artisan PMAC2-Lite Quick user guide

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^1 HARDWARE REFERENCE MANUAL
^2 PMAC2-Lite
^3 Programmable Multi-Axis Controller
^4 4xx-602406-xHxx
^5 July 17, 2003
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com
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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. Technical Support
Phone: [phone]
Fax: [phone]
Email: [email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or
handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.
Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial
environment, install them into an industrial electrical cabinet or industrial PC to protect them
from excessive or corrosive moisture, abnormal ambient temperatures, and conductive
materials. If Delta Tau Data Systems, Inc. products are exposed to hazardous or conductive
materials and/or environments, we cannot guarantee their operation.
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PMAC2-Lite Hardware Reference Manual
Table of Contents
INTRODUCTION.......................................................................................................................................................1
Overview .......................................................................................................................................................................1
Board Configuration......................................................................................................................................................1
Base Version.........................................................................................................................................................1
Option 2: Dual Ported RAM.................................................................................................................................1
Option 5: CPU & Memory Configurations...........................................................................................................2
Option 6: Extended Servo Algorithm....................................................................................................................2
Option 7: Plate Mounting.....................................................................................................................................2
Option 8: High-Accuracy Clock Crystal...............................................................................................................2
Option 9: Serial Port Configuration.....................................................................................................................2
Option 10: Firmware Version Specification.........................................................................................................2
Option 12: Analog-to-Digital Converters.............................................................................................................2
Option 16: Battery-Backed Parameter Memory...................................................................................................3
Hardware Updates .........................................................................................................................................................3
Compatibility Issues......................................................................................................................................................4
PMAC2-LITE E-POINT DESCRIPTIONS..............................................................................................................5
E0: Firmware Reload Enable.........................................................................................................................................5
E1: Servo and Phase Clock Direction Control...............................................................................................................5
E2: CPU Frequency Select ............................................................................................................................................5
E3: Normal/Re-initializing Power-Up/Reset.................................................................................................................5
E4: CPU Frequency Select ............................................................................................................................................6
E5 – E6: (Reserved for Future Use)...............................................................................................................................6
E7 – E10: Host Interrupt Signal Select.........................................................................................................................6
E11-12: JEQU Port Configuration.................................................................................................................................7
E13: Encoder Sample Clock Direction Control.............................................................................................................7
E14: Watchdog Disable Jumper ....................................................................................................................................7
E17 – E18: Serial Port Select.........................................................................................................................................8
E20: Battery-Backed RAM Enable...............................................................................................................................8
E111-114: Command Output Disable State...................................................................................................................9
DIP Switch Block S1: ISA-BUS Address Select........................................................................................................10
HOST PC-AT I/O ADDRESS MAP.........................................................................................................................11
PMAC2-LITE MATING CONNECTORS .............................................................................................................13
J1 (JANA)/Analog (Option 12)...................................................................................................................................13
J2 (JTHW)/Multiplexer Port........................................................................................................................................13
J3 (JIO)/Digital I/O......................................................................................................................................................13
J4 (JMACRO)/MACRO Digital Data..........................................................................................................................13
J5 (JRS232)/RS-232 Serial Communications..............................................................................................................13
J5A (JRS422)/RS-422 Serial Communications...........................................................................................................13
J6 (JDISP)/Display......................................................................................................................................................13
J7 (JHW)/Auxiliary Channel.......................................................................................................................................14
J8 (JEQU)/Position Compare ......................................................................................................................................14
J9 (JMACH1)/Machine Port 1.....................................................................................................................................14
J10 (JMACH2)/Machine Port 2...................................................................................................................................14
J11 (JEXP)/Expansion.................................................................................................................................................14
PMAC2-LITE CONNECTOR PINOUTS...............................................................................................................15
J1 (JANA) Analog Input Port Connector ....................................................................................................................15
J2 (JTHW) Multiplexer Port Connector ......................................................................................................................16
J3 (JIO) General Input/Output Connector ...................................................................................................................17
J4 (JMACRO) MACRO Network Ring Interface Connector......................................................................................18
Table of Contents i
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PMAC2-Lite Hardware Reference Manual
J5 (JRS232) Serial Port Connector..............................................................................................................................19
J5A (JRS422) RS422 Serial Port Connector ...............................................................................................................20
J6 (JDISP) Display Connector.....................................................................................................................................21
J7 (JHW) Handwheel Encoder Connector...................................................................................................................21
J8 (JEQU) Position Compare Output Connector.........................................................................................................22
J9 (JMACH1) Servo Channel 1 & 2 Connector ..........................................................................................................23
J10 (JMACH2) Servo Channel 3 & 4 Connector ........................................................................................................27
TB1 (2/4-Pin Terminal Block).....................................................................................................................................30
TB2 (4-Pin Terminal Block)........................................................................................................................................31
ii Table of Contents
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PMAC2-Lite Hardware Reference Manual
INTRODUCTION
Overview
The PMAC2-Lite is a member of the PMAC2 family of boards optimized for interface to three or four
sinewave or direct PWM servo drives and to pulse-and-direction stepper drives. It has two channels of
servo interface circuitry, but its software is capable of eight axes of control. It is completely software
compatible with the PMAC2-PC and the Mini-PMAC2.
