Delta Tau PMAC Pack Quick user guide

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^1 HARDWARE REFERENCE MANUAL
^2 PMAC Pack
^3 Box PMAC-Lite PC
^4 3xx-602476-xHxx
^5 June 2003
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com

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.

PMAC-Pack
Table of Contents i
Table of Contents
OVERVIEW ................................................................................................................................................................1
Introduction ...............................................................................................................................................................1
Using This Manual....................................................................................................................................................1
Organization.........................................................................................................................................................1
Conventions Used in This Manual........................................................................................................................2
Related Technical Documentation ............................................................................................................................2
Safety Summary ........................................................................................................................................................2
Keep Away From Live Circuits.............................................................................................................................2
Live Circuit Contact Procedures..........................................................................................................................2
Electrostatic Sensitive Devices.............................................................................................................................3
Technical Support .....................................................................................................................................................3
By Telephone ........................................................................................................................................................3
By FAX and E-Mail ..............................................................................................................................................3
Bulletin Board Service (BBS) and Web Site..........................................................................................................3
PMAC-Pack Basic Specifications .............................................................................................................................4
Physical Specifications.........................................................................................................................................4
Electrical Specifications.......................................................................................................................................4
Memory Specifications..........................................................................................................................................6
CPU Specifications...............................................................................................................................................6
Performance Specifications..................................................................................................................................7
I/O Specifications..................................................................................................................................................8
Software Specifications.......................................................................................................................................11
Standard PMAC-Pack .............................................................................................................................................12
External Connections..........................................................................................................................................12
Switches and Indicators......................................................................................................................................13
Enhancements.....................................................................................................................................................14
ACC-24EXP Expansion Pack .................................................................................................................................15
GETTING STARTED...............................................................................................................................................17
Quick-Start Guide (Non-Commutated Motors).......................................................................................................17
Inspection............................................................................................................................................................17
Jumper Setup ......................................................................................................................................................17
Mounting.............................................................................................................................................................17
Power Connection ..............................................................................................................................................18
Installing the PMAC Executive Program............................................................................................................19
Communication SwitchBank Setup.........................................................................................................................19
S1 - S4 Software Address Control.......................................................................................................................19
S5-S8: Communications Control.............................................................................................................................20
Serial Port Connection .......................................................................................................................................21
Establishing Communications ............................................................................................................................21
Terminal Mode Communications........................................................................................................................21
Incremental Encoder Connection ............................................................................................................................22
Amplifier Connection (Brush DC Motor or Motor Commutated by the Amplifier) ...............................................23
Single-Ended Command Signal ..........................................................................................................................23
Differential Command Signal.............................................................................................................................23
Amplifier Enable Signal (AENA/).......................................................................................................................23
Amplifier Fault Signal (FAULT/)........................................................................................................................24
Flag Connection .................................................................................................................................................24
Limit Signals (NEGLIM And POSLIM)..............................................................................................................24
Home Flag Signal (Home)..................................................................................................................................25
Software Setup of the Controller.............................................................................................................................25
Encoder Variable Setup......................................................................................................................................26
Motor Variable Setup .........................................................................................................................................27
Establishing Servo Loop Variables.....................................................................................................................27

