^1 HARDWARE REFERENCE MANUAL ^2 TURBO PMAC2 VME ^3 Programmable Multi-Axis Controller ^4 4Ax-602413-xHxx ^5 May 26, 2004 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.
Turbo PMAC2 VME Hardware Reference Table of Contents INTRODUCTION .....................................................................................................................................................1 Board Configuration....................................................................................................................................................1 Base Version.................................................................................................................
Turbo PMAC -VME Hardware Reference Option 1V Axis Piggyback Connectors.....................................................................................................................14 J11 (JMACH3)/ Machine Port 3 ...........................................................................................................................14 J12 (JMACH4)/ Machine Port 4 ...........................................................................................................................
Turbo PMAC2 VME Hardware Reference INTRODUCTION The Turbo PMAC2 VME is a member of the Turbo PMAC family of boards optimized for interface to sinewave or direct PWM servo drives and to pulse-and-direction stepper drives. Its software is capable of 32 axes of control. It can have up to eight channels of on-board axis interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its expansion port, connected to Acc-24P or Acc-24P2 boards.
Turbo PMAC2 VME Hardware Reference Option 2: Dual-Ported RAM Dual-ported RAM provides a high speed communications path for bus communications with the host computer through a bank of shared memory. DPRAM is advised if more than about 100 data items per second are to be passed between the controller and the host computer in either direction. Option 2V provides an 8k x 16 bank of dual-ported RAM. The key component on the board is U87.
Turbo PMAC2 VME Hardware Reference • Option 9T adds an auxiliary RS-232 port on the CPU piggyback board. The key components added are IC U22 and connector J8 on the CPU board. Option 10: Firmware Version Specification Normally, the Turbo PMAC2 VME is provided with the newest released firmware version. A label on the U10 flash memory IC shows the firmware version loaded at the factory. • Option 10 provides for a user-specified firmware version.
Turbo PMAC2 VME Hardware Reference 4 Introduction
Turbo PMAC2 VME Hardware Reference CPU BOARD E-POINT DESCRIPTIONS E1: Watchdog Disable Jumper E Point and Physical Layout E1 Description Jump pin 1 to 2 to disable Watchdog timer (for test purposes only). Remove jumper to enable Watchdog timer. Default No jumper installed E2-E3: Expansion Port Configure (Prototype boards {-104 and earlier} only) E Point and Physical Layout Description Default E2 Jump pin 1 to 2 to permit use of Acc-24 expansion boards.
Turbo PMAC2 VME Hardware Reference 6 CPU Board E-Point Descriptions
Turbo PMAC2 VME Hardware Reference BOTTOM BOARD E-POINT JUMPER DESCRIPTIONS E1: Servo and Phase Clock Direction Control E Point and Physical Layout Description Default E1 Remove jumper for Turbo PMAC2 VME to use its internally No jumper generated servo and phase clock signals and to output these signals on the J5x serial port connector Jump pins 1 and 2 for Turbo PMAC2 VME to expect to receive its servo and phase clock signals on the J5x serial port connector.
Turbo PMAC2 VME Hardware Reference E11 – E12: Compare Output Supply Voltage Configure E Point and Physical Layout Location Description Default E11 D3 Jump pin 1 to 2 to apply +V (+5V to 24V) to pin 11 of U74 (should be ULN2803A for sink output configuration) JEQU Compare outputs EQU1-EQU8. Jump pin 2 to 3 to apply GND to pin 11 of U74 (should be UDN2981A for source output configuration).
Turbo PMAC2 VME Hardware Reference E20A-I: DPRAM Byte Order Control E Point and Physical Layout Location Description E20A-I 5 (4 3) (2 1) 5 (4 3) (2 1) 5 (4 3) (2 1) 5 (4 3) (2 1) 5 (4 3) (2 1) 5 (4 3) (2 1) 5 (4 3) (2 1) 5 (4 3) (2 1) 5 (4 3) (2 1) Jump pins 1 to 2 and pins 3 to 4, to tie DPRAM data lines 8-15 to VMEbus data lines 8-15, and DPRAM data lines 0-7 to VMEbus data lines 0-7 (Motorola big-endian format).