The PMAC2-Lite is a full-sized ISA-bus expansion card, with a small piggyback board containing the
CPU board. While the PMAC2-Lite is capable of ISA bus communications, with or without the optional
on-board dual-ported RAM, it does not need to be inserted into an ISA expansion slot. Communications
can be done through the standard on-board RS-232 serial port. Standalone operation is possible.
Board Configuration
Base Version
The base version of the PMAC2-Lite provides a 2/3-slot board with:
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40 MHz DSP56002 CPU
128k x 24 zero-wait-state SRAM active memory
512k x 8 flash memory for user backup and firmware
Latest released firmware version
RS-232 serial interface, ISA (PC) bus interface
One 16-node MACRO interface IC
Four channels axis interface circuitry, each including:
Three output command signal sets, configurable as either:
!" Two serial data streams to external DACs, one pulse-and-direction
!" Three PWM top-and-bottom pairs
3-channel differential/single-ended encoder input
Nine input flags, 2 output flags
Interface to two external serial ADCs, 8 to 18 bits
Two channels supplemental interface circuitry, each including:
Two-channel differential/single-ended encoder input
One output command signal set, configurable as
pulse-&-direction or PWM top-and-bottom pair
Display, MACRO, muxed I/O, direct I/O interface ports
PID/notch/feedforward servo algorithms
1-year warranty from date of shipment
One manual per set of one to four PMACs shipped
Cables, mounting plates, mating connectors not included
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 100 data items per second
are to be passed between the controller and the host computer in either direction.
Introduction 1
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PMAC2-Lite Hardware Reference Manual
Option 2 provides an on-board 8k x 16 bank of dual-ported RAM. The key component on the board is
U23.
Option 5: CPU & Memory Configurations
If the 40MHz CPU that comes standard does not have sufficient computational power, faster versions are
available as options. These options provide faster CPU ICs in U7 and faster SRAM ICs in U58, U59, and
U60.
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•
•
•
•
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•
Option 5B provides a 60MHz CPU with zero-wait-state SRAM active memory.
Option 5C provides an 80MHz CPU with zero-wait-state SRAM active memory.
Option 6: Extended Servo Algorithm
The standard PID servo algorithm with feedforward and notch filter is suitable for most applications.
Systems with difficult dynamics, especially with significant flexibility, may require a more powerful
servo algorithm, such as the Extended Servo Algorithm (ESA).
Option 6 provides firmware in the PMAC2-Lite that replaces the standard PID servo algorithm with
the Extended Servo Algorithm.
Option 7: Plate Mounting
If the PMAC2-Lite is used as an ISA bus expansion board, the standard hardware provides for proper
mounting of the board in the bus. However, if it is not installed in an ISA expansion slot, other provisions
must be made for mounting.
Option 7 provides a mounting plate connected to the PMAC2-Lite with standoffs. It is used to install
the PMAC2-Lite in standalone applications.
Option 8: High-Accuracy Clock Crystal
The PMAC2-Lite has a clock crystal (component Y1) of nominal frequency 19.6608MHz (~20MHz).
The standard crystal’s accuracy specification is +/-100 ppm. Long-term velocity accuracy is limited by
the accuracy of the crystal, unless an external time base is used.
Option 8A provides a nominal 19.6608MHz crystal with a +/-15 ppm accuracy specification.
