 flash memory.

• Option 5C3 provides an 80 MHz CPU (120 MHz PMAC equivalent), an expanded 512k x 24 of

compiled/assembled program memory, an expanded 512k x 24 of user data memory, and a 4M x 8
flash memor y.

• Option 5D0 provides a 100 MHz CPU (120 MHz PMAC equivalent), 128k x24 of

compiled/assembled program memory, 128k x 24 of user data memory; and a 1M x 8 flash memory.
It is not compatible with Option-4C.

• Option 5D1 provides a 100 MHz CPU (120 MHz PMAC equivalent), 128k x 24 of

compiled/assembled program memory, an expanded 512k x 24 of user data memory, and a 2M x 8
flash memory. Check with the factory for availability.

• Option 5D2 provides a 100 MHz CPU (120 MHz PMAC equivalent), an expanded 512k x 24 of

compiled/assembled program memory, 128k x 24 of user data memory, and a 2M x 8 flash memory.
Check with the factory for availability.

• Option 5D3 provides a 100 MHz CPU (120 MHz PMAC equivalent), an expanded 512k x 24 of

compiled/assembled program memory, an expanded 512k x 24 of user data memory, and a 4M x 8
flash memory. Check with the factory for availability.

Option 7: Plate Mounting

Option 7 provides a mounting plate connected to the Turbo PMAC2 PCI with standoffs. It is used to
install the Turbo PMAC2 PCI in standalone applications.

2 Introduction

Turbo PMAC2 PCI Hardware Reference Manual

Option 8: High-Accuracy Clock Crystal

The Turbo PMAC2 PCI has a clock crystal (component Y1) of nominal frequency 19.6608 MHz (~20
MHz). The standard crystal’s accuracy specification is +/-100 ppm.

• Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.

Option 9: Serial Port Configuration

The Turbo PMAC2 PCI comes standard with a single serial port that can use either RS-232 or RS-422
transceivers. Optionally, a second independent serial port can be added.

Option 9T adds an auxiliary RS-232 port on the CPU piggyback board. The key components added

•

are IC U22 and connector J8 on the CPU board.

Option 10: Firmware Version Specification

Normally the Turbo PMAC2 PCI is provided with the newest released firmware version. A label on the
U10 flash memory IC on the CPU board shows the firmware version loaded at the factory.

• Option 10 provides for a user-specified firmware version.

Option 12: Analog-to-Digital Converters

Option 12 permits the installation of 8 or 16 channels of on-board multiplexed analog-to-digital
converters. One or two of these converters are read every phase interrupt. The analog inputs are not
optically isolated, and each can have a 0 – 5V input range, or a +/-2.5V input range, individually
selectable.

• Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U28

and connector J1.

• Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board

is U29.

Option 16: Battery-Backed Parameter Memory

The contents of the standard memory are not retained through a power-down or reset unless they have
been saved to flash memory first. Option 16 provides supplemental battery-backed RAM for real-time
parameter storage that is ideal for holding machine state parameters in case of an unexpected powerdown.
The battery is located at component BT1.

• Option 16A provides a 32k x 24 bank of battery-backed parameter RAM in components U17, U18,

and U19 on the CPU board, fitting in the smaller footprint for those locations.

• Option 16B provides a 128k x 24 bank of battery-backed parameter RAM in components U17, U18,

and U19 on the CPU board, filling the full footprint for those locations.

Option 18: Identification Number and Real Time Clock/Calendar Module

Option 18 provides a module at location U5 on the CPU board that contains an electronic identification
number, and possibly a real-time clock/calendar.

• Option 18A provides an electronic identification number module.

• Option 18B provides an electronic identification number module with a real-time clock and calendar.

The year representation in the calendar is a 4-digit value, so there are no Year 2000 problems.

Introduction 3

Turbo PMAC2 PCI Hardware Reference Manual

4 Introduction

Turbo PMAC2 PCI Hardware Reference Manual

HARDWARE SETUP

Piggyback Turbo CPU Board Jumper Configuration

Watchdog Timer Jumper

Jumper E1 on the Turbo CPU board must be OFF for the watchdog timer to operate. This is a very
important safety feature, so it is vital that this jumper be OFF in normal operation. E1 should only be put
ON to debug problems with the watchdog timer circuit.

Dual-Ported RAM Source Jumper

On Turbo CPU boards with revision suffixes – 10A and newer, jumper E2 must connect pins 1 and 2 to
access dual-ported RAM (addresses $06xxxx) from the baseboard. If using the Option 2 DPRAM on the
baseboard, jumper E2 must be in this setting.

