Reference Manual

16-Axis MACRO CPU Hardware Reference Manual
Introduction 1
INTRODUCTION
The 16-Axis MACRO CPU board is the processor and MACRO interface board used in a 3U MACRO
Station (in either UMAC MACRO or MACRO Stack configuration).
Note:
There are three documents that describe the operation of 3U MACRO Station
products:
• UMAC System Manual (General Product Overview)
• MACRO 16 Station User’s Manual
• MACRO 16 Station Software Reference
This manual describes the interfaces and physical hardware that is used on the 3U
MACRO CPU.
The UMAC 16-Axis MACRO CPU provides a remote interface for encoders, flags, direct-PWM digital
drives, analog drives, stepper drives, analog I/O, and digital I/O for Delta Tau Data’s PMAC products that
have a MACRO interface.
The UMAC 16-Axis MACRO CPU configurations communicate with PMAC2 Ultralites or Turbo
PMAC2 Ultralites solely through the MACRO ring, interfacing to standard drives, encoders, flags, and
I/O through on-board connectors. In almost every case, a Turbo Ultralite or UMAC CPU with Acc-5E
will be used as the MACRO Master. This 16-Axis MACRO CPU integrated packaging and connectivity
strategy provides revolutionary flexibility and ease of use.
A 16-Axis MACRO CPU consists of a set of 3U format Euro-cards (100 x 160 mm) that can be
assembled in a variety of configurations. When used in the rack configuration, connected through a
backplane bus, the backplane is UBUS format, designed by Delta Tau Data Systems Inc. for motion
control and I/O interfaces.
When using the fiber optic MACRO interface, the 3U MACRO Station can be up to three kilometers (two
miles) away from the PMAC2 Master controller or any other station on the ring. When using the RJ-45
copper electrical interface, it can be up to 30 meters (100 feet) away.
The 16-Axis MACRO CPU Station allows PMAC2 MACRO controllers to control servo axes and I/O
just as if they were connected directly to the PMAC2, even though they may be a great distance away.
The only interface needed from the PMAC2 is the electrically isolated MACRO ring.
Typically, a PMAC2 Turbo Ultralite board, one without any of its own servo interface circuitry, is used
with the MACRO Station to provide the most cost-effective solution.
16-Axis MACRO CPU 3U Board (3A0-603719-10x):
• 100MHz DSP56309 CPU
• 512k x 8 flash memory for user backup and firmware
• Latest released firmware version
• RS-232 serial interface for setup and debugging
• UBUS connector for backplane connection to servo and
I/O accessory boards
• JHW H/W Pulse/Dir port with 20-pin IDC header
• JDISP Standard PMAC Display 14-pin header.
The 16-Axis MACRO CPU can only be configured as a UMAC MACRO configuration. The older
generation MACRO8 CPU can be used as either a UMAC MACRO or a MACRO Stack.