Option 9: Serial Port Configuration
The original standard PMAC2-Lite (602406-100) included a single RS-232 serial port. Optionally, this
could be converted to RS-422, and a second serial port can be added. On the Universal PMAC2-Lite
(602406-101 and newer), both the RS-232 and RS-422 ports come standard. Jumpers E17 and E18 select
which port is used.
On the original PMAC2-Lite, Option 9L replaces main RS-232 port with an RS-422 port on a small
piggyback board. This option is not available on the Universal PMAC2-Lite.
Option 10: Firmware Version Specification
Normally, the newest released firmware version is provided with the PMAC2-Lite. A label on the U61
flash memory IC on the CPU board shows the firmware version loaded at the factory.
Option 10 provides for a user-specified firmware version.
Option 12: Analog-to-Digital Converters
Option 12 permits the installation of 8 or 16 channels of on-board multiplexed analog-to-digital
converters. One or two of these converters are read every phase interrupt. The analog inputs are not
optically isolated, and each can have a 0 – 5V input range, or a +/-2.5V input range, individually
selectable.
2 Introduction
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PMAC2-Lite Hardware Reference Manual
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Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U28
and connector J1.
Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board
is U29.
Option 16: Battery-Backed Parameter Memory
The contents of the standard memory are not retained through a power-down or reset unless they have
been saved to flash memory first. Option 16 provides supplemental battery-backed RAM for real-time
parameter storage that is ideal for holding machine state parameters in case of an unexpected power-
down.
Option 16 provides a 16k x 24 bank of battery-backed parameter RAM in components U84, U85,
U86, with the battery in BT1.
Hardware Updates
Significant upgrades were made to the PMAC2-Lite board between the original 602406-100 version and
the 602406-101 version. These included replacement of obsolescent circuitry, feature enhancement, and
changes for more cost-effective manufacturing. The upgrades include:
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80 MHz CPU: The new PMAC2-Lite supports the Option 5C 80 MHz CPU for high-end operations.
Supplemental Battery-Backed Parameter Memory: The new PMAC2-Lite supports the Option 16
supplemental battery-backed parameter memory to complement the flash-backed main memory.
Raised Bottom Edge: The bottom edge of the board has been raised so that it can clear high-profile
parts on the PC mother board – up to 25mm (1 inch) high.
Standard RS-422 Serial Port: An RS-422 serial interface, which formerly required the Option 9L
piggyback board, now is standard. Jumpers E17 and E18 must be set properly to select between the
RS-232 port and the RS-422 port.
Improved ADC Protection Circuitry: The protection circuitry for the Option 12 A/D converters no
longer has the potential to distort the input slightly near 5V.
Encoder-Loss Detection Circuitry: Circuitry that detects the loss of differential encoders has been
added.
Improved Position Compare Drive: The socket for U74 has been enlarged to 20 pins to support the
74ACT563 and 573 high-speed CMOS drivers for the JEQU port as well as the slower 18-pin 24V
driver ICs. In addition, a 2A fuse has been added to the +V input on the JEQU port.
Increased Use of Surface Mount Technology: Several components have been changed from
through-hole to surface-mount, for better part availability and lower cost.
Expanded JMACRO Connector: The J4 JMACRO connector has been expanded from 26 pins to 34
pins, separating the input and output lines to reduce crosstalk, and permitting a straight flat-cable
connection to the ACC-24P2 MACRO Driver/Receiver board.
Tristatable Servo Output Signals: Jumpers E111 through E114 permit the user to tristate the servo
command output signals automatically for channels 1 through 4, respectively, when the amplifier-
enable signal for the channel is in the disable state.
In-System-Programmable Logic: Interface logic ICs can now be programmed when installed in the
PMAC2-Lite, permitting elimination of sockets for higher reliability, and easier manufacturing and
upgradability.
Introduction 3
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PMAC2-Lite Hardware Reference Manual
Compatibility Issues
The new PMAC2-Lite can be operated in a manner that is 100% compatible with the old PMAC2-Lite.
The board is shipped from the factory with settings for 100% compatible operation. To ensure an
operation is compatible, double-check the following settings:
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Raised Bottom Edge: The higher bottom edge moves the lower left mounting hole for standoffs up
12.7 mm (0.5 in). If using standoff mounting, and the matching mounting hole cannot be moved,
contact Delta Tau for free offset standoffs.