Turbo PMAC2 VME Hardware Reference 10 Bottom Board E-Point Jumper Descriptions
Turbo PMAC2 VME Hardware Reference OPTION 1V PIGGYBACK JUMPER DESCRIPTION JP1-1 to JP1-32: P2A Connector B-Row Use Select (Option 1V only) E Point and Physical Layout Location JP1-1 to JP1-32 Description Jump pins 1 to 2 to use B-row of P2A connector for JMACH pins (not compatible with 32-bit VME). Remove jumpers to leave B-row of P2A unconnected to prevent contention with 32-bit VMEbus.
Turbo PMAC2 VME Hardware Reference 12 Option 1V Piggyback Jumper Description
Turbo PMAC2 VME Hardware Reference MATING CONNECTORS CPU Board Connectors J2 (JEXP)/Expansion 1. 2. 3. Two 50-pin female flat cable connector Delta Tau P/N 014-R00F50-0K0 T&B Ansley P/N 609-5041 171-50 T&B Ansley standard flat cable stranded 50-wire Phoenix varioface module type FLKM 50 (male pins) P/N 22 81 08 9 used for daisy chaining Acc14 I/0, -23 A and D connectors -24 expansion J4 (JDPRAM)/Dual-Ported RAM 1. 2. 3.
Turbo PMAC2 VME Hardware Reference J7 (JHW)/Auxiliary Channel 1. Two 20-pin female flat cable connector Delta Tau P/N 014-R00F20-0K0 T&B Ansley P/N 609-2041 2. 171-20 T&B Ansley standard flat cable stranded 20-wire 3. Phoenix varioface modules type FLKM20 (male pins) J8 (JEQU)/Position Compare 1. Two 10-pin female flat cable connector Delta Tau P/N 014-ROOF10-0K0 T&B Ansley P/N 609-1041 2. 171-10 T&B Ansley standard flat cable stranded 10-wire 3.
Turbo PMAC2 VME Hardware Reference BASE BOARD CONNECTOR PINOUTS J1 (JANA) Analog Input Port Connector (Present only if Option 12 ordered) Pin # Symbol Function Description Notes 1 ANAI00 Input Analog Input 0 0-5V or +/-2.5V Range 2 ANAI01 Input Analog Input 1 0-5Vor +/-2.5V Range 3 ANAI02 Input Analog Input 2 0-5V or +/-2.5V Range 4 ANAI03 Input Analog Input 3 0-5V or +/-2.5V Range 5 ANAI04 Input Analog Input 4 0-5V or +/-2.5V Range 6 ANAI05 Input Analog Input 5 0-5V or +/-2.
Turbo PMAC2 VME Hardware Reference J2 (JTHW) Multiplexer Port Connector Pin # Symbol Function Description 1 2 3 4 GND GND DAT0 SEL0 Common Common Input Output PMAC Common PMAC Common Data-0 Input Select-0 Output 5 6 DAT1 SEL1 Input Output Data-1 Input Select-1 Output 7 8 DAT2 SEL2 Input Output Data-2 Input Select-2 Output 9 10 DAT3 SEL3 Input Output Data-3 Input Select-3 Output 11 12 DAT4 SEL4 Input Output Data-4 Input Select-4 Output 13 14 DAT5 SEL5 Input Output Data-5 Input Sel
Turbo PMAC2 VME Hardware Reference J3 (JI/O) General Input/Output Connector Pin # Symbol Function Description Notes 1 I/O00 In/Out Digital I/O 0 Software direction ctrl. 2 I/O01 In/Out Digital I/O 1 Software direction ctrl. 3 I/O02 In/Out Digital I/O 2 Software direction ctrl. 4 I/O03 In/Out Digital I/O 3 Software direction ctrl. 5 I/O04 In/Out Digital I/O 4 Software direction ctrl. 6 I/O05 In/Out Digital I/O 5 Software direction ctrl. 7 I/O06 In/Out Digital I/O 6 Software direction ctrl.
