^ HARDWARE REFERENCE MANUAL 1 ^2 Turbo PMAC2 VME Ultralite ^3 Programmable Multi-Axis Controller ^4 4Ax-603616-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 Ultralite Table of Contents INTRODUCTION .....................................................................................................................................................1 Board Configuration................................................................................................................................................1 Base Version .............................................................................................................................
Turbo PMAC2 VME Ultralite J5A: RS422 Serial Port Connector........................................................................................................................16 J5A/JRS422 (26-Pin Header) ...........................................................................................................................16 J6 (JDISP) Display Connector ..............................................................................................................................
Turbo PMAC2 VME Ultralite INTRODUCTION The Turbo PMAC2 VME Ultralite is a member of the Turbo PMAC family of boards optimized for interface to the system through the MACRO ring, and therefore does not contain on-board axis interface circuitry (which is what makes it Ultralite). It can command up to 32 axes through the MACRO ring. 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 Ultralite Option 1: Additional MACRO Interface Ics The basic board has one MACRO interface IC and space for three more. Variations of Option 1 fill these spaces as follows: • Option 1A provides the first additional MACRO interface IC (two total) for 16 additional MACRO nodes, eight additional servo nodes and eight additional I/O nodes (32 nodes total, 16 servo and 16 I/O). The key component on the board is U23.
Turbo PMAC2 VME Ultralite • • • Option 5D3: 100MHz DSP56309 CPU (34Kx24 internal memory), expanded 512Kx24 SRAM compiled/assembled program memory, expanded 512Kx24 SRAM user data memory, 4Mx8 flash memory. Option 5E0 160MHz DSP56311 CPU (128Kx24 internal memory), 128Kx24 SRAM compiled/assembled program memory, 128Kx24 SRAM user data memory, 1Mx8 flash memory.
Turbo PMAC2 VME Ultralite 4 Introduction
Turbo PMAC2 VME Ultralite JUMPER DESCRIPTION The drawing below is a road map to the E-Point locations shown in the tables following.
Turbo PMAC2 VME Ultralite E0: Reset Lock Enable E Point and Physical Layout Location E0 B-2 Description Remove jumper for normal operation. Jump pins 1 to 2 to force the card to stay in the reset state. Default No jumper installed E1: Card 0 (Clock Direction) Select E Point and Physical Layout Location E1 C-1 Description Remove jumper to specify that this PMAC is Card 0, which generates its own phase and servo clock (default).
Turbo PMAC2 VME Ultralite E17 – E18: Serial Port Select E Point and Physical Layout Location A-5 A-5 Description Default Jump E17 pin 1 to 2 to select RS-232 serial data input from J5. Jump E17 pin 1 to 3 to select RS-422 serial data input from J5A. Jump E17 pin 1 to 4 for future use of USB. Jump E18 pin 1 to 2 to select RS-232 serial handshake input from J5. Jump E18 pin 1 to 3 to select RS-422 serial handshake input from J5A. Jump E18 pin 1 to 4 for future use of USB.
Turbo PMAC2 VME Ultralite 8 Jumper Description
Turbo PMAC2 VME Ultralite SOFTWARE SETUP PMAC I-Variables PMAC has a large set of Initialization parameters (I-variables) that determine the personality of the card for a specific application. Many of these are used to configure a motor properly. Once set up, these variables may be stored in non-volatile EAROM memory (using the SAVE command) so the card is always configured properly (PMAC loads the EAROM I-variable values into RAM on power-up).
Turbo PMAC2 VME Ultralite 10 Software Setup
Turbo PMAC2 VME Ultralite MATING CONNECTORS J1: JTAG/OnCE (for Factory Use Only): 10-pin IDC Header J2 (JTHW)/Multiplexer Port 1. Two 26-pin female flat cable connector Delta Tau P/N 014-R00F26-0K0 T&B Ansley P/N 609-2641 2. 171-26 T&B Ansley standard flat cable stranded 26-wire 3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0 J3 (JIO)/Digital I/O 1. 2. 3.
