Delta Tau PMAC 1.5 Lite Quick user guide

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^1HARDWARE REFERENCE MANUAL
^2 PMAC 1.5 Lite
^3 Programmable Multi-Axis Controller
^4 3Ax-602402-xHxx
^5 July 10, 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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PMAC-Lite Hardware Reference
Table of Contents i
Table of Contents
INTRODUCTION.....................................................................................................................................................1
Overview.....................................................................................................................................................................1
Board Configuration....................................................................................................................................................1
Base Version............................................................................................................................................................1
Option 2: Dual Ported RAM ...................................................................................................................................2
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: RS-422 Interface (now standard)............................................................................................................2
Option 10: Firmware Version Specification...........................................................................................................2
Option 14: Replacement of flag Opto-Isolators with Socketed Shunts ...................................................................3
Option 15: V-to-F Converter for Analog Input.......................................................................................................3
Option 16: Battery-Backed Parameter Memory.....................................................................................................3
Hardware Updates.......................................................................................................................................................3
Compatibility Issues....................................................................................................................................................4
Basic Specifications.....................................................................................................................................................5
Physical Specifications............................................................................................................................................5
Electrical Specifications..........................................................................................................................................5
LAYOUT DIAGRAM...............................................................................................................................................7
E-POINT DESCRIPTIONS......................................................................................................................................9
E1 - E2: Machine Output Supply Voltage Configure..................................................................................................9
E3 - E6: Servo Clock Frequency Control.................................................................................................................10
E7: Machine Input Source/Sink Control ..................................................................................................................11
E9, E10, E13, E14: Serial Interface Direction Control.............................................................................................11
E17A-D: Amplifier Enable/Direction Polarity Control.............................................................................................12
E22 - E23: Control Panel Handwheel Enable ..........................................................................................................12
E24 - E27: Encoder Single-Ended/Differential Control...........................................................................................13
E28: Following Error/Watchdog Timer Signal Control...........................................................................................13
E29 - E33: Phase Clock Frequency Control.............................................................................................................14
E34 - E38: Encoder Sampling Clock Frequency Control.........................................................................................14
E39: Reset-From-Bus Enable...................................................................................................................................14
E40 - E43: Servo and Phase Clock Direction Control..............................................................................................14
E44 - E47: Serial Baud Rate Control........................................................................................................................16
E48: CPU Clock Frequency Control........................................................................................................................17
E49: Serial Communications Parity Control ............................................................................................................17
E50: Non-Volatile Memory Save Control................................................................................................................17
E51: Normal/Re-initializing Power-Up....................................................................................................................17
E54 - E65: Host Interrupt Signal Select ...................................................................................................................18
E66 - E71: Bus Base Hardware Address (Low Bits)................................................................................................19
E72 - E73: Panel Analog Time Base Signal Enable.................................................................................................19
E74 - E75: Clock Output Control for Ext. Interpolation..........................................................................................19
E76 - E84: Host Interrupt Signal Select ...................................................................................................................20
E85: Host-Supplied Analog Power Source Enable ..................................................................................................21
E86: Host Interrupt Signal Select.............................................................................................................................21
E87 - E88: Host-Supplied Analog Power Source Enable.........................................................................................21
E89: Amplifier-Supplied Switch Pull-Up Enable.....................................................................................................22
E90: Host-Supplied Switch Pull-Up Enable.............................................................................................................22
E91 - E92: Bus Base Address Select (High Bits).....................................................................................................22
E93 - E94: Reset from Bus by Software Enable........................................................................................................23
E98: DAC/ADC Clock Frequency Control..............................................................................................................23
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PMAC-Lite Hardware Reference
ii Table of Contents
E100: Output Flag Supply Select ..............................................................................................................................23
E101 – E102: Output Flag Supply Voltage Configure..............................................................................................24
E103: Watchdog Disable Jumper..............................................................................................................................24
E106: Firmware Reload Enable.................................................................................................................................25
