Delta Tau 3-4112 Series Quick user guide

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use
21314 Lassen St. Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com
^1 HARDWARE REFERENCE MANUAL
^2POWER PMAC UMAC ARM CPU
^3Power PMAC UMAC ARM CPU
^4 3-4112-xxx-xxx-xx-0xx
^5June 22, 2018
DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION
…
DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION

Copyright Information
© 2018 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: suppor[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 directly exposed to hazardous or conductive
materials and/or environments, we cannot guarantee their operation.

Safety Instructions
Qualified personnel must transport, assemble, install, and maintain this equipment. Properly
qualified personnel are persons who are familiar with the transport, assembly, installation, and
operation of equipment. The qualified personnel must know and observe the following standards
and regulations:
IEC364resp.CENELEC HD 384 or DIN VDE 0100
IEC report 664 or DIN VDE 0110
National regulations for safety and accident prevention or VBG 4
Incorrect handling of products can result in injury and damage to persons and machinery. Strictly
adhere to the installation instructions. Electrical safety is provided through a low-resistance earth
connection. It is vital to ensure that all system components are connected to earth ground.
This product contains components that are sensitive to static electricity and can be damaged by
incorrect handling. Avoid contact with high insulating materials (artificial fabrics, plastic film,
etc.). Place the product on a conductive surface. Discharge any possible static electricity build-
up by touching an unpainted, metal, grounded surface before touching the equipment.
Keep all covers and cabinet doors shut during operation. Be aware that during operation, the
product has electrically charged components and hot surfaces. Control and power cables can
carry a high voltage, even when the motor is not rotating. Never disconnect or connect the
product while the power source is energized to avoid electric arcing.
A Warning identifies hazards that could result in personal injury or
death. It precedes the discussion of interest.
Warning
Caution
A Caution identifies hazards that could result in equipment damage. It
precedes the discussion of interest.
Note
A Note identifies information critical to the understanding or use of
the equipment. It follows the discussion of interest.

REVISION HISTORY
REV.
DESCRIPTION
DATE
CHG
APPVD
1
Released
11/16/16
Sgm
Sgm
1
Revision
6/22/18
HB
Sgm

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DELTA TAU POWER PMAC REFERENCE JUNE-2018
POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 6
Table of Contents
Introduction..................................................................................................................................... 7
Configuration................................................................................................................................... 8
Optional Features ........................................................................................................................ 8
Hardware Setup............................................................................................................................. 10
E-Point Jumpers (Switch).......................................................................................................... 10
Connectors and Switches and Indicators....................................................................................... 11
Board Front/Back Side.............................................................................................................. 11
Backplane (UBUS) Connection ................................................................................................ 11
Ethernet Connections ................................................................................................................ 11
USB Connections...................................................................................................................... 12
Watchdog Timer Connection (TB2).......................................................................................... 18
Optional PCI Express Connection............................................................................................. 18
LED Indicators.......................................................................................................................... 18
Connector Pinouts ..................................................................................................................... 19

DELTA TAU POWER PMAC REFERENCE JUNE-2018
POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 7
Introduction
The Power PMAC UMAC ARM CPU board (part number 604112-10x) provides a powerful
computing engine for UMAC (Universal Motion and Automation Controller) rack-mounted
systems. This 3U-format Eurocard (100 mm x 160 mm) can communicate with multiple
accessory boards over the UBUS backplane. These accessory boards provide interfaces to the
various machine elements for both motion and non-motion I/O, digital and analog.
The Power PMAC UMAC ARM CPU board can communicate with all accessory boards that the
older Turbo PMAC2 UMAC CPU board (603766-10x) could use. In addition, it can
communicate with a new generation of “PMAC3” UMAC accessory boards for motion, MACRO
ring, and I/O that employ a new generation ASIC and a 32-bit data bus on the backplane.
The Power PMAC UMAC ARM CPU board acts as both a dedicated controller and a general-
purpose embedded computer. It uses the Linux operating system with a hard-real-time kernel that
guarantees determinacy of tasks such as servo loop closure.

DELTA TAU POWER PMAC REFERENCE JUNE-2018
POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 8
Configuration
The base version of the Power PMAC UMAC ARM CPU board provides a 1-slot 3U-format
(100mm x 160mm) Eurocard board with the following features:
1.0 GHz 32-bit Dual Core ARM CPU with built-in hardware floating-point math
capabilities
1 GByte DDR3L active memory with error correction
1 GByte built-in NAND flash memory for user application storage
1000-Base-T (1 Gbit/sec) Ethernet communications port
USB 3.0 Host port
RS-232 communications port
32-bit UBUS backplane port to UMAC accessory boards
Optional Features
The following features are optionally present on the Power PMAC UMAC ARM CPU board:
2 GByte DDR3L active memory
4G Byte built-in NAND flash memory for user application storage
PCI Express expansion port
Optional EtherCAT capability

DELTA TAU POWER PMAC REFERENCE JUNE-2018
POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 9
PART NUMBER ORDERING INFORMATION
3 - 4 1 1 2 - A U - 0 - B 00
Power UMAC 2 CORE ARM CPU
A - Dual-Core 1GHz ARM CPU
Main Board CPU and Memory Options
A
C
** This Option May require additional plates
*** For EtherCAT option requires selection from
A - 1 GB RAM & 1 GB Flash
E - 2 GB RAM & 4 GB Flash
DA B
B
K L
00 - No Additional* Options
xx - Factory assigned digits
for Additional* Options
K L
Factory Assigned Options
D
2 - 2 RJ45 Ethernet Ports OR
(1 EtherNet & 1 EtherCAT Port***)
4 –PCIe** & 2 RJ45 Ethernet Ports OR
(1 EtherNet & 1 EtherCAT Port***)
E
PCIe, EtherNet And/Or
EtherCAT Options
0 - No EtherCAT
1 - EtherCAT I/O Only
2 - EtherCAT 4 Servo Axes and I/O
3 - EtherCAT 8 Servo Axes and I/O
5 - EtherCAT 16 Servo Axes and I/O
9 - EtherCAT 32 Servo Axes and I/O
For more then 32 Servo Axes call factory
EtherCAT Options
Requires EtherCAT Port Option From
E
U –UMAC Option with (30U-604147-10X)
C
Format Option
E
G
B0 –1 SLOT Black Front, Top and Bottom plates
G
Plate Option
F
E
E
H
H

DELTA TAU POWER PMAC REFERENCE JUNE-2018
POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 10
Hardware Setup
There is virtually no hardware setup required before installation of the Power PMAC UMAC
ARM CPU board in the system.
E-Point Jumpers (Switch)
The E-point jumpers on the board have been replaced with a 4 pole switch. This is intended for
factory use only. Their functionality is listed here primarily for reference.
S1-1: For factory use only. Must remain off (open)
S1-2: Should remain off (open) for normal operation. On (closed) disables the watchdog timer
circuit.
S1-3: Enables PCIe connector when on (closed). To disable PCIe connector leave off (open)
S1-4: For factory use only. Must remain off (open)