Turbo PMAC2 VME Hardware Reference J4 (JMACRO) MACRO Network Ring Interface Connector Pin # Symbol Function Description Notes 1 DOUT7 Output Ring Out Bit 7 Macro ring command 2 DOUT6 Output Ring Out Bit 6 Macro ring transmit 3 DOUT5 Output Ring Out Bit 5 Macro ring transmit 4 DOUT4 Output Ring Out Bit 4 Macro ring transmit 5 DOUT3 Output Ring Out Bit 3 Macro ring transmit 6 DOUT2 Output Ring Out Bit 2 Macro ring transmit 7 DOUT1 Output Ring Out Bit 1 Macro ring transmit 8 DOUT0 Output Ring Out Bit 0 M
Turbo PMAC2 VME Hardware Reference J5A: RS422 Serial Port Connector JRS422 (26-Pin Connector) Front View Pin # Symbol Function Description Notes 1 CHASSI Common PMAC Common 2 S+5V Output +5Vdc Supply Deactivated by E8 3 RDInput Receive Data Diff. I/O low true ** 4 RD+ Input Receive Data Diff. I/O high true * 5 SDOutput Send Data Diff. I/O low true ** 6 SD+ Output Send Data Diff. I/O high true * 7 CS+ Input Clear to Send Diff. I/O high true ** 8 CSInput Clear to Send Diff.
Turbo PMAC2 VME Hardware Reference J6 (JDISP) Display Connector Pin # Symbol Function Description Notes 1 Vdd Output +5V Power Power supply out 2 Vss Common PMAC Common 3 Rs Output Read Strobe TTL signal out 4 Vee Output Contrast Adjust Vee 0 to +5Vdc * 5 E Output Display Enable High is enable 6 R/W Output Read or Write TTL signal out 7 DB1 Output Display Data1 8 DB0 Output Display Data0 9 DB3 Output Display Data3 10 DB2 Output Display Data2 11 DB5 Output Display Data5 12 DB4 Output Display Data4 13 D
Turbo PMAC2 VME Hardware Reference J8 (JEQU) Position Compare Output Connector Pin # Symbol Function Description Notes 1 EQU1/ Output Enc. 1 Comp-Eq Low is true 2 EQU2/ Output Enc. 2 Comp-Eq Low is true 3 EQU3/ Output Enc. 3 Comp-Eq Low is true 4 EQU4/ Output Enc. 4 Comp-Eq Low is true 5 EQU5/ Output Enc. 5 Comp-Eq Low is true 6 EQU6/ Output Enc. 6 Comp-Eq Low is true 7 EQU7/ Output Enc. 7 Comp-Eq Low is true 8 EQU8/ Output Enc.
Turbo PMAC2 VME Hardware Reference J9 (JMACH1) Machine Connector (Continued) Pin # Symbol Function 31 32 33 34 35 Output Output Input Input Output 47 48 49 AENA1+ AENA1FAULT1+ FAULT1PWMATOP1+ DAC_CLK1+ PWMATOP1DAC_CLK1PWMABOT1+ DAC1A+ PWMABOT1DAC1APWMBTOP1+ DAC_STB1+ PWMBTOP1DAC_STB1PWMBBOT1+ DAC1B+ PWMBBOT1DAC1BPWMCTOP1+ DIR1+ PWMCTOP1DIR1PWMCBOT1+ PULSE1+ PWMCBOT1PULSE1GND GND +5V 50 99 100 ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Description Notes
Turbo PMAC2 VME Hardware Reference J9 (JMACH1) Machine Connector (Continued) Pin # Symbol Function 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 CHW2 CHT2 USER2 PLIM2 MLIM2 HOME2 ACCFLT2 WD0/ SCLK12+ SCLK12ADC_CLK2+ ADC_CLK2ADC_STB2+ ADC_STB2ADC_DAA2+ ADC_DAA2ADC_DAB2+ ADC_DAB2AENA2+ AENA2FAULT2+ FAULT2PWMATOP2+ DAC_CLK2+ PWMATOP2DAC_CLK2PWMABOT2+ DAC2A+ PWMABOT2DAC2APWMBTOP2+ DAC_STB2+ PWMBTOP2DAC_STB2PWMBBOT2+ DAC2B+ PWMBBOT2DAC2BPWMCTOP2+ DIR2+ PWMCTOP2DIR2PWMCBOT2+ PULSE2+ PW
Turbo PMAC2 VME Hardware Reference J9 (JMACH1) Machine Connector (Continued) Pin # Symbol Function 97 98 99 GND GND +5V Common Common Output / Input 99 100 Description ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Notes Reference Voltage Reference Voltage +5V Power For external circuit or from external supply 100 +5V Output / Input +5V Power For external circuit or from external supply The JMACH1 connector provides the interface pins for channels 1 and 2.
