Delta Tau PMAC2-PC Quick user guide

Artisan Technology Group is your source for quality
new and certied-used/pre-owned equipment
• FAST SHIPPING AND
DELIVERY
• TENS OF THOUSANDS OF
IN-STOCK ITEMS
• EQUIPMENT DEMOS
• HUNDREDS OF
MANUFACTURERS
SUPPORTED
• LEASING/MONTHLY
RENTALS
• ITAR CERTIFIED
SECURE ASSET SOLUTIONS
SERVICE CENTER REPAIRS
Experienced engineers and technicians on staff
at our full-service, in-house repair center
WE BUY USED EQUIPMENT
Sell your excess, underutilized, and idle used equipment
We also offer credit for buy-backs and trade-ins
www.artisantg.com/WeBuyEquipment
REMOTE INSPECTION
Remotely inspect equipment before purchasing with
our interactive website at www.instraview.com
LOOKING FOR MORE INFORMATION?
Visit us on the web at www.artisantg.com for more
information on price quotations, drivers, technical
specications, manuals, and documentation
Contact us: (888) 88-SOURCE | [e-mail] | www.artisantg.com
SM
View
Instra

^1 HARDWARE REFERENCE MANUAL
^2 PMAC2-PC & PMAC2-PC LITE
^3 Programmable Multi-Axis Controllers
^4 3xx-602598-xHxx
^5 January 28, 2003
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.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.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Table of Contents
i
Contents
INTRODUCTION...................................................................................................................................................1
Overview ...................................................................................................................................................................1
Features .....................................................................................................................................................................1
PMAC2 ASICs..........................................................................................................................................................1
DSPGATE1 Servo ASIC..............................................................................................................................1
DSPGATE2 I/O ASIC..................................................................................................................................2
PMAC2-PC Configuration..........................................................................................................................2
PMAC2-Lite Configuration.........................................................................................................................2
PMAC2-PC Board Configuration...............................................................................................................2
PMAC2-PC Setup........................................................................................................................................3
PMAC2 CPUs ...........................................................................................................................................................4
P/N 602398..................................................................................................................................................4
P/N 602405..................................................................................................................................................4
P/N 602705..................................................................................................................................................4
Related Technical Documentation.............................................................................................................................5
CONNECTORS AND JUMPERS..........................................................................................................................7
PMAC2-PC AND PMAC2-Lite Connector Summary..............................................................................................7
J1 (JANA) Analog Input Port Connector ....................................................................................................8
J2 (JTHW) Multiplexer Port Connector......................................................................................................9
J3 (JI/O) General I/O Connector..............................................................................................................10
J4 (JMACRO) 26-Pin Connector ..............................................................................................................11
J5 (JRS232) Serial Port Connector...........................................................................................................11
JRS422 (26-Pin Connector) ......................................................................................................................12
JRS422 (DB-15 Connector).......................................................................................................................12
J6 (JDISP) Display Connector..................................................................................................................13
J7 (JHW) Handwheel Encoder Connector................................................................................................13
J8 (JEQU) Position Compare Output Connector......................................................................................14
J9 (JMACH1) Connector Description.......................................................................................................14
J10 (JMACH2) Connector Description.....................................................................................................17
J11 (JMACH3) Connector Description.....................................................................................................20
J12 (JMACH4) Connector Description.....................................................................................................23
TB1 (2/4-Pin Terminal Block)...................................................................................................................26
TB2 (3-Pin Terminal Block)......................................................................................................................26
PMAC2-PC and PMAC2-Lite Jumper Summary....................................................................................................27
PMAC2-VME CPU Connector Summary...............................................................................................................29
J1...............................................................................................................................................................29
J2 (JEXP)..................................................................................................................................................29
J3...............................................................................................................................................................29
J4 (JEXP)..................................................................................................................................................29
J5 (JTAG/OnCE).......................................................................................................................................29
J6...............................................................................................................................................................29
J7...............................................................................................................................................................29
PMAC2-PC CPU Piggyback Board Jumpers ...........................................................................................31
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
ii Table of Contents
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Introduction
1
INTRODUCTION
Overview
The PMAC2-PC and PMAC2-Lite provide state-of-the-art motion control for a wide variety of
applications, including machine tools, robotics, semiconductor manufacturing, packaging equipment, and
general-purpose automation. They utilize the latest developments in electronics, software, and modern
control theory to bring motion control capabilities to a whole new level.
The PMAC2-PC and PMAC2-Lite are designed as ISAbus expansion cards, but are capable of standalone
operation. The configurations are:
• PMAC2-PC: ISAbus-compatible, 1-1/2 slots, 4 or 8 machine interface channels.
• PMAC2-Lite: ISAbus-compatible, 1 slot, 4 machine interface channels.
