Delta Tau PMAC2A-PC/104 User Manual

^3 PMAC2A-PC/104 ACC-1P Hardware Reference^4 4xx-603671-xHxx ^5 December 6, 2010 PMAC2A-PC/104 Axis Expansion Accesso

Hardware Reference Manual Hardware Setup 6HARDWARE SETUP On the Acc-1P, there are a number of jumpers called E-points or W-points that customize

Hardware Reference Manual Hardware Setup 7 Differential Encoders Differential encoder signals (pin 2 to 3) can enhance noise immunity by providing co

Hardware Reference Manual Hardware Setup 8Encoder 4 RP37 6-pin Handwheel Encoder RP55 6-pin Handwheel Encoder Termination Resistors The PMAC

Hardware Reference Manual Machine Connections 9 MACHINE CONNECTIONS Typically, the user connections are actually made to terminal blocks that are att

Hardware Reference Manual Machine Connections 10Flags Power Supply Each channel of PMAC has five dedicated digital inputs on the machine connect

Hardware Reference Manual Machine Connections 11 DAC Output Signals If PMAC is not performing the commutation for the motor, only one analog output

Hardware Reference Manual Machine Connections 12Amplifier Fault Signal (FAULT-) This input can take a signal from the amplifier so PMAC knows wh

Hardware Reference Manual Machine Connections 13 Further software settings are required to configure this port. See the Software Setup section for

Hardware Reference Manual Machine Connections 14When used as non-multiplexed I/O, jumpers E7 and E8 select the I/O lines direction of the JTHW c

Hardware Reference Manual Machine Connections 15 Machine Connections Example: Using Analog ±10V Amplifier

Copyright Information © 2009 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Syst

Hardware Reference Manual Machine Connections 16Machine Connections Example: Using Pulse and Direction Drivers

Hardware Reference Manual Machine Connections 17

Hardware Reference Manual Software Setup 18SOFTWARE SETUP (non-Turbo PMAC2A-PC104) Note: The PMAC2A PC/104 requires the use of V1.17 or newer fi

Hardware Reference Manual Software Setup 19 General-Purpose Digital Inputs and Outputs If one Acc-1P is present on the PMAC2A PC/104 stack configurat

Hardware Reference Manual Software Setup 20M2->Y:$C0C0,2 ; Digital Output M02 M3->Y:$C0C0,3 ; Digital Output M03 M4->Y:$C0C0,4 ; Dig

Hardware Reference Manual Software Setup 21 Thumbwheel Port Digital Inputs and Outputs The inputs and outputs on the thumbwheel multiplexer port of e

Hardware Reference Manual Software Setup 22Analog Inputs Setup The optional analog-to-digital converter inputs are ordered either through Option

Hardware Reference Manual Software Setup 23 SOFTWARE SETUP (Turbo PMAC2A-PC104 and Clipper) Filtered DAC Outputs Configuration Although the Clipper B

Hardware Reference Manual Software Setup 24I8008=$78140;ECT Entry motor #9 I8009=$78148;ECT Entry motor #10 I8010=$78150;ECT Entry motor #11 I80

Hardware Reference Manual Software Setup 25 I903 = $3509 I904 = $3509 The default values not retained on a “SAVE” command must be added to the “run

REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 ADDED ENCODER JUMPERS E20-E23 04/10/07 CP S. MILICI 2 ADDED SOFTWARE SETUP INFO, P. 23 1

Hardware Reference Manual Software Setup 26M7226 = 0 //Motor specific I-variables (retained on a "SAVE" command) I1024 = 1 I1025 = $78

Hardware Reference Manual Software Setup 27 M7230->X:$78155,0,4 ;I7mn0 M7231->X:$78155,13,1 ;I7mn1 M7232->X:$78155,4,4 ;I7mn2 M7233->X:

Hardware Reference Manual Software Setup 28// FOURTH CHANNEL OF GATE #3 - MOTOR #12 M1201->X:$078159,0,24,S ; ENC12 24-bit counter position M