Turbo PMAC2 VME Hardware Reference J10 (JMACH2) Machine Connector (Continued) Pin # Symbol Function 28 29 30 31 32 33 34 35 Input Input Input Output Output Input Input Output 47 48 49 ADC_DAA3ADC_DAB3+ ADC_DAB3AENA3+ AENA3FAULT3+ FAULT3PWMATOP3+ DAC_CLK3+ PWMATOP3DAC_CLK3PWMABOT3+ DAC3A+ PWMABOT3DAC3APWMBTOP3+ DAC_STB3+ PWMBTOP3DAC_STB3PWMBBOT3+ DAC3B+ PWMBBOT3DAC3BPWMCTOP3+ DIR3+ PWMCTOP3DIR3PWMCBOT3+ PULSE3+ PWMCBOT3PULSE3GND GND +5V 50 99 100 ____________ __________ | ooooooooooo … oooooooooo |
Turbo PMAC2 VME Hardware Reference J10 (JMACH2) Machine Connector (Continued) 99 100 ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Pin # Symbol Function Description Notes 60 61 62 63 64 65 66 67 68 69 70 71 CHC4CHU4 CHV4 CHW4 CHT4 USER4 PLIM4 MLIM4 HOME4 ACCFLT4 WD0/ SCLK34+ Input Input Input Input Input Input Input Input Input Input Output Input / Output Enc 4 Negative C Chan.
Turbo PMAC2 VME Hardware Reference J10 (JMACH2) Machine Connector (Continued) Pin # Symbol Function 95 PWMCBOT4+ PULSE4+ PWMCBOT4PULSE4GND GND +5V Output 96 97 98 99 Output Common Common Output / Input 99 100 ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Description Notes Phase B Bottom CMD or PFM Pulse Phase B Bottom CMD or PFM Pulse Reference Voltage Reference Voltage +5V Power Programmable function control Programmable function control For external c
Turbo PMAC2 VME Hardware Reference P1 JVME (96-Pin Header) Continued Front View Pin # Row A Row B Row C 28 A03 IRQ3/ A10 29 A02 IRQ2/ A09 30 A01 IRQ1/ A08 31 -12V +5V STDBY +12V 32 +5V +5V +5V This is the standard VME connector. It is sufficient for 16-bit or 24-bit addressing, and for 8-bit or 16-bit data. For 32-bit addressing the B-row of P2 must be used as well. PMAC does not support 32-bit data transfers over the bus, even with the B-row of P2.
Turbo PMAC2 VME Hardware Reference P2/JMACHA (96-Pin Header) Continued Front View Pin# Row A Row B (Format A) Row B (Format B) Row C 26 PWMABOT2/ DAC2A VD27* CHT4 PWMABOT4/ DAC4A 27 PWMBTOP2/ DAC_STB2 VD28* USER2 PWMBTOP4/ DAC_STB4 28 PWMBBOT2/ DAC2B VD29* USER4 PWMBBOT4/ DAC4B 29 PWMCTOP2/ DIR2 VD30* ADC_DAA2 PWMCTOP4/ DIR4 30 PWMCBOT2/ PULSE2 VD31* ADC_DAA4 PWMCBOT4/ PULSE4 31 GND GND ADC_DAB2 GND 32 +5V +5V ADC_DAB4 +5V Note: Format A for the B-row will be used if E7A-H, E8A-H, E9A-H, and E10A-H c
Turbo PMAC2 VME Hardware Reference 30 Base Board Connector Pinouts
Turbo PMAC2 VME Hardware Reference AXIS PIGGYBACK BOARD CONNECTOR DESCRIPTIONS J11 (JMACH3) Machine Connector (Only present if Option 1V ordered) J11 (JMACH3) Machine Connector 99 100 ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Pin# Symbol Function Description Notes 1 +5V Output / Input +5V Power 2 +5V Output / Input +5V Power For external circuit or from external supply For external circuit or from external supply 3 4 5 6 7 8 9 10 11 12 13 14 15