Jumper E2 must connect pins 2 and 3 to access dual-ported RAM (addresses $06xxxx) through the JEXP
expansion port. If using the DPRAM on an external accessory board, jumper E2 must be in this setting.

On Turbo CPU boards with revision suffixes – 109 and older, there is no jumper for this purpose, and the
boards can access DPRAM from either source, but with less robust buffering.

Power-Up State Jumpers

Jumper E4 on the Turbo CPU board must be OFF, jumper E5 must be ON, and jumper E6 must be ON in
order for the CPU to copy the firmware from flash memory into active RAM on power-up/reset. This is
necessary for normal operation of the card. (Other settings are for factory use only.)

Firmware Load Jumper

If jumper E7 on the CPU board is ON during power-up/reset, the board comes up in bootstrap mode,
which permits the loading of new firmware into the flash-memory IC on the board. When the PMAC
Executive program tries to establish communications with a board in this mode, it will detect that the
board is in bootstrap mode automatically and ask what file to download as the new firmware.

Jumper E7 must be OFF during power-up/reset for the board to come up in normal operational mode.

Base Board Jumper Configuration

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 J5A RS-422 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 J5A RS-422 serial port connector. In this case, the clock signals are generated by another
PMAC controller and output on its serial port connector. Commonly, serial communications are also
shared over a multi-drop RS-422 cable, with software addressing of the cards matching the I0 serial card
number for each controller. Alternately, the phase and servo clock signals can come from clock signals
involved in the process.

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.

In order to change the state of the card between use of internal clock and use of external clock, the card
must be re-initialized – either powered up with jumper E3 ON, or given the $$$*** command – with
jumper E1 in the new state. Before the card is reset again, a SAVE command must be issued to store the
new internal settings.

Hardware Setup 5

Turbo PMAC2 PCI Hardware Reference Manual

Re-Initialization Jumper

If E3 is OFF during power-up/reset, the controller will load its last saved set-up parameters from flash
memory into active memory. T his is the setting for normal operation. If E3 is ON during power-up/reset,
the controller will load its factory-default set-up parameters from firmware into active memory.
Generally this is only done if communications cannot be established with the card when in comes up in
normal operational mode.

Encoder Sample Clock Source Jumpers

Jumpers E13 and E14 control the source of the SCLK encoder-sampling clock for each servo IC. The
default setting of no jumper installed means that the SCLK signal comes from the servo IC and is output
on the JMACH connectors. This setting is suitable for all but a few very special applications.

Serial Port Selection Jumper

Jumpers E17 and E18 control which serial-port connector is used. If E17 and E18 connect their pins 1 and
2, the 10-pin RS-232 port connector J5 is used. If E17 and E18 connect their pins 2 and 3, the 26-pin RS­422 port connector J5A is used. The RS-422 port must be used if several cards are to be daisy chained
together on a single multi-drop cable.

Output Disable State Jumpers

Jumpers E111 through E118 control the hardware state of the digital command output signals for each
channel when the amplifier enable signal for that channel is in the disable state (false). Jumper E11n (n =
1 to 8) controls the output signals for Channel n on the board.

If E11n is OFF (default), the command output signals for Channel n are still active when the amplifier
enable signal is in the disable state. The Turbo PMAC software should be commanding a net zero
command to be output on these signals and the amplifier-enable signal should be used by the amplifier so
that no command output will cause action if it is receiving a disable signal. This OFF setting should be
definitely be used when DAC output format is selected for the channel.

If E11n is ON, the command output signals for Channel n are tri-stated when the amplifier-enable signal
is in the disable state. Typically, this setting is only used with direct-PWM power-block amplifiers that
do not use amplifier enable to gate the PWM signals and in which the zero-command format of 50% top
on-time, and 50% bottom on-time cannot be tolerated in the disable state.

Resistor Pack Configuration

Termination Resistors

The PMAC2 PCI provides sockets for termination resistors on differential input pairs coming into the
board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances
into the PMAC2 PCI board and ringing at signal transitions is a problem, SIP resistor packs may be
mounted in these sockets to reduce or eliminate the ringing.