E110: Expansion Port Configuration.........................................................................................................................25
HOST PC-AT I/O ADDRESS MAP ......................................................................................................................27
BUS ADDRESS JUMPER SETUP........................................................................................................................29
From Jumper Configuration To Address..............................................................................................................29
From Address to Jumper Configuration ...............................................................................................................29
MATING CONNECTORS.....................................................................................................................................31
J1 (JDISP)/Display Port .......................................................................................................................................31
J2 (JPAN)/Control Panel Port..............................................................................................................................31
J3 (JTHW)/Multiplexer Port .................................................................................................................................31
J4 (JRS232)/RS232 Serial Communications.........................................................................................................31
J4A (JRS422)/RS422 Serial Communications.......................................................................................................31
J5 (JOPT)/General-Purpose I/O...........................................................................................................................31
J6 (JXIO)/Auxiliary Port.......................................................................................................................................31
J7 (JS1)/A-D Inputs...............................................................................................................................................31
J8 (JEQU)/Position Compare...............................................................................................................................31
J9 (JEXP)/Expansion Port....................................................................................................................................32
J11 (JMACH1)/First Machine Connector.............................................................................................................32
P1 (PC Bus)...........................................................................................................................................................32
P2 (AT Bus)...........................................................................................................................................................32
CONNECTOR PINOUTS ......................................................................................................................................33
J1 (JDISP): Display Port Connector..........................................................................................................................33
J1 JDISP (14-Pin Connector)...............................................................................................................................33
J2 (JPAN): Control Panel Port Connector.................................................................................................................34
J2 JPAN (26-Pin Connector) ................................................................................................................................34
J3 (JTHW): Multiplexer Port Connector...................................................................................................................35
J3 JTHW (26-Pin Connector) ...............................................................................................................................35
J4 (JRS232) Serial Port Connector............................................................................................................................36
J4 JRS232 (10-Pin Connector) .............................................................................................................................36
J4A (JRS422): Serial Port Connector........................................................................................................................37
J4A JRS422 (26-Pin Connector)...........................................................................................................................37
J5 (JOPTO): I/O Port Connector...............................................................................................................................38
J5 JOPTO (34-Pin Connector) .............................................................................................................................38
J6 (JXIO): Auxiliary I/O Port Connector..................................................................................................................39
J6 JXIO (10-Pin Connector).................................................................................................................................39
J7 (JS1): A/D Port Connector....................................................................................................................................39
J7 JS1 (16-Pin Header).........................................................................................................................................39
J8 (JEQU): Position-Compare Connector .................................................................................................................40
J8 JEQU (10-Pin Connector)................................................................................................................................40
J11 (JMACH1): Machine Port Connector................................................................................................................41
J11 JMACH1 (60-Pin Header) ............................................................................................................................41
TB1 (JPWR): Power Supply .....................................................................................................................................43
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PMAC-Lite Hardware Reference
Introduction 1
INTRODUCTION
Overview
The PMAC-Lite is a member of the PMAC(1) family of boards optimized for interface to traditional
servo drives with single analog inputs representing velocity or torque commands. Its software is capable
of eight axes of control. It has four channels of on-board axis interface circuitry. It can also support up to
8 channels of off-board axis interface circuitry through its expansion port, connected to an ACC-24P
board.
The PMAC-Lite is a full-sized ISA-bus expansion board. While the PMAC-Lite is capable of ISA bus
communications, with or without the optional dual-ported RAM, it does not need to be inserted into an
ISA expansion slot. Communications can be done through an RS-232 or RS-422 serial port; standalone
operation is possible.
The new “Universal” PMAC-Lite board replaces the previous PMAC-Lite board with battery-backed
RAM and the PMAC1.5-Lite board with flash-backed RAM. The Universal PMAC-Lite can be built to
use either type of memory.
Board Configuration
Base Version
The base version of the PMAC-Lite provides a 1-slot board with:
• 20 MHz DSP56002
• 128k x 24 SRAM active memory
• Battery-backup circuitry for SRAM (PMAC-Lite)
• 128k x 8 EPROM for firmware (PMAC-Lite)
• 512k x 8 flash memory for SRAM backup & firmware (PMAC1.5-Lite)
• Latest released firmware version
• RS-232/422 serial interface, ISA (PC) bus interface
• Four channels axis interface circuitry, each including:
• 16-bit +/-10V analog output
• 3-channel differential/single-ended encoder input
• Four input flags, two output flags
• Interface to external 16-bit serial ADC
• Display, control panel, muxed I/O, direct I/O interface ports
• PID/notch/feedforward servo algorithms
The unit has a 1-year limited warranty from date of shipment, and includes one manual per set of one to
four PMACs in shipment.
