Delta Tau Universal PMAC Lite Quick user guide

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^1 HARDWARE REFERENCE MANUAL
^2 Universal PMAC Lite
^3 Programmable Multi-Axis Controller
^4 3Ax-602402-UHxx
^5 October 2001
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.

Universal PMAC Lite
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 and 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 (Obsolete).................................................................................................................2
Option 10: Firmware Version Specification.........................................................................................................2
Option 14: Replacement of Flag Opto-Isolators with Socketed Shunts................................................................2
Option 15: V-to-F Converter for Analog Input.....................................................................................................3
Option 16: Battery-Backed Parameter Memory...................................................................................................3
PMAC Connectors and Indicators.............................................................................................................................3
J1 - Display Port Outputs (JDISP Port)...............................................................................................................3
J2 - Control-Panel Port I/O (JPAN Port).............................................................................................................3
J3 - Thumbwheel Multiplexer Port I/O (JTHW Port)...........................................................................................3
J4 – RS-232 Serial Port Connection (JRS232 Port).............................................................................................3
J4A – RS-422 Serial Port Connection (JRS422 Port)...........................................................................................3
J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port)........................................................................4
J6 - Auxiliary I/O Port Connector (JXIO Port) ....................................................................................................4
J7 - A/D Port Connector (JS1 Port)......................................................................................................................4
J8 - Position-Compare Connector (JEQU Port) ..................................................................................................4
J11 - Machine Connector (JMACH Connector)...................................................................................................4
TB1 – Power Supply Terminal Block....................................................................................................................4
LED Indicators .....................................................................................................................................................4
Fuse ......................................................................................................................................................................4
PMAC System Configuration Incompatibilities........................................................................................................4
JEXP Expansion Port Accessories........................................................................................................................4
JTHW Thumbwheel Multiplexer Port Accessories................................................................................................5
JPAN Control Panel Port Accessories..................................................................................................................5
JDISP Display Port Accessories...........................................................................................................................5
JSx Port Accessories.............................................................................................................................................5
Resistor Pack Configuration......................................................................................................................................5
Termination Resistors...........................................................................................................................................5
Universal PMAC Lite Jumpers and Connectors Layout P/N 602402 .......................................................................6
Universal PMAC Lite Dimensions Part Number 602402 .........................................................................................7
JUMPERS SETUP SUMMARY................................................................................................................................9
Power-Supply Configuration Jumpers ......................................................................................................................9
Clock Configuration Jumpers..................................................................................................................................10
Encoder Configuration Jumpers..............................................................................................................................10
Board Reset/Save Jumpers......................................................................................................................................11
Communication Jumpers.........................................................................................................................................12
From Jumper Configuration to Address.............................................................................................................12
From Address to Jumper Configuration.............................................................................................................13
I/O Configuration Jumpers......................................................................................................................................14
Reserved Configuration Jumpers ............................................................................................................................14
PMAC-LITE E-POINT DESCRIPTIONS..............................................................................................................17
E1 - E2: Machine Output Supply Voltage Configure..............................................................................................17
E3 - E6: Servo Clock Frequency Control...............................................................................................................18
E7: Machine Input Source/Sink Control ................................................................................................................19