All termination resistor packs are the type that has independent resistors (no common connection) with
each resistor using two adjacent pins. The following table shows which packs are used to terminate each
input device:

Input Pack Pack Size Input Pack Pack Size

Encoder 1 RP46 6-pin ADC 1 and 2 RP60 8-pin
Encoder 2 RP50 6-pin ADC 3 and 4 RP61 8-pin
Encoder 3 RP47 6-pin ADC 5 and 6 RP121 8-pin
Encoder 4 RP51 6-pin ADC 7 and 8 RP122 8-pin
Encoder 5 RP107 6-pin Fault 1 and 2 RP63 6-pin
Encoder 6 RP111 6-pin Fault 3 and 4 RP64 6-pin
Encoder 7 RP108 6-pin Fault 5 and 6 RP124 6-pin
Encoder 8 RP112 6-pin Fault 7 and 8 RP125 6-pin

SCLK12 and 34 RP52 6-pin SCLK56 and 78 RP113 6-pin

6 Hardware Setup

Turbo PMAC2 PCI Hardware Reference Manual

Pull-Up/Pull-Down Resistors

The differential input signal pairs to the PMAC2 PCI have user-configurable pull-up/pull-down resistor
networks to permit the acceptance of either single-ended or differential signals in one setting, or the
detection of lost differential signals in another setting.

The ‘+’ inputs of each differential pair each have a hard-wired 1 kohm pull-up resistor to +5V. This
cannot be changed.

The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 kohm resistor to +5V; each also has
another 2.2 kohm resistor as part of a socketed resistor pack that can be configured as a pull-up resistor to
+5V, or a pull-down resistor to GND.

If this socketed resistor is configured as a pull-down resistor (the default configuration), the combination
of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.5V in the
absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines
alone; it is desirable for unconnected inputs to prevent the pick-up of spurious noise; it is permissible for
differential line-driver inputs.

If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket),
thetwo parallel 2.2 kohm resistors act as a single 1.1 kohm pull-up resistor, holding the line at +5V in the
absence of an external signal. This configuration is required if encoder-loss detection is desired; it is
required if complementary open-collector drivers are used; it is permissible for differential line-driver
inputs even without encoder loss detection.

If Pin 1 of the resistor pack, marked by a dot on the pack, matches Pin 1 of the socket, marked by a wide
white line on the front side of the board, and a square solder pin on the back side of the board, then the
pack is configured as a bank of pull-down resistors. If the pack is reversed in the socket, it is configured
as a bank of pull-up resistors.

The following table lists the pull-up/pull-down resistor pack for each input device:

Device Resistor Pack

Encoder 1 RP43 ADC/Fault1&2 RP58
Encoder 2 RP48 ADC/Fault3&4 RP59
Encoder 3 RP44 ADC/Fault5&6 RP119
Encoder 4 RP49 ADC/Fault7&8 RP120
Encoder 5 RP104 SCLK12&34 RP62
Encoder 6 RP109 SCLK56&78 RP123
Encoder 7 RP105
Encoder 8 RP110

Device Resistor Pack

Connections

Mounting

The Turbo PMAC2 PCI can be mounted in one of two ways: in the PCI bus, or using standoffs.

• PCI bus: To mount in the PCI bus, simply insert the P1 card-edge connector into PCI socket. If there

is a standard PC-style housing, a bracket at the end of the PMAC2 PCI board can be used to screw
into the housing to hold the board down firmly.

• Standoffs: At each of the four corners of the PMAC2 PCI board, there are mounting holes that can be

used to mount the board on standoffs.

Hardware Setup 7

Turbo PMAC2 PCI Hardware Reference Manual

Power Supply Connection

The standard PMAC2 PCI requires only 5V power: 3A in a 4-channel configuration, 4A in an 8-channel
configuration (with Option 1). If the Option 12 A/D converters are installed, a –12V supply is also
required. In this case, a +12V supply can be passed through the card and out to the analog devices feeding
the A/D converters.

The power can be provided in several ways:

• Bus connector: If the PMAC2 PCI is mounted in an electrically active PCI bus slot, it automatically

draws its 5V and +/-12V power from the bus.

• Terminal block: The TB1 2/4-point terminal block can be used to bring in 5V power, especially in

standalone applications. Point 1 is GND; Point 2 is +5V. Points 3 (+12V) and 4 (-12V) are needed
only if the Option 12 A/D converters are ordered.

• JMACH connectors: Up to 2A at 5V may be brought in through each 100-pin JMACH connector

from an Acc-8 board or its equivalent, provided the cable is 500 mm (20 in) or less in length.

Machine Port Connections

The Turbo PMAC2 PCI has a 100-pin high-density header for each pair of servo interface channels.
Through this connector pass all of the digital signals to and from the amplifier, encoder, and flags for the
two channels. Typically, this header is connected with a matching Delta Tau Acc-8 family 2-channel
breakout board or equivalent through a provided 100-pin flat cable.

The machine port connectors are:

• J9 (JMACH1) Board Channels 1 and 2

• J10 (JMACH2) Board Channels 3 and 4

• J11 (JMACH3) Board Channels 5 and 6 (Option 1 required)

• J12 (JMACH4) Board Channels 7 and 8 (Option 1 required)

Display Port

The J6 (JDISP) display port provides a 14-pin IDC header for connection to Delta Tau’s Acc-12 family of
displays. Flat cables are provided with each of the Acc-12 displays for direct connection between the
display and this port.

