Delta Tau PMAC2A-PC/104 manual Introduction, Board Configuration

Page 7
PMAC2A-PC/104 Base Board shown

PMAC2A PC104 Hardware Reference Manual

INTRODUCTION

The PMAC2A PC/104 motion controller is a compact, cost-effective version of the Delta Tau’s PMAC2 family of controllers. The PMAC2A PC/104 can be composed of three boards in a stack configuration.

The baseboard provides four channels of either DAC ±10V or pulse and direction command outputs. The optional axis expansion board provides a set of four additional servo channels and I/O ports. The optional communications board provides extra I/O ports and either the USB or Ethernet interface for faster communications.

Board Configuration

Base Version

The base version of the PMAC2A PC/104 ordered with no options provides a 90mm x 95mm board with:

•40 MHz DSP563xx CPU (80 MHz 560xx equivalent)

•128k x 24 internal zero-wait-state SRAM

•512k x 8 flash memory for user backup and firmware

•Latest released firmware version

•RS-232 serial interface

•Four channels axis interface circuitry, each including:

•12-bit ±10V analog output

•Pulse-and-direction digital outputs

•3-channel differential/single-ended encoder input

•Four input flags, two output flags

• Three PWM top-and-bottom pairs (unbuffered)

• 50-pin IDC header for amplifier/encoder interface

• 34-pin IDC header for flag interface

• PID/notch/feedforward servo algorithms

• 1-year warranty from date of shipment

• One CD-ROM per set of one to four PMACs in shipment (Cables, mounting plates, mating connectors not included)

Option 2A: PC/104 Bus Stack Interface

Option 2A provides the PC/104 bus interface allowing bus communications between a PC/104 type computer and the PMAC2A PC/104 motion controller.

Option 5xF: CPU Speed Options

•Option 5CF: 80 MHz DSP563xx CPU (160 MHz 56002 equivalent)

•Option 5EF: 160 MHz DSP563xx CPU (320 MHz 56002 equivalent)

Option 6: Extended Firmware Algorithm

Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular servo algorithm firmware. This is required only in difficult-to-control systems (resonances, backlash, friction, disturbances, changing dynamics).

Option 6L: Multi-block Lookahead Firmware

Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles execution. With the lookahead firmware PMAC controls the speed along the path automatically (but without changing the path) to ensure that axis limits are not violated.

Option 10: Firmware Version Specification

Normally the PMAC PCI Lite is provided with the newest released firmware version. A label on the memory IC shows the firmware version loaded at the factory. Option 10 provides for a user-specified firmware version.

Introduction

1

Page 6 Page 8
Image 7
Page 6 Page 8
Contents PMAC2A-PC/104 Delta Tau Data Systems, Inc. Technical Support Copyright InformationTable of Contents Software Setup Base Board Connector Pinouts PMAC2A PC104 Hardware Reference Manual Table of Contents Introduction Board ConfigurationAcc-1P Option 2 Analog-to-Digital Converters Option 12 Analog-to-Digital ConvertersAcc-1P Axis Expansion Piggyback Board Acc-1P Option 1 I/O PortsAcc-2P Option 2 Dpram Circuitry Acc-2P Communications BoardAcc-2P Option 1A USB Interface Acc-2P Option 1B Ethernet InterfacePMAC2A PC104 Hardware Reference Manual Introduction Clock Configuration Jumpers Base Board Hardware SetupBoard Reset Jumpers Communication Jumpers CPU Jumper ConfigurationConfiguration Jumpers Resistor Packs ConfigurationDevice 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 Machine Connections Power SuppliesDigital Power Supply DAC Outputs Power SupplyMotor Signals Connections Overtravel Limits and Home SwitchesExample DAC Output SignalsAmplifier Enable Signal AENAx/DIRn Pulse and Direction Stepper DriversAcc-1P General-Purpose Digital Inputs and Outputs J7 Port Amplifier Fault Signal FaultAcc-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 PC DB-9 Acc-2P Ethernet RJ45 Connector J10 PortAcc-2P USB Connector J1 Port Serial Port JRS232 PortMachine Connections Example Using Analog ±10V Amplifier PMAC2A PC104 Hardware Reference Manual PMAC2A PC104 Hardware Reference Manual Machine Connections Pmac I-Variables Software SetupOperational Frequency and Baud Rate Setup CommunicationsI54 Baud Rate Filtered DAC Outputs ConfigurationI54 Baud Rate for Flag Type Channel Number Using Flag I/O as General-Purpose I/OGeneral-Purpose Digital Inputs and Outputs Acc-1P with Jumper E6 on PositionOpen PLC1 Clear Acc-2P with Jumper E5 in PositionAcc-1P with Jumper E6 in Position Thumbwheel Port Digital Inputs and OutputsBaseboard Analog Inputs Analog Inputs SetupAcc-1P Analog Inputs Base Board Hardware Reference Summary Board DimensionsFeature 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 Base Board E-POINT Jumper Descriptions E0 Forced Reset ControlE1 Servo and Phase Clock Direction Control E3 Normal/Re-Initializing Power-Up/ResetDescription Default E8 Phase Clock Lines Output EnableE9 Servo Clock Lines Output Enable E10 E12 Power-Up State JumpersE15A, B, C Flash Memory Bank Select E13 Power-Up/Reset Load SourceE14 Watchdog Disable Jumper E16 ADC Inputs EnableE18 E19 PC/104 Bus Address Point and Physical Location Description Default LayoutE3 E4 JHW, PD Function Select E1 E2 Machine Output Supply Voltage ConfigureACC-1P E-POINT Jumper Descriptions E0 Reserved for Future UseE6 I/O Gate Address Select E5 Servo Gate Address SelectE7 Machine Input Source/Sink Control E6 Communications Port Select E1 USB/Ethernet Micro-Controller Firmware Reload EnableACC-2P E-POINT Jumper Descriptions E5 I/O Gate Address SelectE7- E10 Ports Direction Control Point and Physical Location Description DefaultPin# Symbol Function Description Base Board Connector PinoutsTB1 Jpwr Power Supply J4 JRS232 Serial Port ConnectorJ3 JMACH1 Machine Port Connector J3 JMACH1 50-Pin Header J4 JMACH2 Machine Port Baseboard Connector ACC-1P Connector Pinouts Pin# Symbol J2 Jthw Multiplexer Port ConnectorJ3 JMACH1 Machine Port Connector Pin Header J3 JMACH1 50-Pin-Header FLG78V Connector 34-Pin HeaderJ7 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 Pin # Function J10 Ethernet Port Optional
Top Page Image Contents