Universal PMAC Lite
Table of Contents
i
i
E9, E10, E13, E14: Serial Interface Direction Control...........................................................................................19
E17A-D: Amplifier Enable/Direction Polarity Control...........................................................................................20
E22 - E23: Control Panel Handwheel Enable ........................................................................................................20
E24 - E27: Encoder Single-Ended/Differential Control.........................................................................................21
E28: Following Error/Watchdog Timer Signal Control..........................................................................................21
E29 - E33: Phase Clock Frequency Control...........................................................................................................22
E34 - E38: Encoder Sampling Clock Frequency Control.......................................................................................22
E39: Reset-From-Bus Enable.................................................................................................................................22
E40 - E43: Servo and Phase Clock Direction Control............................................................................................23
E44 - E47: Serial Baud Rate Control ......................................................................................................................24
E48: CPU Clock Frequency Control......................................................................................................................24
E49: Serial Communications Parity Control..........................................................................................................25
E50: Non-Volatile Memory Save Control..............................................................................................................25
E51: Normal/Re-Initializing Power-Up..................................................................................................................25
E54 - E65: Host Interrupt Signal Select .................................................................................................................26
E66 - E71: Bus Base Hardware Address (Low Bits)..............................................................................................27
E72 - E73: Panel Analog Time Base Signal Enable...............................................................................................27
E74 - E75: Clock Output Control for Ext. Interpolation ........................................................................................27
E76 - E84: Host Interrupt Signal Select .................................................................................................................28
E85: Host-Supplied Analog Power Source Enable ................................................................................................28
E86: Host Interrupt Signal Select............................................................................................................................29
E87 - E88: Host-Supplied Analog Power Source Enable.......................................................................................29
E89: Amplifier-Supplied Switch Pull-Up Enable ..................................................................................................29
E90: Host-Supplied Switch Pull-Up Enable...........................................................................................................30
E91 - E92: Bus Base Address Select (High Bits)...................................................................................................30
E93 - E94: Reset from Bus by Software Enable .....................................................................................................30
E98: DAC/ADC Clock Frequency Control............................................................................................................31
E100: Output Flag Supply Select............................................................................................................................31
E101 – E102: Output Flag Supply Voltage Configure............................................................................................31
E103: Watchdog Disable Jumper............................................................................................................................32
E106: Firmware Reload Enable...............................................................................................................................32
E107 – E108: Serial Port Select..............................................................................................................................32
E109: Display Port Configuration..........................................................................................................................32
E110: Expansion Port Configuration.......................................................................................................................32
MACHINE CONNECTIONS...................................................................................................................................33
Power Supplies........................................................................................................................................................33
Digital Power Supply..........................................................................................................................................33
Analog Power Supply..........................................................................................................................................33
Flags Power Supply (Optional) ..........................................................................................................................34
Overtravel Limits and Home Switches....................................................................................................................34
Types of Overtravel Limits..................................................................................................................................34
Home Switches....................................................................................................................................................34
Motor Signals Connections.....................................................................................................................................35
Incremental Encoder Connection .......................................................................................................................35
DAC Output Signals............................................................................................................................................35
Amplifier Enable Signal (AENAx/DIRn).............................................................................................................36
Amplifier Fault Signal (FAULTn).......................................................................................................................37
General-Purpose Digital Inputs and Outputs (JOPTO Port)....................................................................................38
Control-Panel Port I/O (JPAN Port)........................................................................................................................39
Thumbwheel Multiplexer Port (JTHW Port)...........................................................................................................39
Serial Connections...................................................................................................................................................39
Machine Connections Example...............................................................................................................................41
HOST PC-AT I/O ADDRESS MAP.........................................................................................................................43
PMAC-LITE MATING CONNECTORS................................................................................................................45

Universal PMAC Lite
Table of Contents iii
J1 (JDISP)/Display Port.....................................................................................................................................45
J2 (JPAN)/Control Panel Port............................................................................................................................45
J3 (JTHW)/Multiplexer Port...............................................................................................................................45
J4 (JRS232)/RS232 Serial Communications.......................................................................................................45
J4A (JRS422)/RS422 Serial Communications ....................................................................................................45
J5 (JOPT)/General Purpose I/O.........................................................................................................................45
J6 (JXIO)/Auxiliary Port.....................................................................................................................................45
J7 (JS1)/A-D Inputs ............................................................................................................................................45
J8 (JEQU)/Position Compare.............................................................................................................................45
J9 (JEXP)/Expansion Port..................................................................................................................................45
J11 (JMACH1)/1st Machine Connector..............................................................................................................46
P1 (PC Bus)........................................................................................................................................................46
P2 (AT Bus).........................................................................................................................................................46
PMAC LITE CONNECTOR PINOUTS.................................................................................................................47
J1 (JDISP): Display Port Connector..................................................................................................................47
J2 (JPAN): Control Panel Port Connector.........................................................................................................48
J3 (JTHW): Multiplexer Port Connector............................................................................................................49
J4 (JRS232) Serial Port Connector ....................................................................................................................50
J4A (JRS422): Serial Port Connector.................................................................................................................51
J5 (JOPTO): I/O Port Connector.......................................................................................................................52
J6 (JXIO): Auxiliary I/O Port Connector...........................................................................................................53
J7 (JS1): A/D Port Connector.............................................................................................................................53
J8 (JEQU): Position-Compare Connector..........................................................................................................54
J11 (JMACH1): Machine Port Connector..........................................................................................................54
TB1 (JPWR): Power Supply................................................................................................................................56
PMAC-PC SOFTWARE SETUP.............................................................................................................................57
Configuring PMAC with Option-5C for 80 MHz Operation ..................................................................................57
Option 16 Supplemental Memory ...........................................................................................................................58