PMAC-Pack
ii Table of Contents
Verifying Position Feedback...............................................................................................................................28
Changing Position Direction..............................................................................................................................28
Testing the Command Output and Polarity ........................................................................................................28
Setting Up the Servo Loop ......................................................................................................................................29
Closing the Loop.................................................................................................................................................29
Servo Loop Tuning..................................................................................................................................................29
Jogging the Motor ...................................................................................................................................................30
Optimizing Jog Performance...................................................................................................................................30
Setting Velocity Feedforward Gain ....................................................................................................................30
Setting the Integral Gain.....................................................................................................................................30
Power-Up Mode..................................................................................................................................................30
Setting up a Homing Search Move..........................................................................................................................31
Connecting Machine I/O .........................................................................................................................................31
General Purpose Digital Outputs.......................................................................................................................31
Input Source/Sink Control ..................................................................................................................................33
Setting-up PMAC to Read the I/O.......................................................................................................................34
Coordinate Systems and Programming..............................................................................................................35
COMPLYING WITH EUROPEAN COMMUNITY (CE)....................................................................................37
EMC REQUIREMENTS..........................................................................................................................................37
CE Compliance .......................................................................................................................................................37
CE Testing and Certification...................................................................................................................................37
Cable Fabrication ....................................................................................................................................................37
Connectors..........................................................................................................................................................37
Cables.................................................................................................................................................................38
PMAC-PACK CUSTOM CONFIGURATION ......................................................................................................41
PMAC-Pack Disassembly .......................................................................................................................................41
PMAC-Pack Jumper Setup......................................................................................................................................41
PMAC-Pack Backplane E-Point Jumper Descriptions.......................................................................................43
PMAC- Lite E-Point Jumper Descriptions .........................................................................................................46
PMAC-Pack Re-assembly.......................................................................................................................................60
TROUBLESHOOTING............................................................................................................................................61
PMAC-PACK MATING CONNECTORS AND PINOUTS..................................................................................65
PMAC-Pack Mating Connectors.............................................................................................................................65
Connector Name, Type, Function, and Part Numbers........................................................................................65
PMAC-Pack Mating Connector Pinouts .................................................................................................................67
CIRCUIT DIAGRAMS.............................................................................................................................................79
ACC24E ACC24EXP EXPANSION XP PACK .....................................................................................................91
Expansion Pack Installation ....................................................................................................................................91
PMAC-Pack Disassembly...................................................................................................................................91
PMAC-Pack/Expansion Pack Connection..........................................................................................................93
PMAC-Pack/Expansion Pack Re-assembly........................................................................................................94
PMAC-Pack/Expansion Pack Software Setup ....................................................................................................94
PMAC-PACK OPTIONS AND ACCESSORIES...................................................................................................99
PMAC-Pack Internal Options & Accessories .........................................................................................................99
ACC8D-Option 2PP: Stepper Drive Interface....................................................................................................99
ACC8D-Option 4PP: Hydraulic Valve Driver ...................................................................................................99
ACC8D-Option 4APP: PWM Amplifier..............................................................................................................99
Option 9LPP: Optional RS422 Interface............................................................................................................99
Accessory 24PP: PMAC-Pack Expansion Pack.................................................................................................99
Accessory 28APP: A/D Conversion Board.........................................................................................................99
Accessory 39PP: Handwheel Encoder Interface Board...................................................................................100
PMAC-Pack Compatible External Accessories ....................................................................................................100

PMAC-Pack
Table of Contents iii
Accessory 3: Serial Communications Cable.....................................................................................................100
Accessory 4: Additional Instruction Manual ....................................................................................................100
Accessory 6: Handwheel Encoder....................................................................................................................100
Accessory 8: Terminal Block............................................................................................................................100
Accessory 9: IBM PC Executive Software Disks ..............................................................................................101
Accessory 12: Liquid Crystal/Vacuum Fluorescent Display ............................................................................101
Accessory-14: I/O Expansion Board ................................................................................................................101
Accessory 16D: Control Panel and Display Box..............................................................................................102
Accessory 18: Thumbwheel Multiplexer Board................................................................................................102
Accessory 20: Hand-Held Terminal .................................................................................................................102
Accessory 22: Extended Warranty....................................................................................................................102
Accessory 25: Servo Evaluation Package.........................................................................................................102
Accessory 26: Serial Communications Converter ............................................................................................102
Accessory 27: Optically Isolated I/O Board.....................................................................................................103
Accessory 29: Magnetostrictive Linear Displacement Transducer Interface Board........................................103
Accessory 31: PMAC Demonstration Box Unit................................................................................................103
Accessory 32: PMAC Software Upgrade/Update Kit.......................................................................................104
Accessory 34: Multiplexed I/O Expansion Board.............................................................................................104
Accessory 35: Multiplexer Port Extender Modules..........................................................................................104
Accessory 36: A/D Conversion Board..............................................................................................................105
Accessory 40: On-Site Field Service or Training.............................................................................................105
Future Accessories............................................................................................................................................105
APPENDIX A - ELECTROSTATIC DISCHARGE CONTROL.......................................................................107
General ..................................................................................................................................................................107
Guidelines .............................................................................................................................................................107
Materials Receiving and Parts Storage..................................................................................................................108
Maintenance Of ESDS Components .....................................................................................................................108
Cleaning............................................................................................................................................................108
Removal, Repair, and Installation .........................................................................................................................108