Cables, mounting plates, and mating connectors are not included.
If the PMAC(1)-Lite version (battery-backed memory) of the board is ordered, the standard configuration
will have SRAM ICs in U6, U9, and U15, filling the full footprint, and a battery in BT1. There will be no
SRAM ICs in U7, U10, and U16. There will be an EPROM IC in the U5 socket.
If the PMAC1.5-Lite version (flash-backed memory) of the board is ordered, the standard configuration
will have SRAM ICs in U7, U10, and U16. There will be a flash-memory IC in the U5 socket. There
will be no SRAM ICs in U6, U9, and U15, and no battery in BT1, unless Option 16 is ordered.
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PMAC-Lite Hardware Reference
2 Introduction
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 about 100 data items per
second are to be passed between the controller and the host computer in either direction.
Option 2 provides an on-board 8k x 16 bank of dual-ported RAM. The key component on the board is
U46. (Note that for previous versions of the PMAC-Lite, this was a separate board.)
Option 5: CPU & Memory Configurations
The standard PMAC-Lite has a 20-MHz CPU. Options 5A, 5B and 5C are available for applications
requiring more computing power. These options provide faster CPU ICs in U13 and faster SRAM ICs in
U7, U10, and U16. They are only available with flash-memory backup of the SRAM.
• Option 5A provides a 40 MHz CPU with zero-wait-state SRAM active memory and flash backup.
• Option 5B provides a 60 MHz CPU with zero-wait-state SRAM active memory and flash backup.
• Option 5C provides an 80 MHz CPU with zero-wait-state SRAM active memory and flash backup.
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 PMAC-Lite that replaces the standard PID servo algorithm with the
Extended Servo Algorithm. This option provides different firmware in the U5 flash-memory/EPROM IC.
If loaded at the factory, this IC will have a “1” suffix on the labeled and reported version number (e.g.
V1.16D1).
Option 7: Plate Mounting
If the PMAC-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 PMAC-Lite with standoffs. It is used to install the
PMAC-Lite in standalone applications.
Option 8: High-Accuracy Clock Crystal
The PMAC-Lite has a clock crystal (component Y1) of nominal frequency 19.6608 MHz (~20 MHz).
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 19.6608 MHz crystal with a +/-15 ppm accuracy specification.
Option 9: RS-422 Interface (now standard)
The RS-422 interface now comes standard with the PMAC-Lite in addition to the RS-232 interface.
There is no need to order Option 9L as before.
Option 10: Firmware Version Specification
Normally the PMAC-Lite is provided with the newest released firmware version. A label on the U5
flash-memory/EPROM IC shows the firmware version loaded at the factory.
Option 10 provides for a user-specified firmware version.
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PMAC-Lite Hardware Reference
Introduction 3
Option 14: Replacement of flag Opto-Isolators with Socketed Shunts
Normally, the flag inputs on all servo channels have opto-isolator circuits that require 12 to 24V inputs to
turn on. When the ACC-8D Option 8 Analog Encoder Interpolator is used on a pair of channels, it uses
the flag inputs on the second (even-numbered) channel to provide “sub-count” information at 5V levels
referenced to digital ground.
Option 14 replaces the opto-isolators on the even-numbered channels of PMAC-Lite with socketed
shunts that permit the input of 5V non-isolated signals from the ACC-8D Option 8 board.
Option 15: V-to-F Converter for Analog Input
The JPAN control panel port on the PMAC-Lite has an optional analog input called WIPER (because it is
often tied to a potentiometer’s wiper pin). PMAC-Lite can digitize this signal by passing it through an
optional voltage-to-frequency converter, using E-point jumpers to feed this into the Encoder 4 circuitry
(no other use is then permitted), and executing frequency calculations using the “time base” feature of the
encoder conversion table.