Serial Port Choice: Because both RS-232 and RS-422 ports are always provided, jumpers must be
set correctly to use the port of choice. Jumpers E17 and E18 must connect pins 1 and 2 to use the RS-
232 port on the J4 connector; to use the RS-422 port on the J4A connector, they must connect pins 2
and 3
Surface Mount DIP Switch: Instead of a single 12-point DIP switch S1, there is an 8-point DIP
switch S1A and a 4-point DIP switch S1B. New S1A switches 1-8 correspond to old S1 switches 1-8,
respectively; new S1B switches 1-4 correspond to old S1 switches 9-12, respectively.
TriState Output Jumpers: Jumpers E111-E114 should be all OFF so that the servo output signals
stay enabled (not tristated) when the amplifier-enable signal for the channel is in the disable state.
Firmware Reload: Putting jumper E3 ON is now for re-initialization to factory default values only.
Firmware reload is set up by jumping pins 2 and 3 of E0.
Position Compare Driver IC: If an 18-pin ULN2803A or UDN2981A driver IC is installed in the
20-pin U74 DIP socket, it should be mounted in the right-most 18 pins.
4 Introduction
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PMAC2-Lite Hardware Reference Manual
PMAC2-LITE E-POINT DESCRIPTIONS
E0: Firmware Reload Enable
E Point &
Physical Layout Location Description Default
E0
(1)
(2)
(3)
Remove jumper for normal operation
Jump pin 1 to 2 to reload firmware
through serial or bus port.
Jump pin 2 to 3 to lock PMAC2 in
reset state (for factory use only).
No jumper
installed
Note: On –100 versions of the PMAC2-Lite, the firmware reload function was accomplished by putting
jumper E3 ON and giving the board a <CTRL-O> command.
E1: Servo and Phase Clock Direction Control
E Point &
Physical Layout Location Description Default
E1
Remove jumper for PMAC2-Lite to
use its internally generated servo and
phase clock signals and to output these
signals on the J5 serial port connector.
Jump pins 1 and 2 for PMAC2-Lite to
expect to receive its servo and phase
clock signals on the J5 serial port
connector.
No jumper
installed
Note: If the E1 jumper is ON and the servo and phase clocks are not brought in on the J5 serial port, the
watchdog timer will trip immediately.
E2: CPU Frequency Select
E Point &
Physical Layout Location Description Default
E2
Remove jumper for 40MHz operation
(E4 OFF also) or for 80MHz operation
(E4 ON).
Jump pin 1 to 2 for 60MHz operation
(E4 OFF).
No jumper
installed (standard
or Opt 5C)
Jumper installed
(Opt 5B)
E3: Normal/Re-initializing Power-Up/Reset
E Point &
Physical Layout Location Description Default
E3
Jump pin 1 to 2 to re-initialize on
power-up/reset, loading factory default
settings.
Remove jumper for normal power-
up/reset, loading user-saved settings.
No jumper
installed
Note: On –100 versions of the PMAC2-Lite board, this jumper was used both for re-initialization and for
firmware reload. With this jumper ON, after power-up/reset, a <CTRL-R> command would load factory
default settings; a <CTRL-O> command would prepare the card for loading of new firmware. Now E0
permits loading of new firmware.
PMAC2-Lite E-Point Descriptions 5
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PMAC2-Lite Hardware Reference Manual
E4: CPU Frequency Select
E Point &
Physical Layout Location Description Default
E4
Remove jumper for 40MHz operation
(E2 OFF also) or for 60MHz operation
(E4 ON).
Jump pin 1 to 2 for 80MHz operation
(E2 OFF).
No jumper
installed (standard
or Opt 5B)
Jumper installed
(Opt 5C)
Note: On –100 versions of the PMAC2-Lite board, the maximum CPU frequency supported was 60 MHz,
so this jumper was to be OFF in all cases.