Hardware Reference Manual Software Setup 29 M7223 = 0 M7226 = 0 // Motor #11 defaults M7230 = 3 M7231 = 0 M7232 = 1 M7233 = 0 M7236 = 0 // Motor #12

Hardware Reference Manual Software Setup 30 General-Purpose Digital Inputs and Outputs If one Acc-1P is present then its jumper E6 should be set

Hardware Reference Manual Software Setup 31 JTHW port first ACC-1P, Jumper E6 on Position 1-2 M4080->Y:$78502,8,1 ; SEL0 Output M4081->Y:$7850

Hardware Reference Manual Software Setup 32M4114->Y:$78540,14 ; Digital Input MI6 M4115->Y:$78540,15 ; Digital Input MI7 M4117-&

Hardware Reference Manual Software Setup 33 CLOSE Note: After loading this program, set I5=2 or 3 and ENABLE PLC 1. Analog Inputs Setup The optiona

Hardware Reference Manual Software Setup 34

Hardware Reference Manual Hardware Reference Summary 35 HARDWARE REFERENCE SUMMARY The following information is based on the Acc-1P board, part numbe

Hardware Reference Manual 36 Hardware Reference Summary Board Layout 123465BACD E F Feature Location Feature Location E0 C6 RP30 E2 E1 B2 RP31 E2

Hardware Reference Manual Hardware Reference Summary 37 Connectors and Indicators J2 - Thumbwheel Multiplexer Port (JTHW Port) The Thumbwheel Multipl

Hardware Reference Manual 38 Hardware Reference Summary

Hardware Reference Manual E-Point Jumper Descriptions 39 E-POINT JUMPER DESCRIPTIONS E0: Reserved for Future Use E Point and Physical Layout Locati

Hardware Reference Manual E-Point Jumper Descriptions 40E5: Servo Gate Address Select E Point and Physical Layout Location Description Defaul

Hardware Reference Manual Connector Pinouts 41 CONNECTOR PINOUTS TB1 (JPWR): Power Supply (4-Pin Terminal Block) Top View Pin# Symbol Function De

Hardware Reference Manual 42 Connector Pinouts J2 (JTHW): Multiplexer Port Connector (26-Pin Connector) Front View Pin# Symbol Function Desc

Hardware Reference Manual Connector Pinouts 43 J3 (JMACH1): Machine Port Connector (50-Pin Header) Top View Pin# Symbol Function Description No

Hardware Reference Manual 44 Connector Pinouts J3 JMACH1 (50-Pin-Header) (Continued) Top View Pin# Symbol Function Description Notes 40 DA

Hardware Reference Manual Connector Pinouts 45 J4 (JMACH2): Machine Port Connector (34-Pin Header) Front View Pin# Symbol Function Description No

Hardware Reference Manual Table of Contents i Table of Contents INTRODUCTION ...

Hardware Reference Manual 46 Connector Pinouts J7 (JOPTO): I/O Port Connector (34-Pin Connector) Front View Pin# Symbol Function Description

Hardware Reference Manual Connector Pinouts 47 J8 (JHW) Handwheel Encoder Connector Pin# Symbol Function Description 1 GND Common Reference volta

Hardware Reference Manual 48 Connector Pinouts

Hardware Reference Manual Connector Pinouts 49 SCHEMATICS

Hardware Reference Manual 50 Connector Pinouts +5VHW2_A2--12VRESET+012345678910111213141516171819J2DPC/104/HEADER/D20123456789101112131415161718

Hardware Reference Manual Connector Pinouts 51 -12VBA00_AFLAG_A7BD11_ABA06_ASSM-120-L-DV-LCFLAG_T8CHC7+PWM_C_B8 PUL_8+FALT7-R313.3KRP331KSIP10C12345

Hardware Reference Manual ii Table of Contents JOPTO port first ACC-1P, Jumper E6 on Position 1-2...

Hardware Reference Manual Table of Contents iii

Hardware Reference Manual 4 Hardware Setup INTRODUCTION The PMAC2A PC/104 motion controller is a compact, cost-effective version of Delta Tau’s P

Hardware Reference Manual Introduction 5