Universal PMAC Lite
Table of Contents
iv

Universal PMAC Lite
Introduction 1
INTRODUCTION
Overview
The PMAC Lite is a member of the PMAC1 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 eight
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 PMAC 1.5 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 and 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
• 1-year warranty from date of shipment
• One CD manual per set of one to four PMACs in shipment
(Cables, mounting plates, mating connectors not included)
If the PMAC1 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 PMAC 1.5 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.

Universal PMAC Lite
2Introduction
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 and Memory Configurations
If the 20 MHz CPU that comes standard does not have sufficient computational power, faster versions are
available as options. These options provide faster CPU ICs in U13 and faster SRAM ICs in U7, U10, and
U16. They are available only 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 (Obsolete)
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.
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.

Universal PMAC Lite
Introduction 3
• Option 14 for the replacement of 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 PMAC 1.5 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 ordered if 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.
PMAC Connectors and Indicators
J1 - Display Port Outputs (JDISP Port)
The JDISP connector allows connection of the ACC-12 or ACC-12A liquid crystal displays, or of the ACC-
12C vacuum fluorescent display. Both text and variable values may be shown on these displays through the
use of the DISPLAY command, executing in either motion or PLC programs.
J2 - Control-Panel Port I/O (JPAN Port)
The JPAN connector is a 26-pin connector with dedicated control inputs, dedicated indicator outputs, a
quadrature encoder input, and an analog input (requires PMAC Option 15). The control inputs are low true
with internal pull-up resistors. They have predefined functions unless the control-panel-disable I-variable
(I2) has been set to 1. If this is the case, they may be used as general-purpose inputs by assigning M-
variable to their corresponding memory-map locations (bits of Y address $FFC0).
J3 - Thumbwheel Multiplexer Port I/O (JTHW Port)
The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW connector has eight input lines and
eight output lines. The output lines can be used to multiplex large numbers of inputs and outputs on the
port, and Delta Tau provides accessory boards and software structures (special M-variable definitions) to
capitalize on this feature. Up to 32 of the multiplexed I/O boards may be daisy-chained on the port, in any
combination.
J4 – RS-232 Serial Port Connection (JRS232 Port)
Both RS-232 and RS-422 ports are always provided, and 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.
J4 and J4A cannot be used at the same time.
J4A – RS-422 Serial Port Connection (JRS422 Port)
Both RS-232 and RS-422 ports are always provided, and jumpers must be set correctly to use the port of
your choice. Jumpers E107 and E108 must connect pins 2 and 3 to use the RS-422 port on the J4A
connector. J4 and J4A cannot be used at the same time.