E5 – E6: (Reserved for Future Use)
E7 – E10: Host Interrupt Signal Select
E Point &
Physical Layout Location Description Default
E7
A9 Jump pin 1 to 2 to allow PMAC-
Interrupt to host-PC on IRQ10. No jumper installed
E8
A9 Jump pin 1 to 2 to allow PMAC-
Interrupt to host-PC on IRQ11. No jumper installed
E9
A9 Jump pin 1 to 2 to allow PMAC-
Interrupt to host-PC on IRQ12. No jumper installed
E10
A9 Jump pin 1 to 2 to allow PMAC
Interrupt to host-PC on IRQ15. No jumper installed
Note: Only one of the jumpers E7 – E10 should be ON at any one time.
6 PMAC2-Lite E-Point Descriptions
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PMAC2-Lite Hardware Reference Manual
E11-12: JEQU Port Configuration
E Point &
Physical Layout Description Default
E11
JEQU port configuration:
Jump pins 1 to 2 for sinking driver
(ULN2803a) on port (default
configuration)
Jump pins 2 to 3 for sourcing driver (UDN
2981a) on port (alternate configuration)
1 - 2 JUMPERED
E12
JEQU port configuration:
Jump pins 1 to 2 for sinking driver (ULN
2803a) on JEQU port (default
configuration) jump pins 2 to 3 for
sourcing driver (UDN2981a) on JEQU
port (alternate configuration)
1 - 2 JUMPERED
E13: Encoder Sample Clock Direction Control
E Point &
Physical Layout Location Description Default
E13
(1)
(2)
(3)
Remove jumper to output SCLK
generated in servo ASIC on SCLK_12
and SCLK_34, or to control direction
by software.
Jump pins 1 to 2 to input SCLK signal
for servo ASIC on SCLK_34 and
output this signal on SCLK_12.
Jump pins 2 to 3 to input SCLK signal
for servo ASIC on SCLK_12 and
output this signal on SCLK_34.
No jumper
installed
E14: Watchdog Disable Jumper
E Point &
Physical Layout Location Description Default
E14
Jump pin 1 to 2 to disable Watchdog
timer (for test purposes only).
Remove jumper to enable Watchdog
timer.
No jumper
installed
PMAC2-Lite E-Point Descriptions 7
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PMAC2-Lite Hardware Reference Manual
E17 – E18: Serial Port Select
E Point &
Physical Layout Location Description Default
E17
Jump E17 pin 1 to 2 to select RS-232
serial data input from J5.
Jump E17 pin 2 to 3 to select RS-422
serial data input from J5A
Pins 1 – 2
jumpered
E18
Jump E18 pin 1 to 2 to select RS-232
serial handshake input from J5.
Jump E17 pin 2 to 3 to select RS-422
serial handshake input from J5A
Pins 1 – 2
jumpered
E20: Battery-Backed RAM Enable
E Point &
Physical Layout Location Description Default
E20
Jump pins 1 to 2 if Option 16 battery-
backed RAM is present in U84, U85 &
U86.
Jump pins 2 to 3 if Option 16 battery-
backed RAM is not present in U84,
U85, & U86.
2-3 jumper
installed (no Opt
16)
1-2 jumper
installed (Opt 16)
Note: If no Battery Backed memory option ordered, this jumper does not exist.
8 PMAC2-Lite E-Point Descriptions
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PMAC2-Lite Hardware Reference Manual
E111-114: Command Output Disable State
E Point &
Physical Layout Location Description Default
E111
Jump pin 1 to 2 for digital servo
command output signals of Channel 1
to tri-state when amplifier-enable
signal for Channel 1 is in disable state.
Remove jumper for digital servo
command output signals of Channel 1
to remain active (but typically with
zero command value) when amplifier-
enable signal for Channel 1 is in
disable state.
No jumper
installed
E112
Jump pin 1 to 2 for digital servo
command output signals of Channel 2
to tri-state when amplifier-enable
signal for Channel 2 is in disable state.
Remove jumper for digital servo
command output signals of Channel 2
to remain active (but typically with
zero command value) when amplifier-
enable signal for Channel 2 is in
disable state.
No jumper
installed
E113
Jump pin 1 to 2 for digital servo
command output signals of Channel 3
to tri-state when amplifier-enable
signal for Channel 3 is in disable state.
Remove jumper for digital servo
command output signals of Channel 3
to remain active (but typically with
zero command value) when amplifier-
enable signal for Channel 3 is in
disable state.
No jumper
installed
E114
Jump pin 1 to 2 for digital servo
command output signals of Channel 4
to tri-state when amplifier-enable
signal for Channel 4 is in disable state.
