Acc-2P with Jumper E5 in Position | Delta Tau PMAC2A-PC/104 specification

PMAC2A PC104 Hardware Reference Manual

In order to properly setup the digital outputs an initialization PLC must be written scanning through once on power-up/reset, then disabling itself:

OPEN PLC1 CLEAR		;BITS 0-8 are assigned as output
M32=$FF
M34=$0		;BITS 9-16 are assigned as input
M40=$FF00		;Define inputs and outputs voltages
M42=$FFFF		;All lines are I/O type
DIS PLC1		;Disable PLC1 (scanning through once on
CLOSE		;power-up/reset)


		Note:

After loading this program, set I5=2 or 3 and ENABLE PLC 1.

Acc-2P with Jumper E5 in Position 2-3

M0->Y:$C0C0,0	; Digital Output M00
M1->Y:$C0C0,1	; Digital Output M01
M2->Y:$C0C0,2	; Digital Output M02
M3->Y:$C0C0,3	; Digital Output M03
M4->Y:$C0C0,4	; Digital Output M04
M5->Y:$C0C0,5	; Digital Output M05
M6->Y:$C0C0,6	; Digital Output M06
M7->Y:$C0C0,7	; Digital Output M07
M8->Y:$C0C0,8	; Digital Input MI0
M9->Y:$C0C0,9	; Digital Input MI1
M10->Y:$C0C0,10	; Digital Input MI2
M11->Y:$C0C0,11	; Digital Input MI3
M12->Y:$C0C0,12	; Digital Input MI4
M13->Y:$C0C0,13	; Digital Input MI5
M14->Y:$C0C0,14	; Digital Input MI6
M15->Y:$C0C0,15	; Digital Input MI7	0 = input)
M32->X:$C0C0,0,8	; Direction Control (1=output,	0 = input)
M34->X:$C0C0,8,8	; Direction Control (1=output,	0 = input)
M40->X:$C0C4,0,24	; Inversion control (0 = 0V, 1 = 5V)
M42->Y:$C0C4,0,24	; JI/O port data type control (1 = I/O)

In order to properly setup the digital outputs, an initialization PLC must be written scanning through once on power-up/reset, and then disabling itself:

OPEN PLC1 CLEAR		;BITS 0-8 are assigned as output
M32=$FF
M34=$0		;BITS 9-16 are assigned as input
M40=$FFFF		;Define inputs and outputs voltages
M42=$FFFF		;All lines are I/O type
DIS PLC1		;Disable PLC1 (scanning through once on
CLOSE		;power-up/reset)


		Note:

After loading this program, set I5=2 or 3 and ENABLE PLC 1.

26	Software Setup

Image 32

Delta Tau PMAC2A-PC/104 manual Acc-2P with Jumper E5 in Position, Open PLC1 Clear

