Delta Tau TURBO PMAC PCI User Manual
^1 HARDWARE REFERENCE MANUAL
^2 Turbo PMAC PCI
^3 PC Bus Expansion Board with Piggyback CPU
^4 4xx-603588-xHxx
^5 April 27, 2010
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2010 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained
in this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or
handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.
Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are exposed to hazardous or conductive materials and/or environments, we
cannot guarantee their operation.
REV. DESCRIPTION DATE CHG APPVD
1 UPDATED E-POINT JUMPER DESCRIPTIONS 10/19/06 CP M. COGUR
2 UPDATED JUMPER SETTINGS FOR E121 & E122 04/27/10 CP S. SATTARI
REVISION HISTORY
Turbo PMAC PCI HRM
Table of Contents
INTRODUCTION .....................................................................................................................................................1
Board Configuration....................................................................................................................................................1
Base Version ...........................................................................................................................................................1
Option 1: Additional 4 Channels Axis Interface Circuitry......................................................................................1
Option 2: Dual-Ported RAM...................................................................................................................................1
Option 2B: High-Speed USB Communications Interface .......................................................................................1
Option 4: CPU Type ...............................................................................................................................................2
Option 5: CPU and Memory Configurations..........................................................................................................2
Option 7: Plate Mounting .......................................................................................................................................3
Option 8: High-Accuracy Clock Crystal.................................................................................................................3
Option 9T: Auxiliary Serial Port.............................................................................................................................3
Option 10: Firmware Version Specification ...........................................................................................................3
Option 12: Analog-to-Digital Converters...............................................................................................................3
Option 15: V-to-F Converter for Analog Input.......................................................................................................3
Option 16: Battery-Backed Parameter Memory .....................................................................................................3
Option 18: Identification Number & Real-Time Clock/Calendar Module..............................................................4
PMAC Connectors and Indicators...............................................................................................................................4
J1 - Display Port (JDISP Port)...............................................................................................................................4
J2 - Control-Panel Port (JPAN Port) .....................................................................................................................4
J3 - Thumbwheel Multiplexer Port (JTHW Port)....................................................................................................4
J4 - Serial Port (JRS422 Port) ................................................................................................................................4
J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port) ..........................................................................4
J6 – Expansion Port (JXIO Port)............................................................................................................................4
J7 / J8 - Machine Connectors (JMACH2/JMACH1 Ports).....................................................................................4
J9 – Compare Equal Outputs Port (JEQU Port) ....................................................................................................5
J30 – Optional Analog to Digital Inputs (JANA Port)............................................................................................5
J31 – Optional Universal Serial Bus Port (JUSB Port)..........................................................................................5
JS1 / JS2 – Expansion Ports (JS1 / JS2 Ports)........................................................................................................5
TB1 – Power Supply Terminal Block (JPWR Connector).......................................................................................5
LED Indicators........................................................................................................................................................5
PMAC Board Layout Part Number 603588-100.........................................................................................................6
PMAC Board Dimensions Part Number 603588-100 .................................................................................................7
JUMPER SUMMARY ..............................................................................................................................................9
Power-Supply Configuration Jumpers.........................................................................................................................9
Clock Configuration Jumpers....................................................................................................................................10
Encoder Configuration Jumpers ................................................................................................................................10
Board Reset/Save Jumpers ........................................................................................................................................10
Communication Jumpers ...........................................................................................................................................10
I/O Configuration Jumpers ........................................................................................................................................11
Reserved Configuration Jumpers...............................................................................................................................12
Piggyback Turbo CPU Board Jumper Configuration................................................................................................12
Watchdog Timer Jumper.......................................................................................................................................12
Dual-Ported RAM Source Jumper ........................................................................................................................12
Power-Up State Jumpers.......................................................................................................................................13
Firmware Load Jumper.........................................................................................................................................13
CPU BOARD E-POINT DESCRIPTIONS...........................................................................................................15
E1: Watchdog Disable Jumper ..................................................................................................................................15
E2: DPRAM Location Configure..............................................................................................................................15
