Delta Tau PMAC2A-PC/104 manual Acc-1P General-Purpose Digital Inputs and Outputs J7 Port

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PMAC2A PC104 Hardware Reference Manual

Amplifier Fault Signal (FAULT-)

This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems, and can shut down action. The polarity is programmable with I-variable Ix25 (I125 for motor 1) and the return signal is ground (GND). FAULT1- is pin 35. With the default setup, this signal must actively be pulled low for a fault condition. In this setup, if nothing is wired into this input, PMAC will consider the motor not to be in a fault condition.

Acc-1P General-Purpose Digital Inputs and Outputs (J7 Port)

Acc-1P J7 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. Characteristics of the JOPTO port on the PMAC:

•16 I/O points. 100 mA per channel, up to 24V

•Hardware selectable between sinking and sourcing in groups of 8; default is all sinking (inputs can be changed simply by moving a jumper; sourcing outputs must be special-ordered or field-configured)

•Eight inputs, and eight outputs only; no changes. Parallel (fast) communications to PMAC CPU

•Not opto-isolated; easily connected to Opto-22 (PB16) or similar modules through Acc-21F cable

Jumper E7 on the Acc-1P board controls the configuration of the eight inputs. If it connects pins 1 and 2 (the default setting), the inputs are biased to +5V for the OFF state, and they must be pulled low for the ON state. If E7 connects pins 2 and 3, the inputs are biased to ground for the OFF state, and must be pulled high for the ON state. In either case, a high voltage is interpreted as a 0 by the PMAC software, and a low voltage is interpreted as a 1.

PMAC is shipped standard with a ULN2803A sinking (open-collector) output IC for the eight outputs. These outputs can sink up to 100 mA and have an internal 3.3 kΩ pull-up resistor to go high (RP18). Do not connect these outputs directly to the supply voltage, or damage to the PMAC will result from excessive current draw. The user can provide a high-side voltage (+5 to +24V) into Pin 33 of the J7 connector, and allow this to pull up the outputs by connecting pins 1 and 2 of Jumper E1. Jumper E2 must also connect pins 1 and 2 for a ULN2803A sinking output.

It is possible for these outputs to be sourcing drivers by substituting a UDN2981A IC for the ULN2803A. This U7 IC is socketed, and so may easily be replaced. Usually the U7 IC is offset by two pins on its socket, and so pins 1 and 2 usually remain open.

WARNING

Having Jumpers E1 and E2 set wrong can damage the IC. The +V output on this connector has a 2A fuse, F1, for excessive current protection.