Features
PMAC2-PC and PMAC2-Lite support a wide variety of servo and stepper interfaces:
• Analog +/-10V velocity command (requires ACC-8E or equivalent)
• Analog +/-10V torque command (requires ACC-8E or equivalent)
• Sinusoidal analog +/-10V phase current commands (requires ACC-8E or equivalent)
• Direct digital pulse-width modulated (PWM) phase voltage commands (requires ACC-8F, -8K or
equivalent)
• Pulse-and-direction commands (requires ACC-8S or equivalent)
• MACROTM ring network commands (requires ACC-42)
PMAC2-PC and PMAC2-Lite also provide unparalleled speeds and resolutions:
• 40 MHz encoder count rate
• 18-bit analog outputs
• 18 microsecond per axis servo update time (60 MHz)
• 120 MHz PWM clock frequency (10-bit resolution at 120 kHz, 12-bit and 30 kHz, 14-bit at 7.5 kHz)
• 120 MHz MLDT (e.g. TemposonicsTM) timer frequency (0.024mm, 0.9mil resolution)
• 10 MHz maximum pulse-and-direction output frequency
• 10 MHz maximum position-compare output update rate
• 125 Mbit/sec optical ring network data rate
PMAC2 ASICs
Delta Tau has designed its own custom application-specific integrated circuits (ASICs) for the PMAC2-
PC and PMAC2-Lite using the latest sub-micron gate-array technology. Each ASIC contains 45,000
active logic gates. These ASICs contain all of the digital interface circuitry to tie the DSP to the machine;
the rest of the circuitry on the board is buffer circuitry.
DSPGATE1 Servo ASIC
The “DSPGATE1” ASIC contains the digital servo interface circuitry for 4 channels, usually sufficient
for four axes of control. Each channel contains:
Three command output sets:
1. Top-and-bottom PWM or serial DAC data with clock
2. Top-and-bottom PWM or serial DAC data with strobe
3. Top-and-bottom PWM or PFM pulse-and-direction
• Encoder quadrature or pulse-and-direction decode and count
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
2 Introduction
• Index channel input internally gated to 1 quadrature state wide
• 4 flags with capability to perform hardware latching of encoder position
• HOME, PLIM, MLIM, USER
• Double-sided position-compare output with auto-increment capability
• Amplifier enable output
• Amplifier fault input
• 4 supplementary flag inputs (T, U, V, W)
• 2 inputs from serial analog-to-digital converters (ADCs)
• ADC clock and strobe signal outputs
The DSPGATE1 ASIC also generates several clock frequencies necessary for hardware and software
operation, under the user’s software control:
• PWM output frequency
• DAC clock frequency
Phase interrupt clock frequency and Servo interrupt clock frequency are generated from the first
DSPGATE1 only.
• ADC clock frequency
• Encoder sample clock frequency
• Pulse-frequency modulation (PFM) clock frequency
• Phase interrupt clock frequency
• Servo interrupt clock frequency
DSPGATE2 I/O ASIC
There is also a “DSPGATE2” ASIC on PMAC2-PC and PMAC2-Lite, which is used for interface to other
I/O. The DSPGATE2 ASIC has 3 parts:
• General-purpose digital I/O: 56 I/O points for JIO, JTHW, and JDISP ports
• Servo interface circuitry for 2 supplemental channels with clock generation
• MACRO ring interface circuitry
The general-purpose I/O and the servo interface circuitry on the DSPGATE2 generally share pins, except
for two 2-channel encoder inputs and 2 PWM/PFM output sub-channels. The shared pins are almost
always used for general-purpose I/O instead of extra servo interface circuitry, but this is up to the
individual user.
PMAC2-PC Configuration
A PMAC2-PC can have 1 or 2 DSPGATE1 ASICs; the first one is standard, and the second one comes if
Option 1 is ordered. Each also has a DSPGATE2 ASIC supporting the non-servo I/O.
PMAC2-Lite Configuration
A PMAC2-Lite board (PC bus only) has a single DSPGATE1 ASIC on-board, supporting up to 4 axes of
servo interfaces. It also has a DSPGATE2 ASIC supporting the non-servo I/O. It cannot be expanded
on-board to add a second DSPGATE1 ASIC to support a full 8 axes.
PMAC2-PC Board Configuration
Jumpers on the PMAC2-PC determine the frequency at which the DSP on the PV CPU board will
operate. The 56002 DSP has a “phased-locked loop” (PLL) that allows it to multiply the crystal
frequency by a programmable integer value, permitting very high CPU frequencies with a moderate
crystal frequency. The crystal frequency on the PV CPU board is always 19.6608 MHz, commonly called
“20 MHz”.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Introduction
3
The component rating of the DSP IC specifies the highest frequency at which it safely can run, but it is
the multiplication factor typically set by jumpers that specifies the frequency at which it actually runs.
Usually this is a frequency at or near the maximum for the component.
It is safe to run a DSP at a frequency below the maximum. It may be possible to run a DSP at a frequency
higher than its maximum frequency, particularly at low ambient temperatures, but safe operation cannot
be guaranteed. Unpredictable and possibly dangerous operation may result.