Universal PMAC Lite
4Introduction
J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port)
PMAC's JOPTO connector provides eight general-purpose digital inputs and eight general-purpose digital
outputs. Each input and each output has its own corresponding ground pin in the opposite row. The 34-pin
connector was designed for easy interface to OPTO-22 or equivalent optically isolated I/O modules. Acc-
21F is a six-foot cable for this purpose.
J6 - Auxiliary I/O Port Connector (JXIO Port)
This connector is used for miscellaneous I/O functions related to expansion cards that are used with PMAC.
J7 - A/D Port Connector (JS1 Port)
This connector is used for bringing the signals from an Acc-28A or an Acc-28B analog to digital converter
accessory board.
J8 - Position-Compare Connector (JEQU Port)
This connector provides the position-compare outputs and the amplifier enable outputs for the four servo
interface channels. The PMAC position-compare feature changes an external signal when the associated
encoder counter reaches a programmable position. In this way, events can be triggered to happen on the
actual position of the system. Because the triggering is a pure hardware function (although setup is
software), it is very fast and accurate. The signal can be used to trigger an action in the host computer, in
the plant, or in PMAC itself.
J11 - Machine Connector (JMACH Connector)
Since the PMAC Lite is limited to four on-board axes, it has only one JMACH machine interface connector,
which is labeled J11. This connector contains the pins for four channels of machine I/O: analog outputs,
incremental encoder inputs, and associated input and output flags, plus power-supply connections.
TB1 – Power Supply Terminal Block
This terminal block can be used to provide the input for the power supply for the circuits on the PMAC Lite
board when it is not in a bus configuration.
LED Indicators
The PMAC Lite has three LED indicators: red, yellow, and green. When the green LED is lit, this indicates
that power is applied to the +5V input; when the red LED is lit; this indicates that the watchdog timer has
tripped and shut down the PMAC.
The yellow LED located beside the red and green LEDs, when lit, indicates that the phase-locked loop that
multiplies the CPU clock frequency from the crystal frequency on the Option CPU is operational and stable.
This indicator is for diagnostic purposes only; it may not be present on your board.
Fuse
The 5V output through the J5 JOPTO connector is protected by F1, a 2-Amp fuse.
PMAC System Configuration Incompatibilities
In general, PMAC, its options, and its accessories can be mixed and matched at will. However, some
combinations are not permissible. These combinations are listed below.
JEXP Expansion Port Accessories
Acc-24P/V and Acc-29P/V may not be used on the same PMAC due to addressing conflicts. To interface
with MLDT feedback devices the PMAC2 controller is recommended instead of the PMAC1 and Acc-
29P/V combination. The PMAC can interface with two off-board DSPGATEs. The Acc-24P/V can have
either only one DSPGATE or a second DSPGATE when Acc-24P/V Option 1 is ordered. The Acc-51P can
have only one DSPGATE.

Universal PMAC Lite
Introduction 5
Due to bus drive limitations, a limit of four with an absolute maximum of six expansion port (JEXP)
accessories is recommended on any PMAC. In addition, the address spaces for Acc-14D/V and Acc-36P/V
boards on the JEXP expansion port are limited to six. One Acc-14D/V occupies a full address space; four
Acc-36P/V boards occupy one address space.
JTHW Thumbwheel Multiplexer Port Accessories
A total of 32 boards can be plugged into the thumbwheel multiplexer port (JTHW).
The Acc-27 Opto-Isolated I/O board cannot be used with any other accessory that connects through the
thumbwheel multiplexer port (JTHW): the Acc-8D Opt 7 R/D converter (if absolute power-on position is
desired); the Acc-8D Opt 9 Yaskawa Encoder Interface, the ACC-18 thumbwheel board, or any of the Acc-
34 family of serial I/O boards. This is because the Acc-27 uses the port in non-multiplexed fashion.
There is a limit of 256 addresses for multiplexed accessories on the JTHW thumbwheel multiplexer port:
the Acc-8D Opt 7 R/D converter (if absolute power-on position is desired); the Acc-8D Opt 9 Yaskawa
Encoder Interface, the Acc-18 thumbwheel board, or any of the ACC-34 family of serial I/O boards.
An Acc-8D Opt 7 board occupies one address.
An Acc-8D Opt 9 board occupies one address.
An Acc-18 board occupies eight consecutive addresses, starting with an address divisible by 8.
An Acc-34 type board occupies eight consecutive addresses, starting with an address divisible by 8.
There are no known cases of anyone using all of these address spaces.
JPAN Control Panel Port Accessories
The Acc-16D control panel and the Acc-39 handwheel encoder converter cannot be used on the same
PMAC because both use the entire JPAN control panel port.
JDISP Display Port Accessories
Only one display can be connected to the JDISP display port. This includes any of the Acc-12 family of
displays, and the built-in display in the Acc-16D control panel.
JSx Port Accessories
Each Acc-28 A/D converter board must interface to a separate DSPGATE gate array IC on PMAC or Acc-
24P/V through its JSx connector. Therefore, the limitations on numbers of Acc-28s for a PMAC are as
follows:
PMAC Lite; no ACC-24P/V 1 ACC-28
PMAC Lite; ACC-24P, no Opt 1 2 ACC-28s
PMAC Lite; ACC-24P with Opt 1 3 ACC-28s
Resistor Pack Configuration
Termination Resistors
The PMAC Lite provides sockets for termination resistors on differential input pairs coming into the board.
As shipped, there are no resistor packs in these sockets. If these signals are brought long distances into the
PMAC Lite board and ringing at signal transitions is a problem, SIP resistor packs may be mounted in these
sockets to reduce or eliminate the ringing. All termination resistor packs are the type that has independent
resistors (no common connection) with each resistor using two adjacent pins. The following table shows
which packs are used to terminate each input device:
Device Resistor Pack Device Resistor Pack
Encoder 1 RP51 Encoder 3 RP53
Encoder 2 RP52 Encoder 4 RP54