PMAC-Pack
iv Table of Contents
Figures
Figure 1-1. PMAC-Pack Dimension .....................................................................................................................1-6
Figure 2-1. PMAC-Pack Mounting.......................................................................................................................2-2
Figure 2-2. Encoder Connection Port Pinouts.......................................................................................................2-6
Figure 2-3. PMAC-Pack/Amplifier Pinouts..........................................................................................................2-7
Figure 2-4. Flag Input In A Sinking Configuration................................................................................................2-8
Figure 2-5. Flag Input in Sourcing Configuration..................................................................................................2-8
Figure 2-6. Flag Connection Pinouts.....................................................................................................................2-9
Figure 2-6. General Purpose Output Connected In The Default Sinking Configuration ....................................2-17
Figure 2-7. General Purpose Output Connected In The Optional Sourcing Configuration.................................2-18
Figure 2-8. Connection of Input in Sinking Configuration .................................................................................2-18
Figure 2-9. Connection of Input in Sourcing Configuration ...............................................................................2-19
Figure 3-1. Grounding Procedures for Phoenix Plug-In Connectors ....................................................................3-2
Figure 3-2. Typical Cable/Connector Installation.................................................................................................3-3
Figure 4-1. PMAC-Pack Disassembly ..................................................................................................................4-2
Figure 4-2. PMAC-Pack Backplane E-Point Locations........................................................................................4-4
Figure 4-3. PMAC-Lite E-Point Locations ............................................................................................................4-5
Figure 4-4. PMAC-Pack Assembly.....................................................................................................................4-20
Figure 7-1. PMAC-Pack System Connections (Basic Non-Commutated System) ...............................................7-1
Figure 7-2. Basic PMAC-Pack Wiring Diagram...................................................................................................7-2
Figure 7-3. PMAC-Pack with Accessory 8D Option 2 Wiring Diagram..............................................................7-3
Figure 7-4. PMAC-Pack with Accessory 8D Option 4A Wiring Diagram...........................................................7-4
Figure 7-5. PMAC-Pack with Option 9L Wiring Diagram...................................................................................7-5
Figure 7-6. PMAC-Pack with Accessory 28A Wiring Diagram...........................................................................7-6
Figure 7-7. PMAC-Pack with Accessory 39 Wiring Diagram..............................................................................7-7
Figure 7-8. PMAC-Pack Schematic Diagram (Sheet 1 of 2) ..............................................................................7-10
Figure 7-8. PMAC-Pack Schematic Diagram (Sheet 2 of 2) ..............................................................................7-11
Figure 7-9. ACC24EXP Expansion Pack Schematic Diagram ...........................................................................7-13
Figure 8-1. Expansion Pack Installation ...............................................................................................................8-2
Figure 8-2. PMAC-Pack/Expansion Pack Internal Connections...........................................................................8-3
Figure 8-3. PMAC-Pack Assembly.......................................................................................................................8-5