On power-up/reset, the DSP, operating at the crystal frequency of 20 MHz, reads the frequency jumpers
(E2 and E4) and writes into its own PLL multiplier register at X:$FFFD. Bits 0-3 of this word contain a
value one less than the multiplier value (if the frequency is being multiplied by 3, these bits contain a
value of 2).
If you wish to check the value of your multiplier, you can use the on-line command RHX:$FFFD and
look at the last hexadecimal digit. The actual multiplier is one greater than the value in this last digit.
Alternately, you can define an M-variable such as M99->X:$FFFD,0,4 and then read from or write to
these bits with the M-variable.
PMAC2-PC Setup
On PMAC2-PC, jumpers E2 and E4 control the frequency of operation of the DSP according to Table 1-
2.
E2 E4 X:$FFFD; 0-3 True Multiplier DSP Frequency
OFF OFF 1 x2 40 MHz
ON OFF 2 x3 60 MHz
OFF ON 3 x4 80 MHz
On the PMAC2-PC, I54 is read at power-up to set the baud rate clock. Because this clock is derived from
the CPU clock frequency, the proper setting of I54 is dependent on the CPU clock frequency as set by E2
and E4. Table 1-3 shows the settings of I54 for 40, 60, and 80 MHz CPU operation.
I54 Baud Rate for
40 MHz CPU Baud Rate for 60 MHz CPU Baud Rate for 80 MHz CPU
0 600 DISABLED 1200
1 900* (-0.05%) 900 1800* (-0.1%)
2 1200 1200 2400
3 1800* (-0.1%) 1800 3600* (-0.19%)
4 2400 2400 4800
5 3600* (-0.19%) 3600 7200* (-0.38%)
6 4800 4800 9600
7 7200* (-0.38%) 7200 14,400*(-0.75%)
8 9600 9600 19,200
9 14,400*(-0.75%) 14,400 28,800*(-1.5%)
10 19,200 19,200 38,400
11 28,800*(-1.5%) 28,800 57,600*(-3.0%)
12 38,400 38,400 76,800
13 57,600*(-3.0%) 57,600 115,200*(-6.0%)
14 76,800 76,800 153,600
15 DISABLED 115,200 DISABLED
* Not an exact baud rate
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
4 Introduction
PMAC2 CPUs
The PMAC2-PC CPU communicates with the axes through specially designed custom gate array ICs,
referred to as "DSPGATES". Each of these ICs can handle four analog output channels, four encoders as
input, and four analog-derived inputs from accessory boards. One PMAC2-PC can utilize from one to
four of these gate array ICs, so specifying the hardware configuration amounts to counting the numbers
and types of inputs and outputs. Up to 16 PMAC2-PCs may be ganged together with complete
synchronization, for a total of 128 axes. A PMAC2-PC may have one of three available CPU
configurations. These configurations are described in the following paragraphs.
Note:
The CPUs are only installed on the PMAC2-PC.
P/N 602398
This is the original standard CPU board for the PMAC2-PC. It has a 20MHz clock and a battery backup
RAM.
P/N 602405
This is a flash memory CPU board with no battery backup. This board provides either a 40MHz or
60MHz clock.
P/N 602705
The PMAC2-PC PV CPU piggyback board provides 80 MHz CPU operation and supplemental battery-
backed RAM for the PMAC2-
The PV CPU board gets its name from the PV package style of the Motorola 56002 DSP IC on the board.
The board is also called the Universal CPU because it can support all speeds and configurations of the
CPU section.
The PV CPU has operational differences from earlier CPU configurations to support the new features.
The following paragraphs explain these differences and are only relevant if you have the 602705 CPU
piggyback board on your controller.
Configurations
The PV CPU board is configured at the factory to the customer’s specifications. The JEXP expansion port
is buffered, providing the capability to connect many boards on the expansion port.
The following table shows the configuration of the key components on the PV CPU board for the
PMAC2-PC.
Version Main Memory
Backup U6, U9, U15 Components U7, U10, U16 Components U5 Components BT1 Component
Standard Flash Empty 32-pin RAM Flash ROM Empty
Opt 5B Flash Empty 32-pin RAM Flash ROM Empty
Opt 5C Flash Empty 32-pin RAM Flash ROM Empty
+Opt 16 Flash 28-pin RAM 32-pin RAM Flash ROM Battery
Firmware
The PV CPU board does not support firmware versions before V1.16 of August 1996 without changes in
programming of the on-board logic (GALs). If the firmware must be changed between a version previous
to V1.16 and a version V1.16 or newer, the on-board logic must be re-programmed.
When loading new firmware into the flash configurations of the PV CPU, E4 on the CPU board must be
ON in addition to having the PMAC2-PC reinitialization jumper E3 ON.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Introduction
5
Option 16 Supplemental Memory
If the Option 16 supplemental battery-backed parameter memory is ordered, an extra bank of memory
with battery backup circuitry is provided. This option can only be ordered if the main memory is flash
backed (Option 4A, 5A, 5B, or 5C). This memory is for user parameter storage only. From PMAC
programs it can be accessed with M-variables only (L-variables also in compiled PLCs). The on-line
direct-memory read and write commands can be used from the host computer as well.