Option 15 provides a voltage-to-frequency converter that permits the use of the WIPER input on the
control panel port.
Option 16: Battery-Backed Parameter Memory
The contents of the main flash-backed memory (components U7, U10, and U16) of the PMAC1.5-Lite 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. It can only be used when the main
memory is flash-backed.
Option 16 provides a 16k x 24 bank of battery-backed parameter RAM in components U6, U9, U15
(smaller than the full footprint), with the battery in BT1.
Hardware Updates
Significant upgrades were made to the PMAC-Lite board in the 602402-102 version. This new version
replaces earlier versions of the 602402 board (PMAC1.5-Lite – flash-backed memory), and the 602399
board (PMAC(1)-Lite – battery-backed memory). The ability to configure 602402-102 (and newer) in
either battery-backed or flash-backed memory configurations leads to it being called the “Universal”
PMAC-Lite.
Improvements on the Universal PMAC-Lite include:
• Universality. Formerly different board designs were used for battery-backed (602399-10x) and
flash-backed (PMAC1.5-Lite: 602402-101) versions of the PMAC-Lite. Now both configurations
can be built on the same board, for cost savings that are passed on to you.
• 80-MHz CPU. The new PMAC-Lite supports the Option 5C 80 MHz CPU for high-end operations.
• Supplemental Battery-Backed Parameter Memory. The new PMAC-Lite supports the Option 16
supplemental battery-backed parameter memory when the main memory is flash-backed.
• On-board Dual-Ported RAM. The new PMAC-Lite has optional on-board dual-ported RAM,
whereas the old PMAC-Lite required a separate board. On-board DPRAM saves an expansion slot
and is less expensive.
• Raised Bottom Edge. The bottom edge of the board has been raised so that it can clear high-profile
parts on the PC motherboard – 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 E107 and E108 select between the RS-232 port and the
RS-422 port.
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PMAC-Lite Hardware Reference
4 Introduction
• 24V Amplifier-Enable Capability. New Jumper E100 permits use of up to 24V supply for the
amplifier-enable signal, compared to a maximum of 15V on the older version.
• Sinking or Sourcing Input Flags. The new ACC-24P permits the use of either sinking or sourcing
input flags (home, limits, fault); the old ACC-24P permitted only sinking input flags.
• Voltage Interlock Circuit. The new ACC-24P has an interlock circuit that shuts down the analog
outputs if it detects anything wrong with the power supply, preventing runaway on partial supply
loss.
• Surface-Mount Technology. Most components are surface mounted for higher reliability and
greater long-term part availability.
• In-System-Programmable Logic. Interface logic ICs now can be programmed when installed in the
PMAC-Lite, permitting elimination of sockets for higher reliability, and easier manufacturing and
upgradability.
Compatibility Issues
The new PMAC-Lite can be operated in a manner that is 100% compatible with the old PMAC-Lite. The
board is shipped from the factory with settings for 100% compatible operation. To ensure your operation
is compatible, double-check the following settings:
• Raised Bottom Edge. The higher bottom edge moves the lower left mounting hole for standoffs up
12.7 mm (0.5 in). If you are using standoff mounting, and cannot move the matching mounting hole,
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 your choice. Jumpers E107 and E108 must connect pins 1 and 2 to use
the RS-232 port on the J4 connector; they must connect pins 2 and 3 to use the RS-422 port on the
J4A connector.
• On-Board Dual-Ported RAM. If you wish to use dual-ported RAM with your new PMAC-Lite, you
must order Option 2 at the time you order the board. The new PMAC-Lite is not compatible with the
off-board DPRAM, and the on-board DPRAM option cannot be installed in the field.
• 24V Amplifier Enable Capability. In order for the amplifier enable outputs to use the +12V to
+15V analog supply voltage for a high-side clamping supply, jumper E100 must connect pins 1 and
2.
• Sinking/Sourcing Input Flags. To use sinking input flags, connect the flags as you have done
before.
• Firmware Reload. Putting jumper E51 ON is now for re-initialization to factory default values only.
Firmware reload is set up by jumping pins 2 and 3 of E106.