Universal PMAC Lite
6Introduction
Universal PMAC Lite Jumpers and Connectors Layout P/N 602402
E0 E1 E13 F1 E26 H2 E35 E3 E45 C2 E58 C3 E70 D3 E80 F3 E90 G2 E106 A2
E1 E1 E14 F1 E27 H2 E36 F3 E46 D2 E59 C3 E71 D3 E81 F3 E91 D3 E107 F1
E2 E1 E17A G1 E28 E3 E37 F3 E47 D2 E61 D3 E72 E2 E82 F3 E92 D3 E108 F1
E3 F3 E17B G1 E29 F3 E38 F3 E48 D1 E62 D3 E73 E2 E83 G3 E93 C3 E109 B1
E4 F3 E17C G1 E30 F3 E39 D3 E49 D1 E63 D3 E74 E2 E84 G3 E94 C3 E110 C2
E5 F3 E17D G1 E31 F3 E40 C2 E50 C1 E65 D3 E75 E2 E85 G3 E98 F3 D1 B1
E6 F3 E22 G1 E32 E3 E41 C2 E51 C1 E66 D3 E76 F3 E86 G3 E100 H1 D2 B1
E7 D1 E23 G1 E33 E3 E42 C2 E54 C3 E67 D3 E77 F3 E87 G3 E101 H1 D3 B1
E9 F1 E24 H2 E34A E3 E43 C2 E55 C3 E68 D3 E78 F3 E88 H3 E102 H1 D21 G1
E10 F1 E25 H2 E34 E3 E44 C2 E57 C3 E69 D3 E79 F3 E89 G2 E103 A1 F1 F1
V/F Option 15
DPRAM Option 2
1 2 3
A
B
C
D
E
F

Universal PMAC Lite
Introduction 7
Universal PMAC Lite Dimensions Part Number 602402