With M-variable access, arrays can be created with indirect addressing techniques by pointing a second
M-variable to the definition of a first M-variable that points into this memory area. For example, with the
M-variable definitions:
M0->L:$A000; 1st long word of Opt. 16 RAM; floating point
M10->Y:$BC000,0,16 ; Low 16 bits of M0 def., with pointer address
The following code segment could load a sine table into the first 360 words of the Option 16 RAM:
P1=0
WHILE (P1<360)
M10=$A000+P1 ; Sets address that M0 points to
M0=SIN(P1) ; Puts value in register that M0 points to
P1=P1+1
ENDWHILE
Note:
This technique is not possible with L-variables in compiled PLCs.
Physically, the Option 16 memory is a 16k x 24 bank of battery-backed static RAM. It maps into the
PMAC2-PC at addresses $A000 to $BFFF, on both the X and Y data buses, an 8k x 48 block of address
space. Addresses Y:$BC00 to Y:$BFFF are “double-mapped” with the main flash-backed RAM for the
M-variable definitions, and should not be used for user parameter storage.
Any value written into the Option 16 memory will automatically be retained through a power-down or
reset; no SAVE operation is required. The power draw on the battery is low enough that battery life will
typically be limited only by the quoted 10-year life of the battery.
Related Technical Documentation
Manual Number Manual Title
3A0-602413-363 PMAC2 User’s Manual
3A0-602XXX-363 PMAC User’s Software Reference
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
6 Introduction
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Connectors and Jumpers
7
CONNECTORS AND JUMPERS
PMAC2-PC AND PMAC2-Lite Connector Summary
The following paragraphs provide a brief description of each connector on the PMAC2-PC and PMAC2-
Lite, its use, and individual pinout information (see Figure 2-1).
PMAC2-PC
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
8 Connectors and Jumpers
J1 (JANA) Analog Input Port Connector
1
2
19
20
Front View
Pin # Symbol Function Description Notes
1 ANAI00 Input Analog Input 0 0-5V or +/-2.5V range
2 ANAI01 Input Analog Input 1 0-5V or +/-2.5V range
3 ANAI02 Input Analog Input 2 0-5V or +/-2.5V range
4 ANAI03 Input Analog Input 3 0-5V or +/-2.5V range
5 ANAI04 Input Analog Input 4 0-5V or +/-2.5V range
6 ANAI05 Input Analog Input 5 0-5V or +/-2.5V range
7 ANAI06 Input Analog Input 6 0-5V or +/-2.5V range
8 ANAI07 Input Analog Input 7 0-5V or +/-2.5V range
9 ANAI08 Input Analog Input 8 0-5V or +/-2.5V range
10 ANAI09 Input Analog Input 9 0-5V or +/-2.5V range
11 ANAI10 Input Analog Input 10 0-5V or +/-2.5V range
12 ANAI11 Input Analog Input 11 0-5V or +/-2.5V range
13 ANAI12 Input Analog Input 12 0-5V or +/-2.5V range
14 ANAI13 Input Analog Input 13 0-5V or +/-2.5V range
15 ANAI14 Input Analog Input 14 0-5V or +/-2.5V range
16 ANAI15 Input Analog Input 15 0-5V or +/-2.5V range
17 GND Common PMAC Common Not isolated from digital
18 +12V Output Positive Supply Voltage To power external circuitry
19 GND Common PMAC Common Not isolated from digital
20 -12V Output Negative Supply Voltage To power external circuitry
The JANA connector provides the inputs for the 8 or 16 optional analog inputs on the PMAC2-PC and PMAC2-
Lite.
Note: This connector is only present if Option 12 is ordered.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Connectors and Jumpers