E4 – E6: Power-Up/Reset Load Source ....................................................................................................................15
E7: Firmware Reload Enable.....................................................................................................................................15
Table of Contents i
Turbo PMAC PCI HRM
MAIN BOARD E-POINT DESCRIPTIONS ........................................................................................................17
E0: Machine Output .................................................................................................................................................17
E1 - E2: Machine Output Supply Voltage Configure................................................................................................17
E3 - E6: Servo Clock Frequency Control.................................................................................................................18
E7: Machine Input Source/Sink Control ..................................................................................................................18
E17A-D: Amplifier Enable/Direction Polarity Control.............................................................................................19
E17E-H: Amplifier Enable/Direction Polarity Control .............................................................................................19
E22 - E23: Control Panel Handwheel Enable ..........................................................................................................20
E28: Following Error/Watchdog Timer Signal Control ............................................................................................20
E29 - E33: Phase Clock Frequency Control.............................................................................................................20
E34 - E38: Encoder Sampling Clock Frequency Control.........................................................................................21
E40 - E43: Software Address Control ......................................................................................................................21
E48: CPU Clock Frequency Control (Option CPU Section)....................................................................................22
E49: Serial Communications Parity Control ............................................................................................................22
E50: Flash Save Enable/Disable...............................................................................................................................22
E51: Normal/Re-Initializing Power-Up....................................................................................................................22
E54 - E65: Host Interrupt Signal Select ...................................................................................................................23
E72 - E73: Panel Analog Time Base Signal Enable.................................................................................................24
E74 - E75: Clock Output Control for Ext. Interpolation ..........................................................................................24
E85: Host-Supplied Analog Power Source Enable ..................................................................................................25
E87 - E88: Host-Supplied Analog Power Source Enable.........................................................................................25
E89: Amplifier-Supplied Switch Pull-Up Enable.....................................................................................................25
E90: Host-Supplied Switch Pull-Up Enable.............................................................................................................25
E98: DAC/ADC Clock Frequency Control ..............................................................................................................26
E100: Output Flag Supply Select ..............................................................................................................................26
E101 - E102: Motors 1-4 Amplifier Enable Output Configure.................................................................................26
E109: Reserved for Future Use .................................................................................................................................27
E110: Serial Port Configure ......................................................................................................................................27
E111: Clock Lines Output Enable.............................................................................................................................27
E114 - E115: Motors 5-8 Amplifier Enable Output Configure.................................................................................27
E121 - E122: XIN Feature Selection.........................................................................................................................28
MACHINE CONNECTIONS.................................................................................................................................29
Mounting ...................................................................................................................................................................29
Power Supplies ..........................................................................................................................................................29
Digital Power Supply ............................................................................................................................................29
Analog Power Supply............................................................................................................................................29
Flags Power Supply (Optional).............................................................................................................................30
Overtravel Limits and Home Switches......................................................................................................................30
Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection ............................................................30
Types of Overtravel Limits ....................................................................................................................................30
Home Switches ......................................................................................................................................................30
Motor Signals Connections (JMACH Connectors) ...................................................................................................31
Resistor Pack Configuration: Termination Resistors ...........................................................................................31
Resistor Pack Configuration: Differential or Single-Ended Encoder Selection ...................................................31
Incremental Encoder Connection .........................................................................................................................32
DAC Output Signals..............................................................................................................................................32
Amplifier Enable Signal (AENAx/DIRn) ...............................................................................................................33
Amplifier Fault Signal (FAULTn).........................................................................................................................33
General-Purpose Digital Inputs and Outputs (JOPTO Port)......................................................................................34
Control-Panel Port I/O (JPAN Port)..........................................................................................................................34
Command Inputs ...................................................................................................................................................35