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PMAC-Lite Hardware Reference
Introduction 5
Basic Specifications
Physical Specifications
Size: 33.5cm x 9.9cm x 3.8cm (13.2" x 3.9" x 1.4")
Weight: ¾ lb.
Temperature
Operating: 0°C to 60°C (32°)F to 140°F)
Storage: 12°C to 82°C (10°F to 180°F)
Humidity: 10% to 95%, noncondensing
Electrical Specifications
Power: 1.5A @ +5V (±5%) (7.5W)
0.3A @ +12 to +15V (4.5W)
0.25A @ -12 to –15V (3.8W)
Battery 3.0V Lithium Cell, 1200 mAh, 2/3 A-size, no tabs, or 3.6V Lithium Cell, 1000
mAh, 1.00" can
Expected battery life: 10 years (standard), 6-9 months (Opt. 5).
Recommended replacement: 24 months (standard, (3-6 months (Opt. 5)
Pertains to 8-channel configuration, with a
typical load of encoders
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PMAC-Lite Hardware Reference
6 Introduction
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PMAC-Lite Hardware Reference
Layout Diagram 7
LAYOUT DIAGRAM
E55
E57
E54
E39
E58
E59
E61
E62
E63
E65
E94
E93
E107
E108
E9
E10
E13
E14
E17A
E17D
E17C
E17B
AB C D E F
1
2
3
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PMAC-Lite Hardware Reference
8 Layout Diagram
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PMAC-Lite Hardware Reference
E-Point Descriptions 9
E-POINT DESCRIPTIONS
E1 - E2: Machine Output Supply Voltage Configure
E Point & Physical
Layout Location Description Default
E1
E1 CAUTION
The jumper setting must match the
type of driver IC, or damage to the IC
will result.
Jump pin 1 to 2 to apply +V (+5V to
24V) to pin 11 of “U26” (should be
ULN2803A for sink output
configuration) JOPTO “Machine”
outputs M01-M08
Jump pin 2 to 3 to apply GND to pin
11 of U26 (should be UDN2981A for
source output configuration)
1-2 Jumper
installed
E2
D1 CAUTION
The jumper setting must match the
type of driver IC, or damage to the IC
will result.
Jump pin 1 to 2 to apply GND to pin
10 of “U26” (should be ULN2803A
for sink output configuration).
Jump pin 2 to 3 to apply +V (+5V to
24V) to pin 10 of “U26” (should be
UDN2981A for source output
configuration).
1-2 Jumper
installed
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PMAC-Lite Hardware Reference
10 E-Point Descriptions
E3 - E6: Servo Clock Frequency Control
The servo clock (which determines how often the servo loop is closed) is derived from the phase clock
(see E98, E29 - E33) through a “divide-by-N” counter. Jumpers E3 through E6 control this dividing
function.
E3 E4 E5 E6 Servo Clock = Phase
Clock Divided by N
Default & Physical Layout
E3 E4 E5 E6
LOC.: E3 E3 E3 E3
ON ON ON ON N = Divided by 1
OFF ON ON ON N = Divided by 2
ON OFF ON ON N = Divided by 3
OFF OFF ON ON N = Divided by 4 Only E5 and E6 ON
ON OFF ON ON N = Divided by 5
OFF ON OFF ON N = Divided by 6
ON OFF OFF ON N = Divided by 7
OFF OFF OFF ON N = Divided by 8
ON ON ON OFF N = Divided by 9
OFF ON ON OFF N = Divided by 10
ON OFF ON OFF N = Divided by 11
OFF OFF ON OFF N = Divided by 12
ON ON OFF OFF N = Divided by 13
OFF ON OFF OFF N = Divided by 14
ON OFF OFF OFF N = Divided by 15
OFF OFF OFF OFF N = Divided by 16
Adjust the setting of I-variable I10 to match the servo interrupt cycle time set by E98, E29 -- E33, and E3
-- E6. I10 holds the length of a servo interrupt cycle, scaled so that 8,388,608 equals one millisecond.
Since I10 has a maximum value of 8,388,607, the servo interrupt cycle time should always be less than a
millisecond (unless you want to make your basic unit of time on PMAC something other than a
millisecond). If you wish a servo sample time greater than one millisecond, the sampling may be slowed
in software with variable Ixx60.