Multiplexer Port

The J2 (JTHW) multiplexer port provides eight TTL-compatible 5V CMOS inputs and eight TTL­compatible 5V CMOS outputs on a 26-pin IDC header. These can be used directly as general-purpose
digital I/O, or with PMAC2’s special M-variable support (TWB, TWD, TWR, and TWS formats) they
can be used to support hundreds, or even thousands of multiplexed I/O points on accessory boards.

Delta Tau provides the following accessory boards that can be connected to the multiplexer port. Each
comes with a flat cable for direct connection to the port.

• Acc-8D Option 7 Resolver-to-Digital Converter Board

• Acc-18 Thumbwheel Board

• Acc-34 family of Digital I/O boards

• Acc-35A and B Extender Board

I/O Port

The J3 (JIO) I/O port provides 32 TTL-compatible 5V CMOS I/O points on a 40-pin IDC header.
Direction is selectable by byte. These are intended for use as general-purpose digital I/O points.

8 Hardware Setup

Turbo PMAC2 PCI Hardware Reference Manual

Serial Ports

The PMAC2 PCI has two serial-port connectors. Only one of these can be used in an application J5 is a
10-pin IDC header for RS-232 communications. It can be connected to a standard DB9 RS-232
connector on a host computer or terminal via a flat cable such as the Acc-3L. A commercially available
DB9-to-DB25 adapter can be added to such a flat cable if the host computer or terminal has a DB25 serial
connector. Jumpers E17 and E18 on the PMAC2 PCI must connect pins 1 and 2 to use this port.

J5A is 26-pin IDC header for RS-422 communications. It can be connected to a standard DB25 RS-422
connector on a host computer or terminal via a flat cable such as the Acc-3D. Jumpers E17 and E18 on
the PMAC2 PCI must connect pins 2 and 3 to use this port.

A/D-Converter Port

If the Option 12 A/D converters are ordered, the J1 (JANA) analog-input port is provided on the PMAC2
on a 20-pin IDC header. Option 12 provides eight analog inputs at 0 – 5V, or +/-2.5V levels. Option 12A
provides eight additional analog inputs at these levels. The +12V and –12V supplies can either be
brought in on this connector, or brought out on it for the external analog circuitry if they have been
brought in through TB1 or P1.

Handwheel Port

The J7 (JHW) handwheel port provides two limited supplemental channels, each with a 2-channel
encoder input, and a pulse-and-direction or PWM top-and-bottom pair output. All inputs and outputs are
digital 5V differential line-driver pairs.

Hardware Setup 9

Turbo PMAC2 PCI Hardware Reference Manual

10 Hardware Setup

Turbo PMAC2 PCI Hardware Reference Manual

p

COMMUNICATIONS SETUP

Delta Tau provides communication tools that take advantage of the PCI bus Plug and Play feature of 32­bits Windows
Pewin 32 version 2.32 and newer, a PMAC2 PCI board plugged in a PCI bus slot will be recognized by
the operating system when the computer is boot up. The available PCI address, dual-ported RAM address
and Interrupt lines are set automatically by the operating system and can be checked (but not modified) in
the MOTIONEXE.EXE application.

The PMAC2 PCI board could have the optional on-board Dual Ported RAM circuitry, which is ordered
through Option 2. If the dual-ported RAM circuitry is not on-board, manually disable the automatically
assigned use through the setup page of MOTIONEXE:

©

based computers. Starting with MOTIONEXE.EXE version 10.32.00, which is included in

Open MOTIONEXE
and press Setup for
the PCI device

Disable
Interru

ts

The MOTIONEXE application will first look for PMAC PCI boards on the PCI bus and will sequentially
assign device numbers from Device0 to each PMAC PCI until all the PMAC PCI boards found have a
device number assigned. Then, manually add other devices for either ISA bus or Serial port
communications.

After each PMAC has a device number assigned to it, communications through the PCI bus are identical
to the ISA bus. Any application written for the ISA bus using the Delta Tau provided 32-bits
communication libraries will not require any further change and the process is transparent.

Communications Setup 11

Turbo PMAC2 PCI Hardware Reference Manual

Note:

For example, if a Device0 for serial RS-232 communications was defined before a
PMAC PCI board was installed in the computer, its setup information will be
overwritten by the MOTIONEXE application when the PMAC2 PCI board is
found. Therefore, it is very important to take note of the all the devices and its
parameters defined in MOTIONEXE before installing a new PMAC board in the
computer.

12 Communications Setup