Turbo PMAC2 VME Ultralite 12 Mating Connectors
Turbo PMAC2 VME Ultralite CONNECTOR PINOUTS J2 (JTHW) Multiplexer Port Connector Front View 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 I
Turbo PMAC2 VME Ultralite J3 (JI/O) General Input/Output Connector J3/JIO (40-Pin Header) Pin # Symbol Function Description Notes 1 I/O00 In/Out Digital I/O 0 Software Direction Control. 2 I/O01 In/Out Digital I/O 1 Software Direction Control. 3 I/O02 In/Out Digital I/O 2 Software Direction Control. 4 I/O03 In/Out Digital I/O 3 Software Direction Control. 5 I/O04 In/Out Digital I/O 4 Software Direction Control. 6 I/O05 In/Out Digital I/O 5 Software Direction Control.
Turbo PMAC2 VME Ultralite J5 (JRS232) Serial Port Connector J5/JRS232 (10-Pin Header) Front View Pin # Symbol Function Description Notes 1 PHASE In/Out Phasing Clock See Notes 1, 2 2 DTR Bidirect Data Terminal Ready Tied to DSR 3 TXD/ Input Receive Data Host transmit data 4 CTS Input Clear to Send Host ready bit 5 RXD/ Output Send Data Host receive data 6 RTS Output Request to Send PMAC ready bit 7 DSR Bidirect Data Set Ready Tied to DTR 8 SERVO In/Out Servo Clock See Note 2 9 GND Common PMAC Common
Turbo PMAC2 VME Ultralite J5A: RS422 Serial Port Connector J5A/JRS422 (26-Pin Header) 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 Ultralite J6 (JDISP) Display Connector J6/JDISP (14-Pin Header) Front View 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 +5 VDC * 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
Turbo PMAC2 VME Ultralite Pin # Symbol Function 1 2 GND +5V Common Input Description Notes Reference Voltage Positive Supply Voltage Supplies all PMAC digital circuits This terminal block can be used to provide the input for the power supply for the circuits on the PMAC2 board when it is not in a bus configuration. When the PMAC2 is in a bus configuration, these supplies come through the bus connector from the bus power supply automatically; in this case, this terminal block should not be used.
Schematics J1 9 10 11 12 13 14 RSTTMS +3.3V N.C. DETRST- 6 7 8 TMS GND TCK GND TD02 FLASHCSBSCAN- PRAMCS- WR- (TDO) (TDI) (TMS) (TCK) C158 .01UF +3P3V GND DETRST- RESETTMS TCK TDO TDI PRDY RP1_9 PRDY Firmware (64K) User Written Phase (1K) User Written Servo (2K) Plcc Standard Memory Option (64K) Plcc Extended Memory Option (448K) WR- PRAMCS- BSCAN- TD02 3.
20 2 1 CON2 .150 PITCH +5V GND TB1 (JPWR) TB1 THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU DATA SYSTEMS INC. AND IS LOANED SUBJECT TO RETURN UPON DEMAND. TITLE TO THIS DOCUMENT IS NEVER SOLD OR TRANSFERRED FOR ANY REASON. THIS DOCUMENT IS TO BE USED ONLY PURSUANT TO WRITTEN LICENSE OR WRITTEN INSTRUCTIONS OF DELTA TAU DATA SYSTEMS INC. ALL RIGHTS TO DESIGNS AND INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC. POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE ABOVE AGREEMENT.
Schematics GND .1UF C92 +5V SER PHA GND RP21B RP21C RP21D RP22A RP22B 5 9 12 RP22D 3.3KSIP8I 7 3.3KSIP8I RP22C 3.3KSIP8I 3 3.3KSIP8I 1 3.3KSIP8I 7 3.3KSIP8I 5 3.3KSIP8I 3 3.
22 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 A20 A21 A22 A23 A24 A25 A26 A27 A28 A29 A30 A31 A32 B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 B20 B21 B22 B23 B24 B25 B26 B27 B28 B29 B30 B31 B32 C1 C2 C3 C4 C5 C6 C7 C8 C9 C10 C11 C12 C13 C14 C15 C16 C17 C18 C19 C20 C21 C22 C23 C24 C25 C26 C27 C28 C29 C30 C31 C32 B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 B20 B21 B22 B23 B24 B25 B26 B27 B28 B29 B30 B31 B32 CONN 32 x 3 VME GND +5V GN