Frequency can be checked on J4 pins 21 & 22. It can also be checked from software by typing RX:0 in
the PMAC terminal at 10-second intervals and dividing the difference of successive responses by 10000.
The resulting number is the approximate Servo Clock frequency kHz.
If E40-E43 are not all ON, the phase clock is received from an external source through the J4 serial-port
connector, and the settings of E3 – E6 are not relevant.
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PMAC-Lite Hardware Reference
E-Point Descriptions 11
E7: Machine Input Source/Sink Control
E Point & Physical
Layout Location Description Default
E7
D1 Jump pin 1 to 2 to apply +5V to input
reference resistor sip pack; this will
bias MI1 to MI8 inputs to +5V for
“OFF” state; input must then be
grounded for “ON” state.
Jump pin 2 to 3 to apply GND to input
reference resistor sip pack; this will
bias MI1 to MI8 inputs to GND for
“OFF” state; input must then be pulled
up for “ON” state (+5V to +24V).
1-2 Jumper
installed
E9, E10, E13, E14: Serial Interface Direction Control
The E9, E10, E13, and E14 jumpers control whether the RS-232 serial port will be in DCE or DTE
format. The default configuration permits straight-across connection to a PC DB-9 serial port.
E Point & Physical
Layout Location Description Default
E9 E10
E1 Jump E9-1 to E9-2 to allow RXD/ to
be input on J4-3. Jump E10-1 to E10-
2 to allow TXD/ to be output on J4-5.
Jump E9-1 to E10-1 to allow TXD/ to
be output on J4-3. Jump E9-2 to E10-
2 to allow RXD/ to be input on J4-5.
1-2 Jumpers
installed
E13 E14
E1 Jump E13-1 to E13-2 to allow RTS to
be input on J4-7. Jump E14-1 to E14-
2 to allow CTS to be output on J4-9.
Jump E13-1 to E14-1 to allow CTS to
be output on J4-7. Jump E13-2 to
E14-2 to allow ‘RTS’ to be input on
J4-9.
1-2 Jumpers
installed
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PMAC-Lite Hardware Reference
12 E-Point Descriptions
E17A-D: Amplifier Enable/Direction Polarity Control
E Point & Physical
Layout Location Description Default
E17A
F1 Jump 1-2 for high-true AENA1
Remove jumper for low-true AENA1 No jumper installed
E17B
F1 Jump 1-2 for high-true AENA2
Remove jumper for low-true AENA2 No jumper installed
E17C
F1 Jump 1-2 for high-true AENA3
Remove jumper for low-true AENA3 No jumper installed
E17D
F1 Jump 1-2 for high-true AENA4
Remove jumper for low-true AENA4 No jumper installed
Note: Low-true enable is the fail-safe option with the default sinking ULN2803A output driver IC.
High-true enable is the fail-safe option with the alternate sourcing UN2981A.
E22 - E23: Control Panel Handwheel Enable
E-Point & Physical
Layout Location Description Default
E22
F2 Jump pin 1 to 2 to obtain handwheel
encoder signal from front panel at J2-
16 for CHB2 (ENC2-B).
No jumper
E23
F2 Jump pin 1 to 2 to obtain handwheel
encoder signal from front panel at J2-
22 for CHA2 (ENC2-A).
No jumper
Note: With these jumpers ON, no encoder should be wired into ENC2 on JMACH1. Jumper E26 must
connect pins 1-2, because these are single-ended inputs. This function is unrelated to the encoder brought
in through ACC-39 on J2.
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PMAC-Lite Hardware Reference
E-Point Descriptions 13
E24 - E27: Encoder Single-Ended/Differential Control
E-Point & Physical
Layout Location Description Default
E24
F2 ENC 4 through 1:
Jump pin 1 to 2 to tie complementary
encoder inputs to 2.5V
1-2 Jumper
installed for
E24 - E27
E25
F2 Jump pin 2 to 3 to tie complementary
encoder inputs to 5V
For no encoder connection: Jump pin
1 to 2
E24: ENC 4
E25: ENC 3
E26: ENC 2
E27: ENC 1
E26
F2 For single-ended encoders: Jump pin
1 to 2.