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Machine Connections

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Contents PMAC2A-PC/104 Copyright Information Delta Tau Data Systems, Inc. Technical SupportTable of Contents Software Setup Base Board Connector Pinouts PMAC2A PC104 Hardware Reference Manual Table of Contents Board Configuration IntroductionAcc-1P Option 1 I/O Ports Option 12 Analog-to-Digital ConvertersAcc-1P Axis Expansion Piggyback Board Acc-1P Option 2 Analog-to-Digital ConvertersAcc-2P Option 1B Ethernet Interface Acc-2P Communications BoardAcc-2P Option 1A USB Interface Acc-2P Option 2 Dpram CircuitryPMAC2A PC104 Hardware Reference Manual Introduction Clock Configuration Jumpers Base Board Hardware SetupBoard Reset Jumpers Resistor Packs Configuration CPU Jumper ConfigurationConfiguration Jumpers Communication JumpersDevice Resistor Pack Pack Size PMAC2A PC104 Hardware Reference Manual Reserved Configuration Jumpers ACC-1P Hardware SetupE0 Reserved for future use Handwheel Encoder Termination Resistors Jthw Connector DATx SELx ACC-2P Hardware SetupJopt Connector E10 MOx MIx Lines Differential or Single-Ended Handwheel Encoder Selection DAC Outputs Power Supply Power SuppliesDigital Power Supply Machine ConnectionsOvertravel Limits and Home Switches Motor Signals ConnectionsPulse and Direction Stepper Drivers DAC Output SignalsAmplifier Enable Signal AENAx/DIRn ExampleAmplifier Fault Signal Fault Acc-1P General-Purpose Digital Inputs and Outputs J7 PortAcc-1P Thumbwheel Multiplexer Port J2 Port Acc-2P General-Purpose Digital Inputs and Outputs Jopt PortAcc-2P Thumbwheel Multiplexer Port Jthw Port Optional Analog Inputs Acc-1P or Acc-2P Handwheel Port JHW / PD PortCompare Equal Outputs Serial Port JRS232 Port Acc-2P Ethernet RJ45 Connector J10 PortAcc-2P USB Connector J1 Port PC DB-9Machine Connections Example Using Analog ±10V Amplifier PMAC2A PC104 Hardware Reference Manual PMAC2A PC104 Hardware Reference Manual Machine Connections Communications Software SetupOperational Frequency and Baud Rate Setup Pmac I-VariablesI54 Baud Rate Filtered DAC Outputs ConfigurationI54 Baud Rate for Acc-1P with Jumper E6 on Position Using Flag I/O as General-Purpose I/OGeneral-Purpose Digital Inputs and Outputs Flag Type Channel NumberAcc-2P with Jumper E5 in Position Open PLC1 ClearThumbwheel Port Digital Inputs and Outputs Acc-1P with Jumper E6 in PositionBaseboard Analog Inputs Analog Inputs SetupAcc-1P Analog Inputs Board Dimensions Base Board Hardware Reference SummaryFeature Location FeatureBoard Layout Connectors and Indicators Page ACC-1P Hardware Reference Summary TB1 JMACH1 J7 General-Purpose Digital Inputs and Outputs Jopt Port J2 Thumbwheel Multiplexer Port Jthw PortJ8 Handwheel / Pulse and Direction Port JHW / PD Port Page ACC-2P Hardware Reference Summary TB1 Jthw Jopt J8 Handwheel/Pulse and Direction Port JHW / PD Port J1 USB Communications PortJ10 Ethernet Communications Port Page E3 Normal/Re-Initializing Power-Up/Reset E0 Forced Reset ControlE1 Servo and Phase Clock Direction Control Base Board E-POINT Jumper DescriptionsE10 E12 Power-Up State Jumpers E8 Phase Clock Lines Output EnableE9 Servo Clock Lines Output Enable Description DefaultE16 ADC Inputs Enable E13 Power-Up/Reset Load SourceE14 Watchdog Disable Jumper E15A, B, C Flash Memory Bank SelectPoint and Physical Location Description Default Layout E18 E19 PC/104 Bus AddressE0 Reserved for Future Use E1 E2 Machine Output Supply Voltage ConfigureACC-1P E-POINT Jumper Descriptions E3 E4 JHW, PD Function SelectE6 I/O Gate Address Select E5 Servo Gate Address SelectE7 Machine Input Source/Sink Control E5 I/O Gate Address Select E1 USB/Ethernet Micro-Controller Firmware Reload EnableACC-2P E-POINT Jumper Descriptions E6 Communications Port SelectPoint and Physical Location Description Default E7- E10 Ports Direction ControlJ4 JRS232 Serial Port Connector Base Board Connector PinoutsTB1 Jpwr Power Supply Pin# Symbol Function DescriptionJ3 JMACH1 Machine Port Connector J3 JMACH1 50-Pin Header J4 JMACH2 Machine Port Baseboard Connector ACC-1P Connector Pinouts J2 Jthw Multiplexer Port Connector Pin# SymbolJ3 JMACH1 Machine Port Connector Pin Header J3 JMACH1 50-Pin-Header Connector 34-Pin Header FLG78VJ7 Jopto I/O Port Connector J8 JHW Handwheel Encoder Connector Page Pin # Symbol Function ACC-2P Connector PinoutsJ1 USB Universal Serial Bus Port Optional Pin Connector J7 Jopt I/O Port Connector J10 Ethernet Port Optional Pin # Function
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