PMAC-Pack
Table of Contents v
Tables
Table 1-1. PMAC-Pack Internal Options And Accessories ................................................................................1-15
Table 1-2. PMAC-Pack Connector Functions.....................................................................................................1-16
Table 1-3. Expansion Pack Options And Accessories ........................................................................................1-18
Table 2-1. Software Address Control Switch Settings..........................................................................................2-3
Table 2-2. Communications Control Switch Settings ...........................................................................................2-4
Table 2-3. M-Variable Setup..............................................................................................................................2-20
Table 4-1. Backplane E-Point Jumper Settings......................................................................................................4-3
Table 4-2. E0: Unused .........................................................................................................................................4-6
Table 4-3. E1 - E2: Configure Machine Output Supply Voltage ..........................................................................4-6
Table 4-4. E3 - E6: Servo Clock Frequency Control ............................................................................................4-7
Table 4-5. E7: Machine Input Source/Sink Control.............................................................................................4-8
Table 4-6. E9, E10, E13, E14: Serial Interface Handshake Control ....................................................................4-8
Table 4-7. E17A - E17D: Amplifier-Enable/Direction Polarity Control ..............................................................4-9
Table 4-8. E22 - E23: Control Panel Handwheel Enable.....................................................................................4-9
Table 4-9. E24 - E27: Encoder Single-Ended/Differential Control ...................................................................4-10
Table 4-10. E28: Warning Following Error/Watchdog Timer Signal Control....................................................4-10
Table 4-11. E29 - E33: Phase Clock Frequency Control ...................................................................................4-11
Table 4-12. E34 - E38: Encoder Sampling Clock Frequency Control ...............................................................4-11
Table 4-13. E39: Reset-From-Bus Enable ..........................................................................................................4-12
Table 4-14. E40 - E43: Software Address Control .............................................................................................4-12
Table 4-15. E44 - E47: Communications Control...............................................................................................4-13
Table 4-16. E48: Cpu Clock Frequency Control...................................................................................................4-14
Table 4-17. E49: Serial Communications Parity Control....................................................................................4-14
Table 4-18. E50: EAROM Save Enable/Disable ................................................................................................4-14
Table 4-19. E51: Normal/Re-Initializing Power-Up...........................................................................................4-15
Table 4-20. E72 - E73: Panel Analog Time Base Signal Enable ........................................................................4-15
Table 4-21. E74 - E75: Clock Output Control For Ext. Interpolation.................................................................4-16
Table 4-22. E85: Host-Supplied Analog Power Source Enable..........................................................................4-16
Table 4-23. E87 - E88: Host-Supplied Analog Power Source Enable ................................................................4-17
Table 4-24. E89: Amplifier-Supplied Switch Pull-Up Enable ............................................................................4-17
Table 4-25. E90: Host-Supplied Switch Pull-Up Enable ....................................................................................4-18
Table 4-26. E98: DAC/ADC Clock Frequency Control .....................................................................................4-18
Table 4-27. E101 - E102: Amplifier Enable Output Configure ...........................................................................4-19
Table 4-28. E103 - E104: CPU Jumpers ..............................................................................................................4-19
Table 5-1. PMAC-Pack Troubleshooting Procedures...........................................................................................5-1

PMAC-Pack
vi Table of Contents
Table 6-1. Screw Terminal Blocks - Mating Connectors.......................................................................................6-1
Table 6-2. PMAC-Pack Connectors - Mating Connectors...................................................................................6-2
Table 6-3. Encoder Terminal Block.......................................................................................................................6-4
Table 6-4. Servo Terminal Block..........................................................................................................................6-4
Table 6-5. Flags Terminal Block ...........................................................................................................................6-5
Table 6-6. JOPT Output Terminal Block ...............................................................................................................6-5
Table 6-7. JOPT Input Terminal Block..................................................................................................................6-6
Table 6-8. FLT Relay Terminal Block...................................................................................................................6-7
Table 6-9. TBAMP Terminal Block ......................................................................................................................6-7
Table 6-10. JDISP 14-Pin Connector.....................................................................................................................6-8
Table 6-10. JDISP 14-Pin Connector.....................................................................................................................6-9
Table 6-11. JPAN 26-Pin Connector .....................................................................................................................6-9
Table 6-11. JPAN 26-Pin Connector ...................................................................................................................6-10
Table 6-12. JTHW 26-Pin Connector ..................................................................................................................6-10
Table 6-13. JRS232 DB9 Connector....................................................................................................................6-12
Table 6-14. JRS422 DB25 Connector..................................................................................................................6-12
Table 6-15. JANA DB15 Connector ....................................................................................................................6-14
Table 6-16. J8 JHW 9-Pin Header .......................................................................................................................6-15
Table 6-17. J8 JEQU 10-Pin Header....................................................................................................................6-15

