^1 HARDWARE REFERENCE MANUAL ^2 UMAC-CPCI Turbo CPU Board ^3 Turbo CPU Board ^4 4Ax-603625-xUxx ^5 January 28, 2003 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.
Copyright Information © 2003 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.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual Table of Contents INTRODUCTION .......................................................................................................................................................1 Associated Manuals...................................................................................................................................................2 BOARD CONFIGURATION ........................................................................................
UMAC-CPCI Turbo CPU Board Hardware Reference Manual UMAC-CPCI Turbo CPU Board J2 Connector ......................................................................................................18 J4: RS-232 Serial Port Connector...........................................................................................................................19 ACCESSORIES .................................................................................................................................................
UMAC-CPCI Turbo CPU Board Hardware Reference Manual INTRODUCTION Delta Tau’s UMAC-CPCI systems provide a compact and clean integration of motion and I/O control for sophisticated automation equipment. The system consists of a modular set of 3U-size (100mm x 160mm) boards in the “Compact PCI” format, implementing Turbo PMAC software and hardware functions, communicating with each other over a common backplane (the “Compact UBUS”).
UMAC-CPCI Turbo CPU Board Hardware Reference Manual Associated Manuals This document is the Hardware Reference Manual for the UMAC-CPCI Turbo CPU board for an UMACCPCI system. It describes the hardware features and provides setup instructions. You will need other manuals as well to use your UMAC-CPCI system. Each accessory to the UMACCPCI Turbo CPU board has its own manual, describing its operation and any required software setup of the Turbo CPU.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual BOARD CONFIGURATION The base version of the UMAC-CPCI Turbo CPU board provides a 1-slot 3U-format Eurocard board with: • 80 MHz DSP56303 CPU (120 MHz PMAC equivalent) • 128k x 24 SRAM compiled/assembled program memory (Opt. 5C0) • 128k x 24 SRAM user data memory (Opt. 5C0) • 1M x 8 flash memory for user backup & firmware (Opt.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual 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 no Option 5xx is specified.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual HARDWARE SETUP Clock-Source Jumpers In order to operate properly, the Turbo CPU board must receive servo and phase clock signals from a source external to the board. These clock signals can be brought into the board from one of three possible ports: the stack connector, the UBUS backplane connector, or the front-side main serial-port connector. Jumpers E1A and E1B must be configured properly for the clock source used.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual Serial-Port Level Select Jumpers The standard serial port can be used for either RS-232 or RS-422 serial communications. To use RS-232, jumpers E17 and E18 should connect pins 1 and 2; to use RS-422, jumpers E17 and E18 should connect pins 2 and 3. The front-panel DB-9 serial connector provides only the RS-232 signals, so in order to use this connector, E17 and E18 must both connect pins 1 and 2.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual CONNECTIONS In a typical installation, the UMAC-CPCI Turbo CPU board is simply slid into a slot of a 3U-Eurocard rack until it inserts into the mating connectors on the backplane board already installed in the rack. In actual operation, all signals to the board come into the CPU board through the backplane. (The frontpanel RS-232 connector is intended for test and debugging purposes.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual Factory-Use Connectors There are several connectors on the interior of the board for factory setup and diagnostic use. These are not for customer use.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual BOARD LAYOUT This diagram of the UMAC-CPCI Turbo CPU board shows the locations of the jumpers and connectors. Detailed information about each of the jumpers and connectors follows.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual 10 Board Layout