Remove jumper for digital servo
command output signals of Channel 4
to remain active (but typically with
zero command value) when amplifier-
enable signal for Channel 4 is in
disable state.
No jumper
installed
PMAC2-Lite E-Point Descriptions 9
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PMAC2-Lite Hardware Reference Manual
DIP Switch Block S1: ISA-BUS Address Select
S1B
S1A
4 3 2 1 8 7 6 5 4 3 2 1
OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
⇑⇑⇑⇑⇑⇑⇑⇑⇑⇑⇑⇑
⇓⇓⇓⇓⇓⇓⇓⇓⇓⇓⇓⇓
ON ON ON ON ON ON ON ON ON ON ON ON
The 12 DIP switches on block S1 set the base address of the PMAC2 on the PC bus. Together they form
a binary number. Each switch, if in the ON (closed) position, sets its bit to 0; if in the OFF (open)
position, sets its bit to 1. The possible base addresses are all multiples of 16, so switch 1 sets a bit value
of 16, switch 2 sets a bit value of 32, and so on.
Switch # Bit Value Default Default
Value Your Value
1 (S1A-1) 16 (10h) ON (x1) 16 (10h)
2 (S1A-2) 32 (20h) OFF (x0) 0
3 (S1A-3) 64 (40h) OFF (x0) 0
4 (S1A-4) 128 (80h) OFF (x0) 0
5 (S1A-5) 256 (100h) OFF (x0) 0
6 (S1A-6) 512 (200h) ON (x1) 512 (200h)
7 (S1A-7) 1024 (400h) OFF (x0) 0
8 (S1A-8) 2048 (800h) OFF (x0) 0
9 (S1B-1) 4096 (1000h) OFF (x0) 0
10 (S1B-2) 8192 (2000h) OFF (x0) 0
11 (S1B-3) 16384 (4000h) OFF (x0) 0
12 (S1B-4) 32768 (8000h) OFF (x0) 0
Total -- -- 528 (210h)
To set the board to a different bus address, specify that address in hexadecimal form, because each hex
digit corresponds to four switches. The last hex digit of the base address is always zero.
For example, to set the base address on the PC bus to 992 decimal, or 03E0 hex. The first '0' corresponds
to switches 9 through 12. All of these should be ON to set their bits to zero. The '3' corresponds to
switches 5 through 8. Switches 8 and 7 should be ON, and switches 6 and 5 should be OFF to define the
'3'. The 'E' corresponds to switches 1 through 4. Switches 4, 3, and 2 should be OFF, and switch 1 should
be ON to define the 'E'.
Switch # 12 11 10 9 8 7 6 5 4 3 2 1 - - - -
Hex 0 3 E 0
Binary 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0
Setting on on on on on on off off off off off on - - - -
10 PMAC2-Lite E-Point Descriptions
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PMAC2-Lite Hardware Reference Manual
HOST PC-AT I/O ADDRESS MAP
Hex Range Dec Range Usage
000-01F 0-31 DMA Controller 1 8237A-5
020-03F 32-63 Interrupt Controller 1 8259A
040-05F 64-67 Timer 8254-2
060-06F 96-111 8042 (Keyboard)
070-07F 112-127 Real-time clock, NMI mask
080-09F 128-159 DMA Page Registers
0A0-0BF 160-191 Interrupt Controller 2 8259A
0C0-0DF 192-223 DMA Controller 2 8237A-5
0F0-0FF 240-255 Math CO processor
1F0-1F8 496-504 Fixed Disk
200-20F 512-527 Game Control
210-217 528-535 Expansion Unit (usually open)
278-27F 632-639 Parallel Printer: LPT2
2B0-2DF 688-735 Alternate EGA
2F8-2FF 760-767 Asynchronous Common: COM2
300-31F 768-799 Prototype Card (usually open)
360-36F 864-879 PC Network
378-37F 888-895 Parallel Printer: LPT1
380-38F 896-911 SDLC Communications 2
390-393 912-915 Cluster
3A0-3A9 928-937 SDLC Communications 1
3B0-3BF 944-959 IBM Monochrome Display/Printer
3C0-3CF 960-975 Enhanced Graphics Adapter
3D0-3DF 976-991 Color/Graphics
3F0-3F7 1000-1015 Diskette Controller
3F8-3FF 1016-1023 Asynchronous Common.: COM1
x2E1 GPIB Adapter
x390-x393 Cluster Adapter
The above chart helps prevent possible contention with existing I/O. If a contention occurs, try a
new unused address.