Selector Inputs.......................................................................................................................................................35
Alternate Use.........................................................................................................................................................35
Reset Input.............................................................................................................................................................35
Table of Contents i
Turbo PMAC PCI HRM
Handwheel Inputs .................................................................................................................................................35
Optional Voltage to Frequency Converter............................................................................................................35
Thumbwheel Multiplexer Port (JTHW Port).............................................................................................................36
Optional Analog Inputs (JANA Port)........................................................................................................................36
Compare Equal Outputs Port (JEQU Port)................................................................................................................37
Serial Port (JRS422 Port) ..........................................................................................................................................37
Machine Connections Example .................................................................................................................................38
MATING CONNECTORS .....................................................................................................................................39
Base Board Connectors .............................................................................................................................................39
J1 (JDISP)/Display ...............................................................................................................................................39
J2 (JPAN)/Control Panel ......................................................................................................................................39
J3 (JTHW)/Multiplexer Port .................................................................................................................................39
J4 (JRS422)/RS232 or 422/Serial Communications .............................................................................................39
J5 (JOPT)/OPTO I/O ............................................................................................................................................39
J6 (JXIO)/Expansion Board..................................................................................................................................39
J7 (JMACH2)/Second Machine Connector (Option 1 Required)..........................................................................39
J8 (JMACH1)/First Machine Connector...............................................................................................................39
JS1/A-D Inputs 1-4................................................................................................................................................40
JS2/A-D Inputs 5-8 (Option 1 Required)...............................................................................................................40
JEQU/Position Compare ......................................................................................................................................40
JANA/Analog Inputs Option..................................................................................................................................40
CPU Board Connectors .............................................................................................................................................40
J2 (JEXP)/Expansion ............................................................................................................................................40
J8 (JAUX232)/Auxiliary RS232 ............................................................................................................................40
BASE BOARD CONNECTOR PINOUTS............................................................................................................41
J1: Display Port Connector........................................................................................................................................41
J2: Control Panel Port Connector ..............................................................................................................................42
J3: Multiplexer Port Connector .................................................................................................................................43
J4: Serial Port Connector...........................................................................................................................................44
J5: I/O Port Connector...............................................................................................................................................45
J6: Auxiliary I/O Port Connector...............................................................................................................................46
J7: Machine Port 2 Connector ...................................................................................................................................47
J8: Machine Port 1 Connector ...................................................................................................................................49
J9 (JEQU): Position-Compare Connector .................................................................................................................51
J30 (JANA) Analog Input Port Connector (Optional)...............................................................................................51
J31 (JUSB) Universal Serial Bus Port (Optional) .....................................................................................................52
JS1: A/D Port 1 Connector ........................................................................................................................................52
JS2: A/D Port 2 Connector ........................................................................................................................................53
TB1 (JPWR) ..............................................................................................................................................................53
SOFTWARE SETUP ..............................................................................................................................................55
Communications........................................................................................................................................................55
PMAC I-Variables.....................................................................................................................................................55
ii Table of Contents
Turbo PMAC PCI HRM
Table of Contents iii
Turbo PMAC PCI HRM
INTRODUCTION
The Turbo PMAC PCI is a member of the Turbo PMAC family of boards optimized for interface to
traditional servo drives with single analog inputs representing velocity or torque commands. Its
software is capable of 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 boards.
The Turbo PMAC PCI is a full-sized PCI-bus expansion card, with a small piggyback board
containing the CPU. This piggyback board occupies part of the next slot, but ½-sized boards (such as
the Option 2 Dual-Ported RAM board) are also permitted in this next slot. While the Turbo PMAC
PCI is capable of PCI bus communications, with or without the optional dual-ported RAM, it does not
need to be inserted into a PCI expansion slot. Communications can be done through an RS-232 or
RS-422 serial port. Standalone operation is possible.