PMAC-Pack
Table of Contents vii

PMAC-Pack
Overview 1
OVERVIEW
Introduction
The PMAC-Pack is a boxed version of the PMAC-Lite PC-based motion control card. It is designed for
stand-alone operation and easy interconnection. All PMAC-Packs contain 5 volt and 12 volt power
supplies, a PMAC-Lite 1.5 motion control card, and a backplane board which facilitates connection
between the PMAC-Lite card and the industrialized connectors on the PMAC-Pack front panel.
Using This Manual
The PMAC-Pack Hardware Reference Manual is intended as an aid to interconnection and setup of the
PMAC-Pack hardware. A Start-up section is included to quickly guide the user through the point of
jogging non-commutated axes. The PMAC User's Manual and Software Reference, 3A0-602204-363
provides further instructions for establishing communication with PMAC, setup of software parameters,
and programming of the control. Additionally, the PMAC User's Manual further discusses PMAC motion
control features and how they may be implemented.
Organization
Chapter 1 - Overview: Introduction to the PMAC-Pack features, the layout of the manual, and
equipment requirements.
Chapter 2 - Getting Started: This chapter serves as a quick-start guide to installing the PMAC-Pack and
guiding the user through jogging and homing motors, toggling outputs and reading inputs.
Chapter 3 - Complying with European Community (CE) EMC Conventions: This chapter contains
all data required to comply with Council Directive 89/336/EEC relating to Electromagnetic
Compatibility.
Chapter 4 - PMAC-Pack Custom Configuration: This chapter describes how to disassemble the
PMAC-Pack, set the E-Point jumpers on the PMAC-Pack backplane and PMAC-Lite card, and
reassemble the PMAC-Pack. This Chapter also describes how to prevent electrostatic discharge (ESD)
damage to the PMAC-Lite circuit card assembly.
Chapter 5 - Troubleshooting: This chapter provides procedures used to identify and resolve problems
associated with the installation and operation of the PMAC-Pack.
Chapter 6 - PMAC-Pack Mating Connectors and Mating Connector Pinouts: This chapter provides a
list of the mating connectors for PMAC-Pack ports, their function, the Delta Tau part numbers, and the
true manufacturer’s part number to facilitate customer ordering. It also includes tables describing each
PMAC-Pack connector pin by number, symbol, function, and description.
Chapter 7 - Circuit Diagrams: This chapter contains all of the PMAC-Pack schematics and block
diagrams.
Chapter 8 - ACC24EXP Expansion Pack: This chapter provides detailed instructions for installation of
the PMAC-Pack expansion unit.
Chapter 9 - PMAC-Pack Options and Accessories: This chapter describes the internal and external
options and accessories currently available for the PMAC-Pack and a brief description of their purpose
and function.
Appendix A – Electrostatic Discharge Control: This Appendix describes control measures to be taken
to protect against electrostatic discharge (ESD) damage.

PMAC-Pack
2 Overview
Conventions Used in This Manual
The following conventions are used throughout the manual:
<ENTER>
<CTRL+4>
Italic text inside arrows denotes keyboard keys or
key combinations.
WARNING: Information, which if not observed, may cause serious
injury or death.
Caution: Information, which if not observed, may cause damage
to equipment or software.
Note: A note concerning special functions or information of
special interest.
Electrostatic Sensitive Device. Use ESD control
measures when handling, packing, and shipping
(reference Appendix A).
Indicates procedures or information that must be
complied with to comply with European Community
Interference Causing Equipment regulations.
Related Technical Documentation
The following technical manuals are required to successfully install and operate the Delta Tau PMAC-
Pack. These manuals should be included in the technical documentation package you received with the
PMAC-Pack, or with your software package(s). If any of these manuals are missing, please contact Delta
Tau for a replacement before attempting installation.
Manual Number Manual Title
3A0-602204-xUxx PMAC User's Manual
3A0-602204-xSxx PMAC/PMAC2 Software Reference
3A0-602274-xHxx PMAC-Lite Hardware Reference Manual
3A0-0PEWIN-xUxx PMAC Executive for Windows User’s Manual (PEWIN)
Safety Summary
The following are general safety precautions not related to any specific procedures and therefore may not
appear elsewhere in this publication. These are recommended precautions that personnel must understand,
apply, and adhere to during the phases of installation, operation, and maintenance.
Keep Away From Live Circuits
Do not replace components or make adjustments inside the equipment with power applied. Under certain
conditions, dangerous potentials may exist when power has been turned off due to charges retained by
capacitors. To avoid casualties, always remove power and discharge and ground a circuit before touching
it.
Live Circuit Contact Procedures
Never attempt to remove a person from a live circuit with your bare hands. To do so is to risk sure and
sudden death. If a person is connected to a live circuit, the following steps should be taken:
1. Call for help immediately
2. De-energize the circuit, if possible.
3. Use a wooden hot stick to pull the person free of the circuit.
4. Apply cardiopulmonary resuscitation (CPR) if the person has stopped breathing or is in cardiac arrest.
5. Obtain immediate medical assistance.