Contention is exhibited by:
•
•
•
Total Malfunction
Partial Function, Input O.K., Output bad or vice versa
Intermittent operation
Host PC-AT I/O Address Map 11
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PMAC2-Lite Hardware Reference Manual
12 Host PC-AT I/O Address Map
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PMAC2-Lite Hardware Reference Manual
PMAC2-LITE MATING CONNECTORS
J1 (JANA)/Analog (Option 12)
1. Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 - T&B Ansley P/N 609-
1441
2. 171-14 T&B Ansley standard flat cable stranded 14-wire
3. Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1
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. Two 40-pin female flat cable connector Delta Tau P/N 014-R00F40-0K0 – T&B Ansley P/N 609-
4041
2. 171-40 T&B Ansley standard flat cable stranded 40-wire
3. Phoenix varioface module type FLKM 40 (male pins)
J4 (JMACRO)/MACRO Digital Data
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
J5 (JRS232)/RS-232 Serial Communications
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. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8
J5A (JRS422)/RS-422 Serial Communications
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
J6 (JDISP)/Display
1. Two 14-pin female flat cable connector Delta Tau P/N 014-R00F14-0K0 – T&B Ansley P/N 609-
1441
2. 171-14 T&B Ansley standard flat cable stranded 14-wire
3. Phoenix varioface modules type FLKM14 (male pins) P/N 22 81 02 1
PMAC2-Lite Mating Connectors 13
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PMAC2-Lite Hardware Reference Manual
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. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8
J9 (JMACH1)/Machine Port 1
1. Two 100-pin high-density box header with center key, 0.050” pitch – AMP P/N 1-04068-7, Delta
Tau P/N 014-00010-FPB
2. High-density flat cable stranded 100-wire
J10 (JMACH2)/Machine Port 2
1. Two 100-pin high-density box header with center key, 0.050” pitch – AMP P/N 1-04068-7, Delta
Tau P/N 014-00010-FPB
2. High-density flat cable stranded 100-wire
J11 (JEXP)/Expansion
1. Two 50-pin female flat cable connector Delta Tau P/N 014-R00F50-0K0 – T&B Ansley P/N 609-
5041
2. 171-50 T&B Ansley standard flat cable stranded 50-wire
3. Phoenix varioface module type FLKM 50 (male pins) P/N 22 81 08 9
14 PMAC2-Lite Mating Connectors
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PMAC2-Lite Hardware Reference Manual
PMAC2-LITE CONNECTOR PINOUTS
J1 (JANA) Analog Input Port Connector
J1 JANA (20-Pin Connector)
(Present only if Option 12 ordered)
____ ____
19 | oooooooooo | 1
20 | oooooooooo | 2
Pin # Symbol Function Description Notes
1 ANAI00 Input Analog Input 0 0-5V or +/-2.5V range
2 ANAI01 Input Analog Input 1 0-5V or +/-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 +/-2.5V range
7 ANAI06 Input Analog Input 6 0-5V or +/-2.5V range
8 ANAI07 Input Analog Input 7 0-5V or +/-2.5V range
9 ANAI08 Input Analog Input 8 0-5V or +/-2.5V range
10 ANAI09 Input Analog Input 9 0-5V or +/-2.5V range
11 ANAI10 Input Analog Input 10 0-5V or +/-2.5V range
12 ANAI11 Input Analog Input 11 0-5V or +/-2.5V range
13 ANAI12 Input Analog Input 12 0-5V or +/-2.5V range
14 ANAI13 Input Analog Input 13 0-5V or +/-2.5V range
15 ANAI14 Input Analog Input 14 0-5V or +/-2.5V range
16 ANAI15 Input Analog Input 15 0-5V or +/-2.5V range
17 GND Common PMAC common Not isolated from digital
18 +12V Output Positive supply voltage To power external circuitry
19 GND Common PMAC common Not isolated from digital
20 -12V Output Negative supply voltage To power external circuitry
The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2.
PMAC2-Lite Connector Pinouts 15
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