Board Configuration
Base Version
The base version of the Turbo PMAC 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 & firmware (5C0)
• Latest released firmware version
• RS-232/422 serial interface, PCI (PC) bus interface
• 4 channels axis interface circuitry, each including:
• 16-bit +/-10V analog output
• 3-channel differential/single-ended encoder input
• 4 input flags, 2 output flags
• Interface to external 16-bit serial ADC
• Display, control panel, 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 manuals CD per set of one to four PMACs in shipment
(Cables, mounting plates, mating connectors not included)
Option 1: Additional 4 Channels Axis Interface Circuitry
• Option 1 provides an additional four channels of on-board axis interface circuitry, identical to the
standard first four channels.
Option 2: Dual-Ported RAM
Dual-ported RAM provides a very high-speed communications path for bus communications with the
host computer through a bank of shared memory. DPRAM is advised if more than 100 data items per
second are to be passed between the controller and the host computer in either direction.
• Option 2 provides an 8k x 16 bank of dual-ported RAM on a separate half-slot board.
Option 2B: High-Speed USB Communications Interface
Option-2B provides the high-speed USB communications interface, which is a faster method of
communication than the standard RS-232 communications port.
Introduction 1
Turbo PMAC PCI HRM
Option 4: CPU Type
The Turbo PMAC PC CPU piggyback board comes standard with a DSP56303 CPU IC as component
U1. This CPU has enough internal memory to process the servo and commutation for the first 15
motors. The algorithms for the last 17 motors must be processed from slower external memory. The
optional DSP56309 CPU has additional internal memory, so the processing of these motors is
significantly improved. The processor type in the board is reported on receipt of the CPU command.
• Option 4C: 80 MHz DSP56309 CPU IC. Recommended for control of more than 16 axes,
especially with PMAC-based commutation. Not compatible with Options 5Dx.
• Option 4D: 100 MHz DSP56309 CPU IC. Recommended for control of more than 16 axes,
especially with PMAC-based commutation. Not compatible with Options 5Cx (including the
default Option 5C0.
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).
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 5C0 is the standard CPU and memory configuration. It is provided automatically if
Option 5xx is not 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 memory.
• 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 memory.
• Option 5D0 provides a 100 MHz CPU (150 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 5D1 provides a 100 MHz CPU (150 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.
2 Introduction
Turbo PMAC PCI HRM
• Option 5D2 provides a 100 MHz CPU (150 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 5D3 provides a 100 MHz CPU (150 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.
Option 7: Plate Mounting
Option 7 provides a mounting plate connected to the PMAC with standoffs. It is used to install the
PMAC in standalone applications.
Option 8: High-Accuracy Clock Crystal
The Turbo PMAC PC 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 9T: Auxiliary Serial Port
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 PMAC PC is provided with the newest released firmware version. A label on the
U10 flash memory IC shows the firmware version loaded at the factory.
• Option 10 provides for a user-specified firmware version.
Option 12: Analog-to-Digital Converters
• Option 12 permits the installation of 8 or 16 channels of on-board multiplexed analog-to-digital
converters. One or two of these converters are read every phase interrupt. The analog inputs are
not optically isolated, and each can have a 0 – 5V input range, or a +/-2.5V input range,
individually selectable.
• Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are
U20 and connector J30.
• Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the
board is U22.
Option 15: V-to-F Converter for Analog Input
The JPAN control panel port on the Turbo PMAC PC has an optional analog input called Wiper
(because it is often tied to a potentiometer’s wiper pin). Turbo PMAC PC can digitize this signal by
passing it through an optional voltage-to-frequency converter, using E-point jumpers to feed this into
the Encoder 4 circuitry (no other use is then permitted), and executing frequency calculations using
the time base feature of the encoder conversion table.
• Option 15 provides a voltage-to-frequency converter that permits the use of the Wiper input on
the control panel port.
Option 16: Battery-Backed Parameter Memory
The contents of the standard memory are not retained through a power-down or reset unless they have
been saved to flash memory first. Option 16 provides supplemental battery-backed RAM for realtime parameter storage that is ideal for holding machine state parameters in case of an unexpected
power-down. 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, 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, filling the full footprint for those locations.