9
J2 (JTHW) Multiplexer Port Connector
1
2
25
26
Front View
Pin # Symbol Function Description Notes
1 GND COMMON PMAC Common
2 GND COMMON PMAC Common
3 DAT0 INPUT Data-0 Input Data input from mux port
accessories
4 SEL0 OUTPUT Select-0 Output Address/data output for mux
port accessories
5 DAT1 INPUT Data -1 Input Data input from mux port
accessories
6 SEL1 OUTPUT Select-1 Output Address/data output for mux
port accessories
7 DAT2 INPUT Data -2 Input Data input from mux port
accessories
8 SEL2 OUTPUT Select-2 Output Address/data output for mux
port accessories
9 DAT3 INPUT Data-3 Input Data input from mux port
accessories
10 SEL3 OUTPUT Select-3 Output Address/data output for mux
port accessories
11 DAT4 INPUT Data-4 Input Data input from mux port
accessories
12 SEL4 OUTPUT Select-4 Output Address/data output for mux
port accessories
13 DAT5 INPUT Data-5 Input Data input from mux port
accessories
14 SEL5 OUTPUT Select-5 Output Address/data output for mux
port accessories
15 DAT6 INPUT Data-6 Input Data input from mux port
accessories
16 SEL6 OUTPUT Select-6 Output Address/data output for mux
port accessories
17 DAT7 INPUT Data-7 Input Data input from mux port
accessories
18 SEL7 OUTPUT Select-7 Output Address/data output for mux
port accessories
19 N.C. N.C. No Connection
20 GND COMMON PMAC Common
21 BRLD/ OUTPUT Buffer Request Low is "buffer req."
22 GND COMMON PMAC Common
23 IPLD/ OUTPUT In Position Low is "in position"
24 GND COMMON PMAC Common
25 +5V OUTPUT +5Vdc Supply Power supply out
26 INIT/ INPUT PMAC Reset Low is "reset"
The JTHW connector provides eight inputs and eight outputs at TTL levels that are dedicated to reading BCD
thumbwheel switches. Two thumbwheels may be read by direct connection to J3. More thumbwheels, up to 512
switches, may be read using Accessory 18 (ACC-18, Thumbwheel Multiplexer). J3 inputs and outputs may be
used as general purpose multiplexed TTL I/O if thumbwheels are not used.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