Universal PMAC Lite
8Introduction

Universal PMAC Lite
Jumpers Setup Summary 9
JUMPERS SETUP SUMMARY
On the PMAC Lite, there are many jumpers (pairs of metal prongs) called E-points. Some have been
shorted together; others have been left open. These jumpers customize the hardware features of the board
for a given application and must be setup appropriately. The following is an overview of the several
PMAC jumpers grouped in appropriate categories. For a complete description of the jumper setup
configuration, refer to the PMAC Lite Jumpers Descriptions section of this manual.
Power-Supply Configuration Jumpers
E85, E87, E88: Analog Circuit Isolation Control – These jumpers control whether the analog circuitry
on the PMAC Lite is isolated from the digital circuitry, or electrically tied to it. In the default
configuration, these jumpers are off, keeping the circuits isolated from each other (provided separate
isolated supplies are used).
Putting E87 ON ties the digital GND reference signal to the analog AGND reference signal, defeating the
isolation between the circuits. Putting E85 ON ties the digital +12V supply line to the analog A+15V
supply line. Putting E88 ON ties the digital –12V supply line to the analog A-15V supply line. Putting
these jumpers on permits the bus +/-12V supply to power PMAC’s analog circuits.
E89-E90: Input Flag Supply Control – If E90 connects pins 1 and 2 and E89 is ON, the input flags
(+LIMn, -LIMn, HMFLn, and FAULTn) are supplied from the analog A+15V supply, which can be
isolated from the digital circuitry. If E90 connects pins 1 and 2 and E89 is OFF, the input flags are
supplied from a separate A+V supply brought in on pin 9 of the J8 JEQU connector. This supply can be
in the +12V to +24V range, and can be kept isolated from the digital circuitry. If E90 connects pins 2 and
3, the input flags are supplied from the digital +12V supply, and isolation from the digital circuitry is
defeated.
E88
E85
E89
E87
A+15V
+5V
AGND
E90
GND
A-15V
+12V
+5V
GND
-12V
3113
E100
P1 (Bus) / TB1 JMACH1
V/F
Input
Flags AENAs
(EQUs) DACs
AGND
J8 JEQU
(12-24V) A+V (pin 9)
AGND

Universal PMAC Lite
Jumpers Setup Summary
10
Clock Configuration Jumpers
E98: DAC/ADC Clock Frequency Control – Leave E98 in its default setting of 1-2, which creates a
2.45 MHz DCLK signal, unless you are connecting an Acc-28 A/D-converter board. In this case, move
the jumper to connect pins 2 and 3, which creates a 1.22 MHz DCLK signal.
E29-E33: Phase Clock Frequency Control – Only one of the jumpers E29 – E33A, which select the
phase-clock frequency, may be on in any configuration. The default setting of E31 ON, which selects a 9
kHz phase-clock frequency, is seldom changed.
E48: Option CPU Clock Frequency Control – When PMAC is ordered with Option 5B, E48 setup the
CPU clock frequency to either 40 MHz or 60 MHz.
E3-E6: Servo Clock Frequency Control – The jumpers E3 – E6 determine the servo-clock frequency by
controlling how many times it is divided down from the phase-frequency. The default setting of E3 and
E4 OFF, E5 and E6 ON divides the phase-clock frequency by 4, creating a 2.25 kHz servo-clock
frequency. This setting is seldom changed.
E34A-E38: Encoder Sample Clock – Only one of the jumpers E34A – E38, which select the encoder
sample clock frequency, may be on in any configuration. The frequency must be high enough to accept
the maximum true count rate (no more than one count in any clock period), but a lower frequency can
filter out longer noise spikes. The anti-noise digital delay filter can eliminate noise spikes up to 1 sample-
clock cycle wide.
E40-E43: Servo and Phase Clock Direction Control – Jumpers E40-E43 control the software address
of the card, for serial addressing and for sharing the servo and phase clock over the serial connector. Card
@0 sends the clocks and cards @1-@F receive the clocks. If any of these jumpers is removed, PMAC PC
will expect to receive external servo and phase clock signals on the J4 serial port – if these signals are not
provide in this configuration, the watchdog timer will immediately trip.
Encoder Configuration Jumpers
E24-E27: Encoder Complementary Line Control– These jumpers, one per encoder, control the voltage
to which the complementary channels A/, B/, and C/ are pulled. The default setting for each jumper,
connecting pins 1 and 2, ties the complementary lines to 2.5V. This setting is required for single-ended
encoders, and is best if the channel is left unconnected. If encoders with differential line drivers are used,
the setting of these jumpers does not matter. Changing the jumpers to connect pins 2 and 3 ties the
complementary lines to 5V. This setting is used for (now obsolete) complementary open-collector
encoders, or if external exclusive-or loss-of-encoder circuitry is used.
The following table shows which jumper affects which encoder channel:
ENC1 E27 ENC2 E26 ENC3 E25 ENC4 E24
E22-E23: Control-Panel Handwheel Enable – Putting these jumpers ON ties the handwheel-encoder
inputs on the JPAN control-panel port to the Channel 2 encoder circuitry. Since these inputs are single-
ended, jumper E26 must connect pins 1-2. If the handwheel inputs are connected to Channel 2, no
encoder should be connected to Channel 2 through the JMACH1 connector.
E72-E73: Control Panel Analog Input Enable – Putting these jumpers ON ties the output of the Option
10 voltage-to-frequency converter that can process the Wiper analog input on the JPAN control panel port
to the Channel 4 encoder circuitry. If the frequency signal is connected to Channel 4, no encoder should
be connected to Channel 4 through the JMACH1 connector.
E74-E75: Encoder Sample Clock Output – Putting these jumpers ON ties the encoder sample-clock
signal to the CHC4 and CHC4/ lines on the JMACH1 port. This permits the clock signal to be used to
synchronize external encoder-processing devices like the ACC-8D Option 8 interpolator board. With
these jumpers ON, no encoder input signal should be connected to these pins.

