Delta Tau TURBO PMAC2 PCI ULTRALITE User Manual

^1HARDWARE REFERENCE MANUAL

^2 TURBO PMAC2 PCI ULTRALITE

^3 Programmable Multi-Axis Controller

^4 4AX-603726-XHXX

^5 December 12, 2011

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

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

Turbo PMAC2 PCI Ultralite HRM

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Copyright Information

© 2011 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]
Web: www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller, accessory, and amplifier products 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 to protect them from excessive or corrosive moisture, abnormal
ambient temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are directly
exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.

Turbo PMAC2 PCI Ultralite HRM

WARNING

A Warning identifies hazards that could result in personal injury
or death. It precedes the discussion of interest.

Caution

A Caution identifies hazards that could result in equipment damage. It
precedes the discussion of interest.

Note

A Note identifies information critical to the user’s understanding or
use of the equipment. It follows the discussion of interest.

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Safety Instructions

Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified
personnel are persons who are familiar with the transport, assembly, installation, and operation of
equipment. The qualified personnel must know and observe the following standards and regulations:

IEC364resp.CENELEC HD 384 or DIN VDE 0100
IEC report 664 or DIN VDE 0110
National regulations for safety and accident prevention or VBG 4

Incorrect handling of products can result in injury and damage to persons and machinery. Strictly adhere
to the installation instructions. Electrical safety is provided through a low-resistance earth connection. It
is vital to ensure that all system components are connected to earth ground.

This product contains components that are sensitive to static electricity and can be damaged by incorrect
handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the
product on a conductive surface. Discharge any possible static electricity build-up by touching an
unpainted, metal, grounded surface before touching the equipment.

Keep all covers and cabinet doors shut during operation. Be aware that during operation, the product may
have electrically-charged components and hot surfaces. Control and power cables can carry a high
voltage, even when the motor is not rotating. Never disconnect or connect the product while the power
source is energized to avoid electric arcing.

Turbo PMAC2 PCI Ultralite HRM

MANUAL REVISION HISTORY

REV

DESCRIPTION

DATE

CHANGE

APPROVED

1

MANUAL CREATION

6/23/08

CP

JP

2

CORRECTED MACRO IC OPTIONS

9/12/11

SM

RN

3

UPDATED CPU OPTIONS

REFURBISHED MANUAL

12/12/11

RN

RN

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Turbo PMAC2 PCI Ultralite HRM

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Table Of Contents

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

SPECIFICATIONS .............................................................................................................................................. 2

Part Number And Options.................................................................................................................... 2

Environmental Specifications .............................................................................................................. 3

Electrical Specifications ...................................................................................................................... 3

CONENCTOR PINOUTS .................................................................................................................................... 4

J1: (JANA) Analog Inputs ................................................................................................................... 4

J2: (JTHW) Multiplexer Port ............................................................................................................... 5

J3: (JI/O) General Purpose Inputs And Outputs .................................................................................... 6

J5: (RS-232) Serial Port ....................................................................................................................... 7

J5A: RS-422 Auxiliary Serial Port ...................................................................................................... 8

J6: (JDISP) Display Connector ........................................................................................................... 9

J7: (JHW) Handwheel Encoder Connector ......................................................................................... 10

TB1: Logic Power ............................................................................................................................. 11

TB2: Watchdog Relay ....................................................................................................................... 11

MACRO Interface Connectors ........................................................................................................... 12

E-POINT JUMPERS .......................................................................................................................................... 13

E-Point Jumpers on-board Location ................................................................................................... 13

E0: Reset Lock Enable ...................................................................................................................... 14

E1: Card 0 (Clock Direction) Select .................................................................................................. 14

E2: 40/60 MHz Operation ................................................................................................................. 14

E3: Re-Initialization on Reset Control ............................................................................................... 14

E4-E6: (Reserved for Future Use) ................................................................................................ ..... 14

E7: Analog Input Reference Select.................................................................................................... 15