10 Connectors and Jumpers
J3 (JI/O) General I/O Connector
1
2
39
40
Front View
Pin # Symbol Function Description Notes
1 I/O00 IN/OUT Digital I/O 0 Software direction ctrl.
2 I/O01 IN/OUT Digital I/O 1 Software direction ctrl.
3 I/O02 IN/OUT Digital I/O 2 Software direction ctrl.
4 I/O03 IN/OUT Digital I/O 3 Software direction ctrl.
5 I/O04 IN/OUT Digital I/O 4 Software direction ctrl.
6 I/O05 IN/OUT Digital I/O 5 Software direction ctrl.
7 I/O06 IN/OUT Digital I/O 6 Software direction ctrl.
8 I/O07 IN/OUT Digital I/O 7 Software direction ctrl.
9 I/O08 IN/OUT Digital I/O 8 Software direction ctrl.
10 I/O09 IN/OUT Digital I/O 9 Software direction ctrl.
11 I/O10 IN/OUT Digital I/O 10 Software direction ctrl.
12 I/O11 IN/OUT Digital I/O 11 Software direction ctrl.
13 I/O12 IN/OUT Digital I/O 12 Software direction ctrl.
14 I/O13 IN/OUT Digital I/O 13 Software direction ctrl.
15 I/O14 IN/OUT Digital I/O 14 Software direction ctrl.
16 I/O15 IN/OUT Digital I/O 15 Software direction ctrl.
17 I/O16 IN/OUT Digital I/O 16 Software direction ctrl.
18 I/O17 IN/OUT Digital I/O 17 Software direction ctrl.
19 I/O18 IN/OUT Digital I/O 18 Software direction ctrl.
20 I/O19 IN/OUT Digital I/O 19 Software direction ctrl.
21 I/O20 IN/OUT Digital I/O 20 Software direction ctrl.
22 I/O21 IN/OUT Digital I/O 21 Software direction ctrl.
23 I/O22 IN/OUT Digital I/O 22 Software direction ctrl.
24 I/O23 IN/OUT Digital I/O 23 Software direction ctrl.
25 I/O24 IN/OUT Digital I/O 24 Software direction ctrl.
26 I/O25 IN/OUT Digital I/O 25 Software direction ctrl.
27 I/O26 IN/OUT Digital I/O 26 Software direction ctrl.
28 I/O27 IN/OUT Digital I/O 27 Software direction ctrl.
29 I/O28 IN/OUT Digital I/O 28 Software direction ctrl.
30 I/O29 IN/OUT Digital I/O 29 Software direction ctrl.
31 I/O30 IN/OUT Digital I/O 30 Software direction ctrl.
32 I/O31 IN/OUT Digital I/O 31 Software direction ctrl.
33 GND COMMON Reference Voltage
34 GND COMMON Reference Voltage
35 PHASE/ OUTPUT Phase Clock For latching data
36 SERVO/ OUTPUT Servo Clock For latching data
37 GND COMMON Reference Voltage
38 GND COMMON Reference Voltage
39 +5V OUTPUT Supply Voltage To power external circuitry
40 +5V OUTPUT Supply Voltage To power external circuitry
The JI/O connector provides 32 input/output pins at TTL levels. Direction can be controlled in byte-wide groups.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Connectors and Jumpers
11
J4 (JMACRO) 26-Pin Connector
1
2
25
26
Front View
Pin # Symbol Function Description Notes
1 DOUT7 OUTPUT Ring Out Bit 7 Macro ring command
2 DOUT6 OUTPUT Ring Out Bit 6 Macro ring transmit
3 DOUT5 OUTPUT Ring Out Bit 5 Macro ring transmit
4 DOUT4 OUTPUT Ring Out Bit 4 Macro ring transmit
5 DOUT3 OUTPUT Ring Out Bit 3 Macro ring transmit
6 DOUT2 OUTPUT Ring Out Bit 2 Macro ring transmit
7 DOUT1 OUTPUT Ring Out Bit 1 Macro ring transmit
8 DOUT0 OUTPUT Ring Out Bit 0 Macro ring transmit
9 CMD_IN INPUT
10 DIN7 INPUT Ring In Bit 7 Macro ring receive
11 DIN6 INPUT Ring In Bit 6 Macro ring receive
12 DIN5 INPUT Ring In Bit 5 Macro ring receive
13 DIN4 INPUT Ring In Bit 4 Macro ring receive
14 DIN3 INPUT Ring In Bit 3 Macro ring receive
15 DIN2 INPUT Ring In Bit 2 Macro ring receive
16 DIN1 INPUT Ring In Bit 1 Macro ring receive
17 DIN0 INPUT Ring In Bit 0 Macro ring receive
18 CMD_OUT OUTPUT
19 TCLK OUTPUT Ring Clock 10 MHz
20 GND COMMON Reference Voltage
21 STB_OUT OUTPUT Byte Strobe
22 GND COMMON Reference Voltage
23 DAT_STB INPUT Data Byte Strobe
24 GND COMMON Reference Voltage
25 CMD_STB INPUT CMD Byte Strobe
26 VLTN INPUT Violation Flag Taxi chip receive error
The JMACRO Network Ring Interface Connector provides the interface to the MACRO driver/receiver accessory
board.
J5 (JRS232) Serial Port Connector
1
2
9
10
Front View
Pin # Symbol Function Description Notes
1 PHASE OUTPUT Phasing Clock
2 DTR BIDIRECT Data Term Rdy Tied to DSR
3 TXD/ INPUT Receive Data Host transmit data
4 CTS INPUT Clear To Send Host ready bit
5 RXD/ OUTPUT Send Data Host receive data
6 RTS OUTPUT Req. To Send PMAC ready bit
7 DSR BIDIRECT Data Set Ready Tied to DTR
8 SERVO OUTPUT Servo Clock
9 GND COMMON PMAC Common
10 +5V OUTPUT +5Vdc Supply Power supply out
This connector is present and operational on the standard PMAC2-PC or PMAC2-Lite. If the Option-9L RS-422
interface has been ordered, this connector is non-functional. The serial interface is made through one of the RS-
422 connectors on the Option-9L piggyback board.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
12 Connectors and Jumpers
JRS422 (26-Pin Connector)
Front View
Pin # Symbol Function Description Notes
1 CHASSI COMMON PMAC Common
2 S+5V OUTPUT +5Vdc Supply Deactivated by "E8"
3 RD- INPUT Receive Data Diff I/O low true
4 RD+ INPUT Receive Data Diff I/O high true
5 SD- OUTPUT Send Data Diff I/O low true
6 SD+ OUTPUT Send Data Diff I/O high true
7 CS+ INPUT Clear To Send Diff I/O high true
8 CS- INPUT Clear To Send Diff I/O low true
9 RS+ OUTPUT Req. To Send Diff I/O high true
10 RS- OUTPUT Req. To Send Diff I/O low true
11 DTR BIDIRECT Data Term Read Tied to "DSR"
12 INIT/ INPUT PMAC Reset Low is "reset"
13 GND COMMON PMAC Common
14 DSR BIDIRECT Data Set Ready Tied to "DTR"
15 SDIO- BIDIRECT Special Data Diff I/O low true
16 SDIO+ BIDIRECT Special Data Diff I/O high true
17 SCIO- BIDIRECT Special Ctrl. Diff I/O low true
18 SCIO+ BIDIRECT Special Ctrl. Diff I/O high true
19 SCK- BIDIRECT Special Clock Diff I/O low true
20 SCK+ BIDIRECT Special Clock Diff I/O high true
21 SERVO- BIDIRECT Servo Clock Diff I/O low true
22 SERVO+ BIDIRECT Servo Clock Diff I/O high true
23 PHASE- BIDIRECT Phase Clock Diff I/O low true
24 PHASE+ BIDIRECT Phase Clock Diff I/O high true
25 GND COMMON PMAC Common
26 +5V OUTPUT +5Vdc Supply Power supply out
The JRS422 connector provides the PMAC with the ability to communicate both in RS422 and RS232. In
addition, this connector is used to daisy chain interconnect multiple PMACs for synchronized operation.
Note: This connector is only present if the Option 9L RS-422 interface has been ordered.