Introduction 3
Turbo PMAC PCI HRM
Option 18: Identification Number & Real-Time Clock/Calendar Module
Option 18 provides a module at location U5 that contains an electronic identification number, and/or
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.
PMAC Connectors and Indicators
J1 - Display Port (JDISP Port)
The JDISP connector allows connection of the Acc-12 or Acc-12A liquid crystal display, or of the
Acc-12C vacuum fluorescent display. Both text and variable values may be shown on these displays
through the use of the DISPLAY command, executing in either motion or PLC programs.
J2 - Control-Panel Port (JPAN Port)
The JPAN connector is a 26-pin connector with dedicated control inputs, dedicated indicator outputs,
a quadrature encoder input, and an analog input (requires PMAC Option 15). The control inputs are
low true with internal pull-up resistors. They have predefined functions unless the control-paneldisable I-variable (I2) has been set to 1. If this is the case, they may be used as general-purpose
inputs by assigning M-variable to their corresponding memory-map locations (bits of Y address
$78800).
J3 - Thumbwheel Multiplexer Port (JTHW Port)
The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW connector has eight input lines
and eight output lines. The output lines can be used to multiplex large numbers of inputs and outputs
on the port, and Delta Tau provides accessory boards and software structures (special M-variable
definitions) to capitalize on this feature. Up to 32 of the multiplexed I/O boards may be daisychained on the port, in any combination.
J4 - Serial Port (JRS422 Port)
For serial communications, use a serial cable to connect the PC’s COM port to the PMAC’s serial
port connector. Delta Tau provides the Acc-3D cable for this purpose, which connects PMAC to a
DB-25 connector. Standard DB-9-to-DB-25 or DB-25-to-DB-9 adapters may be needed for a
particular setup.
J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port)
PMAC’s JOPTO connector provides eight general-purpose digital inputs and eight general-purpose
digital outputs. Each input and each output has its own corresponding ground pin in the opposite
row. The 34-pin connector was designed for easy interface to OPTO-22 or equivalent optically
isolated I/O modules. Delta Tau’s Acc-21F is a six-foot cable for this purpose.
J6 – Expansion Port (JXIO Port)
This port is used only when connecting to optional PMAC accessory boards.
J7 / J8 - Machine Connectors (JMACH2/JMACH1 Ports)
The primary machine interface connector is JMACH1, labeled J8 on the PMAC PCI. It contains the
pins for four channels of machine I/O: analog outputs, incremental encoder inputs, and associated
input and output flags, plus power-supply connections. The next machine interface connector is
JMACH2, labeled J7 on the PMAC PCI. It is essentially identical to the JMACH1 connector for one
to four more axes. It is present only if the PMAC card has been fully populated to handle eight axes
(Option 1), because it interfaces the optional extra components.
4 Introduction
Turbo PMAC PCI HRM
J9 – Compare Equal Outputs Port (JEQU Port)
The compare-equals (EQU) outputs have a dedicated use of providing a signal edge when an encoder
position reaches a pre-loaded value. This is very useful for scanning and measurement applications.
Instructions for use of these outputs are covered in detail in the PMAC User Manual.
J30 – Optional Analog to Digital Inputs (JANA Port)
This optional port is used to bring in the analog signals for the optional analog to digital inputs set.
This feature provides up to 16 analog inputs in the range of 0 to 5V unipolar or ±2.5V bipolar.
J31 – Optional Universal Serial Bus Port (JUSB Port)
This optional port allows communicating with PMAC through a standard USB connection.
JS1 / JS2 – Expansion Ports (JS1 / JS2 Ports)
These ports are used only when connecting to optional PMAC accessory boards.
TB1 – Power Supply Terminal Block (JPWR Connector)
This terminal block may be used as an alternative power supply connector if PMAC PCI is not
installed in a PCI-bus.
LED Indicators
PMACs with the Option CPU have three LED indicators: red, yellow, and green. The red and green
LEDs have the same meaning as with the standard CPU: when the green LED is lit, this indicates
that power is applied to the +5V input; when the red LED is lit, this indicates that the watchdog timer
has tripped and shut down the PMAC.