E10A, B, C: Flash Memory Bank Select ........................................................................................... 15

E15: Internal/External MACRO Electrical Select .............................................................................. 15

E16: Electrical/Optical MACRO Input Select ................................................................................... 15

E17 – E18: Serial Port Select ................................................................ ............................................ 16

E19: Watchdog Disable Jumper ........................................................................................................ 16

E20 – E22: Power-Up/Reset Load Source ......................................................................................... 16

E23: Firmware Reload Enable .......................................................................................................... 16

Table of Contents

Turbo PMAC2 PCI Ultralite HRM

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INTRODUCTION

The Turbo PMAC2 PCI Ultralite is a member of the Turbo PMAC family of boards optimized for
interface to the system through the MACRO ring and therefore does not contain on-board axis interface
circuitry (which is what makes it Ultralite). It can command up to 32 axes through the MACRO ring. 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 boards.

The Turbo PMAC2 PCI Ultralite is a full-sized PCI-bus expansion card. This card is capable of PCI bus
communications, with or without the optional dual-ported RAM. Standalone operation is also possible
and communications can be done through RS-232, RS-422.

Introduction 1

Turbo PMAC2 PCI Ultralite HRM

4 - 3 7 2 6 - 2 - 0

0 - No Options
1 - Opt. 12

8-channels 12-bit
A/D converter
2 - Opt. 12 & 12A
16-channels 12-bit
A/D converter

0

Turbo PMAC2 PCI Ultralite

Communication Options

Other Options

2 - Opt. A (Standard)

MACRO-ring
fiber optic interface
3 - Opt. C
MACRO-ring
RJ-45 electrical interf.
4 - Opt. A & Opt. 9T
MACRO-ring
fiber optic interface
&

Auxiliary RS-232
5 - Opt. C & Opt. 9T

MACRO-ring
RJ-45 electrical interf.
&
Auxiliary RS-232

C F H

A

F

H

0 - No Options

1 - Opt. 2B

Dual Port RAM

E

Axis / MACRO Node Options

2 – Opt. 1A 8 servo, 6 I/O
and 2 communic. Nodes
(Standard)
3 – Opt. 1B 16 servo, 12 I/O
and 4 communic. nodes
4 – Opt. 1C 24 servo, 18 I/O
and 6 communic. nodes
5 – Opt. 1D 32 servo, 24 I/O
and 8 communic. nodes

G

G

C0 - Opt. 5C0 80MHz
DSP56303 CPU
256Kx24 SRAM
1Mx8 flash*
C3 - Opt. 5C3 80MHz
DSP56303 CPU
1Mx24 SRAM
4Mx8 flash*
E0 - Opt. 5E0 160MHz
DSP56311 CPU
256Kx24 SRAM
1Mx8 flash*
E3 - Opt. 5E3 160MHz
DSP56311 CPU
1Mx24 SRAM
4Mx8 flash*
F0 - Opt. 5F0 240MHz
DSP56321 CPU
256Kx24 SRAM
1Mx8 flash*
F3 - Opt. 5F3 240MHz
DSP56321 CPU
1Mx24 SRAM
4Mx8 flash*

E

CPU / Memory / Firmware

Options

C

2 - PMAC2 (Standard)*

D

D

Other CPU Options

3 - No Options
5 - Opt. 8A

High-accuracy

clock crystal
6 - Opt. 16A

Battery-backed
Parameter RAM

7 - Opt. 8A & Opt. 16A
High-accuracy

clock crystal
&
Battery-backed
Parameter RAM

A B

B

LK

00 - No Additional* Options
xx - Factory assigned digits
for Additional* Options

K

L

Factory Assigned Options

* If Opt. 10xx (specific firmware version) or any other Additional Option is required,

contact factory for digits K and L (Factory Assigned digits). If Opt. 10xx is not
ordered the latest firmware is used.

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SPECIFICATIONS

Part Number And Options

The following is a summary of the part number and options available for the Turbo PMAC2 PCI Ultralite:

Specifications 2