For differential line-driver encoders:
Don’t care
E27
F2 For complementary open-collector
encoders: Jump pin 2 to 3
E28: Following Error/Watchdog Timer Signal Control
E-Point & Physical
Layout Location Description Default
E28
D2 Jump pin 1 to 2 to allow warning
following error (Ix12) for the selected
coordinate system to control FEFCO/
on J8-57
Jump pin 2 to 3 to cause Watchdog
timer output to control FEFCO/.
Low TRUE output in either case
2-3 Jumper
installed
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PMAC-Lite Hardware Reference
14 E-Point Descriptions
E29 - E33: Phase Clock Frequency Control
Jumpers E29 through E33 control the speed of the phase clock, and, indirectly, the servo clock, which is
divided down from the phase clock (see E3 - E6). No more than 1 of these 5 jumpers may be on at a time.
PHASE Clock Frequency
E29 E30 E31 E32 E33 E98 Connects
Pins 1 and 2 E98 Connects Pins 2 And 3
Default &
Physical Layout LOC
ON OFF OFF OFF OFF 2.26 kHz 1.13 kHz E29 E2
OFF ON OFF OFF OFF 4.52 kHz 2.26 kHz E30 E2
OFF OFF ON OFF OFF 9.04 kHz 4.52 kHz E31 E2
OFF OFF OFF ON OFF 18.07 kHz 9.04 kHz E32 D2
OFF OFF OFF OFF ON 36.14 kHz 18.07 kHz E33 D2
Note: If E40-E43 are not all ON, the phase clock is received from an external source through the J4
serial-port connector, and the settings of E29 – E33 are not relevant.
E34 - E38: Encoder Sampling Clock Frequency Control
Jumpers E34 - E38 control the encoder sampling clock (SCLK) used by the gate array ICs. No more than
1 of these 6 jumpers may be on at a time.
SCLKClock
Frequency
Default & Physical Layout
E34A E34 E35 E36 E37 E38 E34A E34 E35 E36 E37 E38
Location; all at D/E3
ON OFF OFF OFF OFF OFF 19.6608 MHz
OFF ON OFF OFF OFF OFF 9.8304 MHz E34 ON
OFF OFF ON OFF OFF OFF 4.9152 MHz
OFF OFF OFF ON OFF OFF 2.4576 MHz
OFF OFF OFF OFF ON OFF 1.2288 MHz
OFF OFF OFF OFF OFF ON External Clock 1 to 30
MHz maximum input
on CHC4 & CHC4/
E39: Reset-From-Bus Enable
E-Point & Physical
Layout Location Description Default
E39
C3 Jump pin 1 to 2 to allow PMAC to
derive its reset from the PC backplane.
Remove jumper to allow PMAC to
power up in normal way; PCbus
hardware reset will not reset PMAC; it
must be removed for standalone
operation.
Only one of E39, E93, and E94 should
be on at once. See also E93 & E94
No jumper
E40 - E43: Servo and Phase Clock Direction Control
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PMAC-Lite Hardware Reference
E-Point Descriptions 15
E40 E41 E42 E43 Card Address
Servo & Phase
Clock Direction Default & Physical Layout
E40 E41 E42 E43
C2 C2 C2 C2
ON ON ON ON @0 Output (ALL ON)
OFF ON ON ON @1 Input
ON OFF ON ON @2 Input
OFF OFF ON ON @3 Input
ON ON OFF ON @4 Input
OFF ON OFF ON @5 Input
ON OFF OFF ON @6 Input
OFF OFF OFF ON @7 Input
ON ON ON OFF @8 Input
OFF ON ON OFF @9 Input
ON OFF ON OFF @A Input
OFF OFF ON OFF @B Input
ON ON OFF OFF @C Input
OFF ON OFF OFF @D Input
ON OFF OFF OFF @E Input
OFF OFF OFF OFF @F Input
Note: If any jumper E40 – E43 is removed and the servo and phase clocks are not brought in on the J4A
serial port, the watchdog timer will trip immediately.
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