Contents

PMAC2A-PC/104 Copyright Information Delta Tau Data Systems, Inc. Technical Support Table of Contents Software Setup Base Board Connector Pinouts PMAC2A PC104 Hardware Reference Manual Table of Contents Board Configuration Introduction Option 12 Analog-to-Digital Converters Acc-1P Axis Expansion Piggyback BoardAcc-1P Option 1 I/O Ports Acc-1P Option 2 Analog-to-Digital Converters Acc-2P Communications Board Acc-2P Option 1A USB InterfaceAcc-2P Option 1B Ethernet Interface Acc-2P Option 2 Dpram Circuitry PMAC2A PC104 Hardware Reference Manual Introduction Board Reset Jumpers Base Board Hardware SetupClock Configuration Jumpers CPU Jumper Configuration Configuration JumpersResistor Packs Configuration Communication Jumpers Device Resistor Pack Pack Size PMAC2A PC104 Hardware Reference Manual E0 Reserved for future use ACC-1P Hardware SetupReserved Configuration Jumpers Handwheel Encoder Termination Resistors Jopt Connector E10 MOx MIx Lines ACC-2P Hardware SetupJthw Connector DATx SELx Differential or Single-Ended Handwheel Encoder Selection Power Supplies Digital Power SupplyDAC Outputs Power Supply Machine Connections Overtravel Limits and Home Switches Motor Signals Connections DAC Output Signals Amplifier Enable Signal AENAx/DIRnPulse and Direction Stepper Drivers Example Amplifier Fault Signal Fault Acc-1P General-Purpose Digital Inputs and Outputs J7 Port Acc-2P Thumbwheel Multiplexer Port Jthw Port Acc-2P General-Purpose Digital Inputs and Outputs Jopt PortAcc-1P Thumbwheel Multiplexer Port J2 Port Compare Equal Outputs Acc-1P or Acc-2P Handwheel Port JHW / PD PortOptional Analog Inputs Acc-2P Ethernet RJ45 Connector J10 Port Acc-2P USB Connector J1 PortSerial Port JRS232 Port PC DB-9 Machine Connections Example Using Analog ±10V Amplifier PMAC2A PC104 Hardware Reference Manual PMAC2A PC104 Hardware Reference Manual Machine Connections Software Setup Operational Frequency and Baud Rate SetupCommunications Pmac I-Variables I54 Baud Rate for Filtered DAC Outputs ConfigurationI54 Baud Rate Using Flag I/O as General-Purpose I/O General-Purpose Digital Inputs and OutputsAcc-1P with Jumper E6 on Position Flag Type Channel Number Acc-2P with Jumper E5 in Position Open PLC1 Clear Thumbwheel Port Digital Inputs and Outputs Acc-1P with Jumper E6 in Position Acc-1P Analog Inputs Analog Inputs SetupBaseboard Analog Inputs Board Dimensions Base Board Hardware Reference Summary Board Layout FeatureFeature Location Connectors and Indicators Page ACC-1P Hardware Reference Summary TB1 JMACH1 J8 Handwheel / Pulse and Direction Port JHW / PD Port J2 Thumbwheel Multiplexer Port Jthw PortJ7 General-Purpose Digital Inputs and Outputs Jopt Port Page ACC-2P Hardware Reference Summary TB1 Jthw Jopt J10 Ethernet Communications Port J1 USB Communications PortJ8 Handwheel/Pulse and Direction Port JHW / PD Port Page E0 Forced Reset Control E1 Servo and Phase Clock Direction ControlE3 Normal/Re-Initializing Power-Up/Reset Base Board E-POINT Jumper Descriptions E8 Phase Clock Lines Output Enable E9 Servo Clock Lines Output EnableE10 E12 Power-Up State Jumpers Description Default E13 Power-Up/Reset Load Source E14 Watchdog Disable JumperE16 ADC Inputs Enable E15A, B, C Flash Memory Bank Select Point and Physical Location Description Default Layout E18 E19 PC/104 Bus Address E1 E2 Machine Output Supply Voltage Configure ACC-1P E-POINT Jumper DescriptionsE0 Reserved for Future Use E3 E4 JHW, PD Function Select E7 Machine Input Source/Sink Control E5 Servo Gate Address SelectE6 I/O Gate Address Select E1 USB/Ethernet Micro-Controller Firmware Reload Enable ACC-2P E-POINT Jumper DescriptionsE5 I/O Gate Address Select E6 Communications Port Select Point and Physical Location Description Default E7- E10 Ports Direction Control Base Board Connector Pinouts TB1 Jpwr Power SupplyJ4 JRS232 Serial Port Connector Pin# Symbol Function Description J3 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# Symbol J3 JMACH1 Machine Port Connector Pin Header J3 JMACH1 50-Pin-Header Connector 34-Pin Header FLG78V J7 Jopto I/O Port Connector J8 JHW Handwheel Encoder Connector Page J1 USB Universal Serial Bus Port Optional ACC-2P Connector PinoutsPin # Symbol Function Pin Connector J7 Jopt I/O Port Connector J10 Ethernet Port Optional Pin # Function