PMAC-Pack
Overview 3
Electrostatic Sensitive Devices
Various circuit card assemblies and electronic components may be classified as Electrostatic Discharge
(ESD) sensitive devices. Equipment manufacturers recommend handling all such components in
accordance with the procedures described in Appendix A. Failure To Do So May Void Your Warranty.
Technical Support
Delta Tau is happy to respond to any questions or concerns you have regarding PMAC-Pack. You can
contact the Delta Tau Technical Support Staff by the following methods:
By Telephone
For immediate service, you can contact the Delta Tau Technical Support Staff by telephone Monday
through Friday. Our support line hours and telephone numbers are listed below.
By FAX and E-Mail
You can FAX or E-Mail your request or problem to us overnight and we will attempt to reply the
following business day. Our FAX numbers and E-Mail addresses are listed below. Please supply all
pertinent equipment set-up information.
Bulletin Board Service (BBS) and Web Site
You can also leave messages on one of our Bulletin Board Services (BBSs). The BBSs are provided for
our Customers, Distributors, Representatives, Integrators, et al. We invite you to use this service. You can
download & upload files and read posted bulletins and Delta Tau newsletters. Messages may be left for
anyone who is a member/user of the Bulletin Board System(s). All you need is a modem and Procomm-
Plus or similar communications program. Many Download-Upload Protocols such as Z-Modem are
supported.
Our BBS is also linked to the Delta Tau Internet site. It is possible to download BBS files via FTP and
your Internet connection, saving log-distance phone charges. For additional information, visit our web site
at www.deltatau.com.
World Headquarters Eastern U.S. Office European Office
Delta Tau Data Systems, Inc.
9036 Winnetka Avenue
Northridge CA, 91324
Delta Tau Data Systems, Inc.
10754 Decoursey Pike
Ryland Heights, KY 41015
Delta Tau Data Systems
International
Industrieweg 175, Suite 7
3044 AS Rotterdam, Netherlands
Support Hot Line
Monday through Friday
8:30am to 4:30pm PST
Support Hot Line
Monday through Friday
8:30am to 4:30pm EST
Support Hot Line
Monday through Friday
8:00am to 4:00pm GMT
Voice: [phone]
FAX: [phone]
BBS: [phone]
E-Mail: [email protected]
Voice: [phone]
FAX: [phone]
BBS: [phone]
E-Mail: [email protected]
Voice: 31-10-462-7405
FAX: [phone]
BBS: TBD
E-Mail: [e-mail]
BBS Settings: Baud Rates: 1200 to 19.2
8 - data bits, 1 - stop bit, No Parity

PMAC-Pack
4 Overview
PMAC-Pack Basic Specifications
Physical Specifications
(See Figure 1-1)
Size:
• 40.6cm x 10.8cm x 23cm (16" x 4.25" x 9") PMAC-Pack
• 40.6cm x 21.8cm x 23cm (16” x 9.6” x 9”) w/ Expansion Pack
Weight:
• 5.0 kg (11 lb) PMAC-Pack (standard)
• 6.1 kg (13.4 lb) PMAC-Pack (w/all available Opt. & Acc.)
• 4.2 kg (9.25 lb) PMAC-Pack Expansion Box (standard)
Temperature:
• Operating: 0oC to 60oC (32oF to 140oF)
• Storage: -12oC to 82oC (10oF to 180oF)
Humidity:
• 10% to 95%, non-condensing
Electrical Specifications
Internal Power Requirements:
(Eight-channel configuration, with a typical load of encoders)
• 1.5A @ +5V ()5%) (7.5W)
• 0.3A @ +12 to +15V (4.5W)
• 0.25A @ -12 to -15V (3.8W)