Turbo PMAC2 VME Hardware Reference J11 (JMACH3) Machine Connector (Continued) Pin# Symbol Function 38 Output 47 48 49 PWMABOT5DAC5APWMBTOP5+ DAC_STB5+ PWMBTOP5DAC_STB5PWMBBOT5+ DAC5B+ PWMBBOT5DAC5BPWMCTOP5+ DIR5+ PWMCTOP5DIR5PWMCBOT5+ PULSE5+ PWMCBOT5PULSE5GND GND +5V 50 ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Description Notes Programmable function control Common Common Output / Input Phase A Bottom CMD or DAC A Serial Data Phase B Top CMD or DAC S
Turbo PMAC2 VME Hardware Reference J11 (JMACH3) Machine Connector (Continued) Pin# Symbol Function 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 SCLK56+ SCLK56ADC_CLK6+ ADC_CLK6ADC_STB6+ ADC_STB6ADC_DAA6+ ADC_DAA6ADC_DAB6+ ADC_DAB6AENA6+ AENA6FAULT6+ FAULT6PWMATOP6+ DAC_CLK6+ PWMATOP6DAC_CLK6PWMABOT6+ DAC6A+ PWMABOT6DAC6APWMBTOP6+ DAC_STB6+ PWMBTOP6DAC_STB6PWMBBOT6+ DAC6B+ PWMBBOT6DAC6BPWMCTOP6+ DIR6+ PWMCTOP6DIR6PWMCBOT6+ PULSE6+ PWMCBOT6PULSE6GND GND +5V Input / Output Input / Output Output Output Ou
Turbo PMAC2 VME Hardware Reference J12 (JMACH4) Machine Connector (Only present if Option 1 ordered) J12 (JMACH4) Machine Connector 99 100 ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Pin# Symbol Function Description Notes 1 +5V Output / Input +5V Power 2 +5V Output / Input +5V Power For external circuit or from external supply For external circuit or from external supply 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
Turbo PMAC2 VME Hardware Reference J12 (JMACH4) Machine Connector (Continued) Pin# Symbol Function 39 Output 47 48 49 PWMBTOP7+ DAC_STB7+ PWMBTOP3DAC_STB7PWMBBOT7+ DAC7B+ PWMBBOT7DAC7BPWMCTOP7+ DIR7+ PWMCTOP7DIR7PWMCBOT7+ PULSE7+ PWMCBOT7PULSE7GND GND +5V 50 99 100 ____________ __________ | ooooooooooo … oooooooooo | 1 | ooooooooooo … oooooooooo | 2 Description Notes Programmable function control Common Common Output / Input Phase B Top CMD or DAC Strobe Phase B Top CMD or DAC Strobe Phase B B
Turbo PMAC2 VME Hardware Reference J12 (JMACH4) Machine Connector (Continued) Pin# Symbol Function 75 76 77 78 79 80 81 82 83 84 85 ADC_STB8+ ADC_STB8ADC_DAA8+ ADC_DAA8ADC_DAB8+ ADC_DAB8AENA8+ AENA8FAULT8+ FAULT8PWMATOP8+ DAC_CLK8+ PWMATOP8DAC_CLK8PWMABOT8+ DAC8A+ PWMABOT8DAC8APWMBTOP8+ DAC_STB8+ PWMBTOP8DAC_STB8PWMBBOT8+ DAC8B+ PWMBBOT8DAC8BPWMCTOP8+ DIR8+ PWMCTOP8DIR8PWMCBOT8+ PULSE8+ PWMCBOT8PULSE8GND GND +5V Output Output Input Input Input Input Output Output Input Input Output 86 87 88 89 90 91
Turbo PMAC2 VME Hardware Reference P2A (JMACHB) Alternate Machine Connector The P2A connector provides an alternate path to J11 and J12 for the machine interface connections for Channels 5-8. Only the positive signals of complementary pairs are brought out on this connector. For the inputs, the complementary lines are tied to 2.5V on PMAC2. Refer to the J11 and J12 pin descriptions for more detailed information on each pin.