JRS422 (DB-15 Connector) 15
8
9
1
Front View
Pin # Symbol Function Description Notes
1 CHASSI COMMON PMAC Common
2 N.C. NONE No Connect
3 N.C. NONE No Connect
4 N.C. NONE No Connect
5 S+5V OUTPUT +5Vdc Supply Deactivated By "E8"
6 RS- OUTPUT Req. To Send Diff I/O low true
7 GND COMMON PMAC Common
8 CS+ INPUT Clear To Send Diff I/O high true
9 N.C. NONE No Connect
10 RD- INPUT Receive Data Diff I/O low true
11 RD+ INPUT Receive Data Diff I/O high true
12 SD- OUTPUT Send Data Diff I/O low true
13 SD+ OUTPUT Send Data Diff I/O high true
14 RS+ OUTPUT Req. To Send Diff I/O high true
15 CS- INPUT Clear To Send Diff I/O low true
This connector is only present if the Option-9L RS-422 interface has been ordered.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Connectors and Jumpers
13
J6 (JDISP) Display Connector
1
2
13
14
Pin # Symbol Function Description Notes
1 Vdd OUTPUT +5V Power Power supply out
2 Vss COMMON PMAC Common
3 Rs OUTPUT Read Strobe TTL signal out
4 Vee OUTPUT Contrast Adjust. Vee 0 to +5 Vdc
5 E OUTPUT Display Enable High is enable
6 R/W OUTPUT Read Or Write TTL signal out
7 DB1 OUTPUT Display Data1
8 DB0 OUTPUT Display Data0
9 DB3 OUTPUT Display Data3
10 DB2 OUTPUT Display Data2
11 DB5 OUTPUT Display Data5
12 DB4 OUTPUT Display Data4
13 DB7 OUTPUT Display Data7
14 DB6 OUTPUT Display Data6
The JDISP connector is used to drive the 2 line x 24 character (ACC-12), 2 x 40 (ACC-12A) LCD, or the 2 x 40
vacuum fluorescent (ACC-12C) display unit. The DISPLAY command may be used to send messages and values
to the display.
J7 (JHW) Handwheel Encoder Connector
1
2
19
20
Front View
Pin # Symbol Function Description Notes
1 GND COMMON Reference Voltage
2 +5V OUTPUT Supply Voltage To power ext. Circuitry
3 HWA1+ INPUT HW Positive A Channel Also pulse input
4 HWA1- INPUT HW Negative A Channel Also pulse input
5 HWB1+ INPUT HW Positive B Channel Also direction input
6 HWB1- INPUT HW Negative B Channel Also direction input
7 HWA2+ INPUT HW Positive A Channel Also pulse input
8 HWA2- INPUT HW Negative A Channel Also pulse input
9 HWB2+ INPUT HW Positive B Channel Also direction input
10 HWB2- INPUT HW Negative B Channel Also direction input
11 PUL1+ OUTPUT PFM Positive Pulse Out Also PWM output
12 PUL1- OUTPUT PFM Negative Pulse Out Also PWM output
13 DIR1+ OUTPUT PFM Positive Direction Also PWM output
14 DIR1- OUTPUT PFM Negative Direction Also PWM output
15 PUL2+ OUTPUT PFM Positive Pulse Out Also PWM output
16 PUL2- OUTPUT PFM Negative Pulse Out Also PWM output
17 DIR2+ OUTPUT PFM Positive Direction Also PWM output
18 DIR2- OUTPUT PFM Negative Direction Also PWM output
19 GND COMMON Reference Voltage
20 +5V OUTPUT Supply Voltage To power external circuitry
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
14 Connectors and Jumpers
J8 (JEQU) Position Compare Output Connector
1
2
9
10
Front View
Pin # Symbol Function Description Notes
1 EQU1/ OUTPUT Encoder 1 COMP-EQ Low is true
2 EQU2/ OUTPUT Encoder 2 COMP-EQ Low is true
3 EQU3/ OUTPUT Encoder 3 COMP-EQ Low is true
4 EQU4/ OUTPUT Encoder 4 COMP-EQ Low is true
5 EQU5/ OUTPUT Encoder 5 COMP-EQ Low is true
6 EQU6/ OUTPUT Encoder 6 COMP-EQ Low is true
7 EQU7/ OUTPUT Encoder 7 COMP-EQ Low is true
8 EQU8/ OUTPUT Encoder 8 COMP-EQ Low is true
9 +V SUPPLY Positive Supply +5V to +24V
10 GND COMMON Digital Ground
This connector provides the position-compare outputs for the eight encoder channels.