UMAC-CPCI Turbo CPU Board Hardware Reference Manual JUMPER DESCRIPTIONS Note: Pin 1 of an E-point is masked by an X and a bold square in white ink on the composite side, and by a square solder pad on the solder side. E0: Reset-Lock Enable (Factory Use Only) E Point & Physical Layout Location Description Jump pins 1 and 2 to lock the UMAC-CPCI Turbo CPU board in the “reset” state to permit installation of on-board logic. This setting for factory use only.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual E3: Re-Initialization on Reset Control E Point & Physical Layout Location Description Default Remove jumper for normal reset mode (default). Jump pins 1 to 2 for re-initialization on reset.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual E18A, B, C, D: Ethernet Communication Control E Point & Physical Layout 1 1 1 Location Description Jump 1 to 2 to Ethernet Connection to J7 front connector Jump 2-3 for Ethernet connection through back J2 connector E18D E18C E18B Default Pins 1-2 jumpered E19: Watchdog Disable Jumper E Point & Physical Layout Location Description Jump pin 1 to 2 to disable Watchdog timer (for test purposes only.). Remove jumper to enable Watchdog timer.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual W1: Flash IC Power Supply Select Jumper E Point & Physical Layout 14 Location Description Default B-1 (Note: This jumper is set at the factory and possibly hard soldered. Users should not change this jumper.) Jump pin 1 to 2 to select 3.3V supply for flash memory IC in U10. Jump pin 2 to 3 to select 5V supply for flash memory IC in U10. Setting dependent on flash IC used.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual CONNECTOR SUMMARY J1: * Compact UBUS Backplane Connector J2: * “Thru-Backplane” Field Wiring Connector J4: * RS-232 Front-Panel Serial-Port Connector J5: JTAG/OnCE (for factory use only): 10-pin IDC connector J6: JISP (for factory use only): 8-pin SIP connector J10: JISP_B (for factory use only) 8-pin SIP connector J11: First component-side stack connector to CPCI bridge board J11A: First solder-side stack connector to CPCI bridge board
UMAC-CPCI Turbo CPU Board Hardware Reference Manual 16 Connector Summary
UMAC-CPCI Turbo CPU Board Hardware Reference Manual CONNECTOR PINOUTS Compact UBUS Connector (J1) Pin-Out Row Z A B C D E F 25 GND 5V 3.3V 5V GND 24 GND BD02 5V V(I/O) BD01 BD00 GND 23 GND 3.3V BD05 BD04 5V BD03 GND 22 GND BD09 BD08 3.3V BD07 BD06 GND 21 GND 3.3V BD13 BD12 BD11 BD10 GND 20 GND BD17 GND BD16 BD15 BD14 GND 19 GND 3.3V BD20 BD19 GND BD18 GND 18 GND BD23 GND 3.3V BD22 BD21 GND 17 GND 3.3V {BD26} {BD25} GND {BD24} GND 16 GND {BD30} GND {BD29} {BD28} {BD27} GND 15 GND 3.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual UMAC-CPCI Turbo CPU Board J2 Connector Row Z 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND A B RxD/ RDCS+ DSR SERVO- CTS RD+ CSDTR SERVO+ AuxRxD/ AuxDSR AuxCTS AuxDTR USBDP (D+) EthTxF+ C +5V +5V GND GND GND EthTxF- WD_NO D TxD/ SDRS+/ INIT/ PHASE- PHASE+ AuxTxD/ AuxRTS RTS SD+ RS- USBDM (D-) EthRxF+ WD_CO M E WD_NC EthRxF- F GND GND GND G
UMAC-CPCI Turbo CPU Board Hardware Reference Manual J4: RS-232 Serial Port Connector (DB-9S Connector) Pin # Symbol Function Description Notes 1 N.C. No connect 2 TXDOutput Send Data Low TRUE 3 RXDInput Receive Data Low TRUE 4 DSR Bidirect Data Set Ready Shorted to DTR 5 GND Common UMAC CPCI Reference 6 DTR Bidirect Data Terminal Ready Shorted to DSR 7 CTS Input Clear to Send High TRUE 8 RTS Output Request to Send High TRUE 9 N.C.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual 20 Connector Pinouts
UMAC-CPCI Turbo CPU Board Hardware Reference Manual ACCESSORIES The UMAC-CPCI Turbo CPU board is always used with accessory boards. Delta Tau provides several accessory boards in the UMAC-CPCI family that can be used with the CPU board; other parties may produce accessory boards as well. Each accessory board has its own hardware reference manual.
UMAC-CPCI Turbo CPU Board Hardware Reference Manual ACC-24C2 PWM Axis Board The ACC-24C2 PWM axis board provides the interface circuitry for 4 axes of purely digital control in a single slot, with direct PWM outputs, serial ADC inputs, quadrature encoder inputs, and input/output flags. Because of pin limitations on the J2 field wiring connector, signals that are differential on other ACC-24x2 boards are single-ended here.
Schematics J5 6 7 8 1 2 3 4 C86 .1UF 31 RESET- .1UF VCCIO VCCIO VCC VCC GND GND GND GND RESET BSCAN TDI/A16 TDO/A17 TCK TMS A14 WR RD FLASHCS DRAMCS PRAMCS A8 A9 A10 A11 A15 U6B WR- MODE A17 A15 ISPEN- DETRST- RESETTMS TCK TDO TDI ISPEN- PRDY 3.3KSIP10C 1 19 RESET T/R OE A0 A1 A2 A3 A4 A5 A6 A7 U34 5 43 46 47 38 39 40 41 44 45 20 21 22 23 25 26 27 28 33 34 35 37 2 GND .1UF C25 .1UF C24 .1UF C23 .
24 GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. GND n.c. +5V BA12 BA08 BA05 BX/Y BA00 N.C. IREQ3MEMCS0CS12CS2(KEY) (KEY) (KEY) {BD31} {BD27} {BD24} BD21 BD18 BD14 BD10 BD06 BD03 BD00 +5V +12V BA13 +5V BA06 GND BA01 GND WAITGND CS14GND (KEY) (KEY) (KEY) GND {BA28} GND DB22 GND BD15 BD11 BD07 +5V BD01 +3.3V PWRGUD {BA14} BA09 V(I/O RESET+3.3V SERVOSERVO+ MEMCS1+3.3V CS3(KEY) (KEY) (KEY) BRD{BA29} {BA25} +3.3V BD19 BD16 BD12 +3.
CHGND 1 2 3 4 5 6 0.1uF C20 GND BEAD L5 USBDM USBDP M3 HOLE M4 HOLE 0.1uF CE3 0.1uF CE4 0.1uF R28 1M M2 HOLE CE2 CHGND 0.1uF Schematics GND M1 HOLE CE1 OPTION 1 Ethernet Option USB-B VCC DD+ GND shell shell J3 GND A C GND GND B D GND U62 SN75240PW 1 2 3 4 8 7 6 5 GND GND C175 2.2UF R30 R29 R31 Avcc 24.3 24.3 1.5K USBRST- 1 2 3 4 5 6 7 8 1:1.