PMAC-Pack
Overview 5
Figure 1-1. PMAC-Pack Dimension

PMAC-Pack
6 Overview
Internal Power Supply:
• Mfg./Model - Lambda LVT-3H-322 (or equivalent)
• Input Voltage - 85 to 265 VAC
• Output (w/o options) - 5A @ + 5V (±5%)
• @ +12V (±5%)
• @ -12V (±5%)
• Output (with options) - 8A @ + 5V (±5%)
• @ +12V (±5%)
• @ -12V (±5%)
• Regulation - ±2%
• Ripple & Noise - < 150mV
• EMI - FCC Class “A” compliant
• Safety - UL/CSA/TUV approved
Battery:
(Units manufactured prior to 1995 only)
• 3.6V, 20mHz, 1000mAh, Lithium cell, 1.00” can
• Life Expectancy - 5 years (recommended replacement every 24 months)
Memory Specifications
ROM:
• 128 Kbytes Flash firmware for master control program
RAM:
• 384 Kbytes at 0 wait state static (128K 24-bit words) for active memory, battery-backed
• User Program Storage - 42K words ('X1000 Y1000' is two words) = 256KBytes.
EAROM:
• 2KBytes EEPROM non-volatile memory for setup parameter storage
• 384 Kbytes flash backup for non-volatile user parameters, programs, definitions, and tables.
CPU Specifications
Type and Clock Speed:
• Standard - 20 MHz Motorola DSP56002
• Optional - 40 MHz Motorola DSP56002 (Opt5A)
• Optional - 60 MHz Motorola DSP56002 (Opt5B)
Architecture:
• Harvard Architecture
• Dual (X and Y) internal 24-bit data buses
• Single external 24-bit data bus
• Separate 24-bit internal program bus
• 56-bit data accumulator

PMAC-Pack
Overview 7
Performance Specifications
SERVO Cycle Time:
(Settable with hardware jumpers)
• Standard CPU - Minimum of 55 microseconds per axis controlled (110 usec for two axes; 440 usec
for eight axes)
• Optional CPUs
• Option 5A (40mHz): Minimum of 28 microseconds per axis controlled
• Option 5B (60mHz): Minimum of 18 microseconds per axis controlled
SERVO Algorithm:
• PID with velocity and acceleration feedforward and notch filter (5 to 500 Hz).
• All gains with 24-bit resolution.
• Dual encoder (motor and load) possible.
• Optional ability to accept custom designed and installed servo algorithms for special applications.
• Advanced seventh order pole-placement algorithm, 35 terms with autotuning capability (Option 6
required).
Phasing Update Time:
(Settable with hardware jumpers)
• Minimum of 27 microseconds (1 axis)
• Minimum of 110 microseconds (8 axes)
Phasing Algorithm:
• Suitable for permanent magnet brushless motors, AC induction motors, switched reluctance servo
motors, microstepped stepping motors.
• 2, 3, or 4-phase motors, Y-wound, delta-wound, or electrically independent phases.
Block Execution Rate:
• 100-500 blocks (moves) per second with full trajectory calculation, depending upon particular
program conditions.
• Approximately 250-1200 blocks (moves) per second possible at 40 MHz.
• Higher rates possible with careful optimization, dependent on number of axes, servo cycle time, CPU
speed, and program complexity.
Velocity Range:
• Range from 0.0001 to 20,000,000 counts/sec
• Range from 0.0001 to 30,000,000 counts/sec (w/OPT 5A or 5B)
• Digital phase-locked loop, crystal-controlled
Velocity Accuracy:
• Long-term absolute accuracy
• Standard Crystal: 0.005%
• High accuracy Crystal: 0.001% (Option 8)
• Short-term absolute accuracy - System-dependent; typically 0.2% to 1.0%
Position Range:
• 2 billion counts minimum (32 bits) with automatic rollover