J9 (JMACH1) Connector Description
1
2
99
1
00
Front View
Pin# Symbol Function Description Notes
1 +5V OUTPUT /
INPUT +5V Power For external circuit or from external supply
2 +5V OUTPUT /
INPUT +5V Power For external circuit or from external supply
3 GND COMMON Reference Voltage
4 GND COMMON Reference Voltage
5 CHA1+ INPUT Encoder 1 Positive A Channel Also pulse input
6 CHA1- INPUT Encoder 1 Negative A Channel Also pulse input
7 CHB1+ INPUT Encoder 1 Positive B Channel Also direction input
8 CHB1- INPUT Encoder 1 Negative B Channel Also direction input
9 CHC1+ INPUT Encoder 1 Positive C Channel Index channel
10 CHC1- INPUT Encoder 1 Negative C Channel Index channel
11 CHU1 INPUT Channel 1 U Flag Hall effect, fault code, or sub-
count
12 CHV1 INPUT Channel 1 V Flag Hall effect, fault code, or sub-
count
13 CHW1 INPUT Channel 1 W Flag Hall effect, fault code, or sub-
count
14 CHT1 INPUT Channel 1 T Flag Fault code, or sub-count
15 USER1 INPUT General Purpose
User Flag Hardware capture flag, or sub- count
16 PLIM1 INPUT Positive Overtravel Limit Hardware capture flag
17 MLIM1 INPUT Negative Overtravel Limit Hardware capture flag
18 HOME1 INPUT Home Switch Input Hardware capture flag
19 ACCFLT1 INPUT Accessory Fault Flag For loss OF ACC supply voltage
20 WD0/ OUTPUT Watchdog Output Low is PMAC watchdog fault
21 SCLK12+ INPUT /
OUTPUT Encoder Sample Clock Direction controlled by PMAC2 jumper
22 SCLK12- INPUT /
OUTPUT Encoder Sample Clock Direction controlled by PMAC2 jumper
23 ADC_CLK1+ OUTPUT A/D Converter Clock Programmable frequency
24 ADC_CLK1- OUTPUT A/D Converter Clock Programmable frequency
25 ADC_STB1+ OUTPUT A/D Converter Strobe Programmable sequence
26 ADC_STB1- OUTPUT A/D Converter Strobe Programmable sequence
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

PMAC2-PC & Lite Hardware Reference
Connectors and Jumpers
1
5
27 ADC_DAA1+ INPUT Channel A ADC Serial Data MSB first
28 ADC_DAA1- INPUT Channel A ADC Serial Data MSB first
29 ADC_DAB1+ INPUT Channel B ADC Serial Data MSB first
30 ADC_DAB1- INPUT Channel B ADC Serial Data MSB first
31 AENA1+ OUTPUT Amplifier Enable High is enable
32 AENA1- OUTPUT Amplifier Enable Low is enable
33 FAULT1+ INPUT Amplifier Fault Programmable polarity
34 FAULT1- INPUT Amplifier Fault Programmable polarity
35 PWMATOP1+
DAC_CLK1+ OUTPUT Phase A Top CMD or DAC Clock Programmable function control
36 PWMATOP1-
DAC_CLK1- OUTPUT Phase A Top CMD or DAC Clock Programmable function control
37 PWMABOT1+
DAC1A+ OUTPUT Phase A Bottom CMD or DAC A Serial Data Programmable function control
38 PWMABOT1-
DAC1A- OUTPUT Phase A Bottom CMD or DAC A Serial Data Programmable function control
39 PWMBTOP1+
DAC_STB1+ OUTPUT Phase B TOP CMD or DAC Strobe Programmable function control
40 PWMBTOP1-
DAC_STB1- OUTPUT Phase B TOP CMD or DAC Strobe Programmable function control
41 PWMBBOT1+
DAC1B+ OUTPUT Phase B Bottom CMD or DAC B Serial Data Programmable function control
42 PWMBBOT1-
DAC1B- OUTPUT Phase B Bottom CMD or DAC B Serial Data Programmable function control
43 PWMCTOP1+
DIR1+ OUTPUT Phase B TOP CMD or PFM Direction Programmable function control
44 PWMCTOP1-
DIR1- OUTPUT Phase B TOP CMD or PFM Direction Programmable function control
45 PWMCBOT1+
PULSE1+ OUTPUT Phase B Bottom CMD or PFM Pulse Programmable function control
46 PWMCBOT1-
PULSE1- OUTPUT Phase B Bottom CMD or PFM Pulse Programmable function control
47 GND COMMON Reference Voltage
48 GND COMMON Reference Voltage
49 +5V OUTPUT /
INPUT +5V Power For external circuit or from external supply
50 +5V OUTPUT /
INPUT +5V Power For external circuit or from external supply
51 +5V OUTPUT /
INPUT +5V Power For external circuit or from external supply
52 +5V OUTPUT /
INPUT +5V Power For external circuit or from external supply
53 GND COMMON Reference Voltage
54 GND COMMON Reference Voltage
55 CHA2+ INPUT Encoder 2 Positive A Channel Also pulse input
56 CHA2- INPUT Encoder 2 Negative A Channel Also pulse input
57 CHB2+ INPUT Encoder 2 Positive B Channel Also direction input
58 CHB2- INPUT Encoder 2 Negative B Channel Also direction input
59 CHC2+ INPUT Encoder 2 Positive C Channel Index channel
60 CHC2- INPUT Encoder 2 Negative C Channel Index channel
61 CHU2 INPUT Channel 2 U Flag Hall effect, fault code, or sub-
count
62 CHV2 INPUT Channel 2 V Flag Hall effect, fault code, or sub-
count
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com