Delta Tau PMAC2A-PC/104 Using Flag I/O as General-Purpose I/O, Acc-1P with Jumper E6 on Position

PMAC2A PC104 Hardware Reference Manual

Using Flag I/O as General-Purpose I/O

Either the user flags or other not assigned axes flag on the base board can be used as general-purpose I/O for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions, which are defined in the PMAC2 Software reference, allows accessing each particular line according to the following table:

Flag	Type		Channel Number
		#1	#2	#3	#4
HOME	5-24 VDC Input	M120	M220	M320	M420
PLIM	5-24 VDC Input	M121	M221	M321	M421
MLIM	5-24 VDC Input	M122	M222	M322	M422
USER	5-24 VDC Input	M115	M215	M315	M415
AENA	5-24 VDC Output	M114	M214	M314	M414

Note:

When using these lines as regular I/O points the appropriate setting of the Ix25 variable must be used to enable or disable the safety flags feature.

General-Purpose Digital Inputs and Outputs

If one Acc-1P is present on the PMAC2A PC/104 stack configuration then its jumpers E5 and E6 should be set at the default position 1-2. In this case, the lines on its J7 general-purpose I/O connector will be mapped into PMAC’s address space in register Y:$C080. Jumpers E5 and E6 should be configured on position 2-3 only when two Acc-1Ps are used. In this case, the I/O lines can be accessed at address Y:$C0C0.

If no Acc-1P is present on the PMAC2A PC/104 stack configuration, and only Acc-2P is used, then jumper E5 on the Acc-2P board should connect pins 1 and 2. In this case the lines on its JOPT general- purpose I/O connector will be mapped into PMAC's address space in register Y:$C080.

If both Acc-1P and Acc-2P are used, then jumper E5 on the Acc-2P board should connect pins 2 and 3 and its I/O lines can be accessed at address Y:$C0C0.

Typically, these I/O lines are accessed individually with M-variables. Following is a suggested set of M- variable definitions to use these data lines.

Acc-1P with Jumper E6 on Position 1-2

M0->Y:$C080,0	; Digital Output M00
M1->Y:$C080,1	; Digital Output M01
M2->Y:$C080,2	; Digital Output M02
M3->Y:$C080,3	; Digital Output M03
M4->Y:$C080,4	; Digital Output M04
M5->Y:$C080,5	; Digital Output M05
M6->Y:$C080,6	; Digital Output M06
M7->Y:$C080,7	; Digital Output M07
M8->Y:$C080,8	; Digital Input MI0
M9->Y:$C080,9	; Digital Input MI1
M10->Y:$C080,10	; Digital Input MI2
M11->Y:$C080,11	; Digital Input MI3
M12->Y:$C080,12	; Digital Input MI4
M13->Y:$C080,13	; Digital Input MI5
M14->Y:$C080,14	; Digital Input MI6
M15->Y:$C080,15	; Digital Input MI7	0 = input)
M32->X:$C080,0,8	; Direction Control (1=output,
M34->X:$C080,8,8	; Direction Control (1=output,	0 = input)
M40->X:$C084,0,24	; Inversion control (0 = 0V, 1 = 5V)
M42->Y:$C084,0,24	; J7 port data type control (1 = I/O)

Software Setup 25