The yellow LED located beside the red and green LEDs, when lit, indicates that the phase-locked
loop that multiplies the CPU clock frequency from the crystal frequency on the Option CPU is
operational and stable. This indicator is for diagnostic purposes only; it may not be present on all
boards.
The PMAC PCI has an interlock circuit that drops out the ±15V supplies to the analog outputs
through a fail-safe relay if any supply on PMAC is lost. In this case the green LED D15 will be off.
The D19 LED will be lit when 5V is applied to PMAC.
Introduction 5
Turbo PMAC PCI HRM
PMAC Board Layout Part Number 603588-100
1
2
3
E38 E17A
E37 E29
E36 E30
E3
E4
4
5
E57 E61 E65
6
7
8
9
B A
C
Feature Location Feature Location
E17D
E17C
E17B
E0 A6 E57 B7
E1 A6 E58 B7
E2 A6 E59 B7
E3 A4 E60 B7
E4 A4 E61 B7
E5 A4 E62 B6
E6 A4 E63 B6
E7 A6 E64 B6
E17A A4 E65 B6
E5
E6
E17B A4 E72 B9
E17C A4 E73 B9
E17D A4 E74 B9
E17E C5 E75 B9
E17F C5 E85 C5
E17G C4 E87 C5
E17H C4 E88 B2
E22 A9 E89 B5
E23 A9 E90 B5
E28 C6 E98 A4
E56 E60 E64
E55 E59 E63
E29 A4 E100 A3
E30 A4 E101 A3
E31 A4 E102 A3
E32 A4 E109 B6
E33 A4 E110 A7
E34 A4 E111 A7
E34A A4 E114 A3
E35 A4 E115 A3
E36 A4 E121 B6
E37 A4 E122 B6
E38 A4 D15 C1
E40 B5 D19 B6
E41 B5 J1 A4
E42 B5 J2 A6
E43 B5 J3 B6
E44 B5 J4 A7
E45 B5 J5 A5
E46 C5 J6 A9
E47 C5 J7 A8
E48 C5 J8 A9
E49 C5 J9 A2
E50 C5 J30 A1
E51 B6 J31 A5
E54 B7 JS1 A8
E55 B7 JS2 A6
E56 B7 TB1 C6
6 Introduction
Turbo PMAC PCI HRM
PMAC Board Dimensions Part Number 603588-100
Introduction 7
Turbo PMAC PCI HRM
8 Introduction
Turbo PMAC PCI HRM
JUMPER SUMMARY
On the PMAC there are many jumpers (pairs of metal prongs), called E-points. Some have been
shorted together; others have been left open. These jumpers customize the hardware features of the
board for a given application and must be set up appropriately. The following is an overview of the
various PMAC jumpers grouped in appropriate categories. For a complete description of the jumper
setup configuration please refer to the PMAC PCI CPU Board E-Point Descriptions chapter of this
manual.
Power-Supply Configuration Jumpers
E85, E87, E88: Analog Circuit Isolation Control – These jumpers control whether the analog
circuitry on the PMAC PCI is isolated from the digital circuitry, or electrically tied to it. In the
default configuration, these jumpers are off, keeping the circuits isolated from each other (provided
separate isolated supplies are used).
E89-E90: Input Flag Supply Control – If E90 connects pins 1 and 2 and E89 is on, the input flags
(+LIMn, -LIMn, and HMFLn) are supplied from the analog A+15V supply, which can be isolated
from the digital circuitry. If E90 connects pins 1 and 2 and E89 is off, the input flags are supplied
from a separate A+V supply brought in on pin 59 of the J7 JMACH2 connector. This supply can be
in the +12V to +24V range, and can be kept isolated from the digital circuitry. If E90 connects pins 2
and 3, the input flags are supplied from the digital +12V supply, and isolation from the digital
circuitry is defeated.