PMAC-Pack
8 Overview
Position Accuracy:
• 1 count. Sub-count interpolation possible with automatic 1/T decoding of incremental encoder signal,
or with parallel input lines from A/D converter processing analog signal from which quadrature is
derived.
Position Capture Accuracy:
• 1 count at any speed
Position Compare Accuracy:
(signal output on reaching preset position)
• 1 count at any speed
• Up to 500 Hz repetition rate
Synchronization:
• Axes in the same coordinate system on one PMAC are perfectly synchronized (to the servo cycle).
• Axes in different coordinate systems on one PMAC can be synchronized to within )2 msec.
• Coordinate systems on separate PMACs sharing same SYNC signal can be synchronized to )1 servo
cycle.
I/O Specifications
Position Feedback:
Quadrature Encoders —
• 4 (standard) to 8 (depending on options) digital quadrature incremental encoders.
• 5V TTL or CMOS levels, single-ended or differential.
• Sockets provided for termination resistor packs.
Input rate —
• DC to 20mHz (count rate). X1, X2, X4 decoding, or pulse and direction.
• Digital delay filter for removing noise spikes. 3rd channel input available for position capture.
• Unused counters available as timers.
Absolute Encoders —
• Thru accessory of 14D I/O Expansion card (or other binary parallel word position data source)
• Can be up to 12 absolute parallel encoders of 24 bits or less or up to 6 straight binary, 5 volt, single-
ended absolute parallel encoders of over 24 bits (limit of 6 ACC-14D cards of 48 bits each).
Resolvers —
• Thru Accessory-8D Option 7 Resolver-to-Digital Converter card (2 or 4 resolvers per accessory
card). 12-bit resolution; absolute position data read on power-up or reset. Thereafter, simulated
quadrature signal is read through incremental encoder input.
Analog Outputs
• 4 (standard) to 16 (depending on options) outputs of )10V; 16-bit resolution.
• Standard use is for 1 servo output per axis if PMAC is not commutating axis and 2 servo outputs per
axis if PMAC is commutating axis.
• Uncommitted analog outputs may be used for other purposes.

PMAC-Pack
Overview 9
On-Board Analog Input (JPAN)
• 1 input, 0 to +10V, converted to frequency at 25 kHz/V (On PMACLite)10V, converted to sign and
frequency).
• Can be jumpered to Encoder 4 counter "time-base" conversion of counter yields 24-bit register value
proportional to voltage.
• Effective A/D resolution of 10 bits.
Optional Analog Inputs (Accessory 28PP)
• 4 inputs of )10V; 16-bit resolution, single-ended or differential inputs.
• Conversion time under 50 usec, all inputs (through Accessory 28 Analog- to-Digital Converter
Board).
Axis Dedicated Digital Inputs
• 4 dedicated digital inputs accompanying each quadrature encoder.
• Optically isolated from PMAC digital circuits.
• Operate from +15V voltage source.
• Inputs for each encoder are +LIMIT, -LIMIT, HOME, FAULT.
• Uncommitted sets of inputs may be used as general-purpose optically isolated digital inputs.
Axis Dedicated Digital Outputs
• 1 dedicated digital output accompanying each quadrature encoder.
• Optically isolated from PMAC digital circuits
• Operates from +15V voltage source.
• Sinking (open collector) output as shipped, socketed IC replaceable with sourcing driver
• Serves as amplifier-enable signal or direction bit.
• Polarity is settable by hardware jumper (E17).
• Uncommitted lines may be used as general-purpose optically isolated digital outputs.
General-Purpose Digital Inputs (Jopto)
• 8 general-purpose opto-isolated digital inputs, 0-24V levels.
• Sink or source (normally high or normally low) configuration determined by interconnection.
• Connector configured for easy hook-up to OPTO-22. Rated to 100 mA.
General-Purpose Digital Outputs (Jopto)
• 8 general-purpose opto-isolated digital outputs.
• +5V to +24V high level (if greater than +5V, work from external voltage).
• Sinking (standard) or sourcing (no-cost option) configurations possible.
• Rated to 100 mA. Connector configured for easy hook-up to OPTO- 22.
Serial Communications:
RS-232 Serial Data Port Single-Ended )6-10V Levels -
• Configurable for 300 to 115.2 Kbaud 8 bits, 1 start bit, 1 stop bit, no parity.
• Uses RXD1, TXD1, CTS, RTS, and GND.
• Shorts DSR to DTR.
• Up to 16 cards may be daisy-chained on a single communications line with software addressing.
Optional RS-422 Serial Data Port (PMAC-Pack w/ Opt-9LPP) -
• Differential 0-5V TTL levels. PMAC receivers accept standard RS-232 signals.
• Uses RD+, RD-, SD+, SD-, CS+, CS-, RS+, RS-, and GND lines.