E100: AENA/EQU Supply Control – If E100 connects pins 1 and 2, the circuits related to the
AENAn, EQUn and FAULTn signals will be supplied from the analog A+15V supply, which can be
isolated from the digital circuitry. If E100 connects pins 2 and 3, the circuits will be supplied from a
separate A+V supply brought in on pin 9 of the J9 JEQU connector. This supply can be in the +12V
to +24V range and can be kept isolated from the digital circuitry.
Jumper Summary 9
Turbo PMAC PCI HRM
Clock Configuration Jumpers
E3-E6: Servo Clock Frequency Control – The jumpers E3 – E6 determine the servo-clock
frequency by controlling how many times it is divided down from the phase frequency. The default
setting of E3 and E4 off, E5 and E6 on divides the phase-clock frequency by 4, creating a 2.25 kHz
servo-clock frequency. This setting is seldom changed.
E29-E33: Phase Clock Frequency Control – Only one of the jumpers E29 – E33, which select the
phase-clock frequency, may be on in any configuration. The default setting of E31 on, which selects
a 9 kHz phase-clock frequency, is seldom changed.
E34-E38: Encoder Sample Clock – Only one of the jumpers E34 – E38, which select the encoder
sample clock frequency, may be on in any configuration. The frequency must be high enough to
accept the maximum true count rate (no more than one count in any clock period), but a lower
frequency can filter out longer noise spikes. The anti-noise digital delay filter can eliminate noise
spikes up to one sample-clock cycle wide.
E40-43: Servo and Phase Clock Direction Control – Jumpers E40-E43 control the software address
of the card for serial addressing and for sharing the servo and phase clock over the serial connector.
Card @0 sends the clocks and cards @1-@F receive the clocks. If any of these jumpers is removed,
PMAC PCI will expect to receive external servo and phase clock signals on the J4 serial port. If these
signals are not provided in this configuration, the watchdog timer will immediately trip.
E98: DAC/ADC Clock Frequency Control – Leave E98 in its default setting of 1-2, which creates a
2.45 MHz DCLK signal, unless connecting an ACC-28 A/D-converter board. In this case, move the
jumper to connect pins 2 and 3, which creates a 1.22 MHz DCLK signal.
Encoder Configuration Jumpers
Encoder Complementary Line Control – The selection of the type of encoder used, either single
ended or differential is made through the resistor packs configuration and not through a jumper
configuration.
E22-E23: Control-Panel Handwheel Enable – Putting these jumpers on ties the handwheel-encoder
inputs on the JPAN control-panel port to the Channel 2 encoder circuitry. If the handwheel inputs are
connected to Channel 2, no encoder should be connected to Channel 2 through the JMACH1
connector.
E72-E73: Control Panel Analog Input Enable – Putting these jumpers on ties the output of the
Option 10 voltage-to-frequency converter that can process the WIPER analog input on the JPAN
control panel port to the Channel 4 encoder circuitry. If the frequency signal is connected to Channel
4, no encoder should be connected to Channel 4 through the JMACH1 connector.
E74-E75: Encoder Sample Clock Output – Putting these jumpers on ties the encoder sample-clock
signal to the CHC4 and CHC4/ lines on the JMACH1 port. This permits the clock signal to be used
to synchronize external encoder-processing devices like the ACC-8D Option 8 interpolator board.
With these jumpers on, no encoder input signal should be connected to these pins.
Board Reset/Save Jumpers
E50: Flash-Save Enable/Disable Control – If E50 is on (default), the active software configuration of
the PMAC can be stored to non-volatile flash memory with the SAVE command. If the jumper on E50
is removed, this SAVE function is disabled, and the contents of the flash memory cannot be changed.
E51: Re-Initialization on Reset Control – If E51 is off (default), PMAC executes a normal reset,
loading active memory from the last saved configuration in non-volatile flash memory. If E51 is on,
PMAC re-initializes on reset, loading active memory with the factory default values.
Communication Jumpers
10 Jumper Summary
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