Universal PMAC Lite
Jumpers Setup Summary 11
Board Reset/Save Jumpers
E39: Reset-From-Bus Enable – Putting this jumper ON ties the ISA-bus reset line to the PMAC Lite
reset line so that a bus reset will automatically reset the PMAC. However, if this jumper is ON and the
PMAC Lite is not installed in an ISA bus, the PMAC will be held permanently in its reset state and will
not operate.
E50: Flash-Save Enable/Disable Control – If E50 is ON (default), the active software configuration of
the PMAC can be stored to non-volatile flash memory with the SAVE command. If the jumper on E50 is
removed, this SAVE function is disabled, and the contents of the flash memory cannot be changed.
E51: Re-Initialization on Reset Control – If E51 is OFF (default), PMAC executes a normal reset,
loading active memory from the last saved configuration in non-volatile flash memory. If E51 is ON,
PMAC re-initializes on reset, loading active memory with the factory default values.
E93-E94: Reset from Bus by Software Enable – These jumpers permits hardware resets of the PMAC
(which work even if the watchdog timer has tripped) through software operations from the PC. If E93 is
ON, the PMAC PC powers up locked in the reset state. It can be put in the operational state by the PC
writing a value of 40hex to {base address + 12}; it can be put back in the reset state by the PC writing a
value of 40hex to {base address + 10}. If E94 is ON, the PMAC PC powers up in operational mode. It
can be put in reset mode by the PC writing a value of 40hex to {base address + 12}; it can be put back in
operational mode by the PC writing a value of 40hex to {base address + 10}.
E103: Watchdog Timer Disable – If E103 is installed the watchdog safety function will be disabled.
This jumper is for testing purposes only.
E106: Power-Up/Reset Load Source – If E106 is installed when the PMAC Lite executes its reset cycle,
PMAC enters a special re-initialization mode that permits the downloading of new firmware through
either the serial port or the bus port. In this bootstrap mode, there are very few command options. PMAC
will respond to any of the status-bit query commands (?, ??, or ???) with the response Bootstrap
PROM. This permits the host to know whether PMAC is in this mode or not. PMAC will respond to the
VERSION query command with the number of the bootstrap firmware (e.g. 1.01), which will probably be
different than the operational firmware version. To bypass the download operation in this mode, send a
<CONTROL-R> character to PMAC. This puts PMAC in the normal operational mode with the existing
firmware. Factory default values for I-variables, conversion table settings, and bus addresses for DPRAM
are copied from the firmware section of flash memory into active memory. The saved values of these
values are not used, but they are still kept in the user section of flash memory.
Note:
Before attempting to upgrade PMAC operational firmware, make sure all of
PMAC’s configuration has been stored to disk. If the new firmware provides a
different user memory map, PMAC will clear memory on power-up after new
firmware has been loaded. Even if this is not the case, the easiest way to establish
a new firmware checksum reference value is to send the $$$*** command, which
clears the buffers. For any change in the operational firmware, the compiled PLCs
will have to be re-compiled with the List Link file for the new firmware version. It
is important to delete all compiled PLCs (Delete PLCC n) before attempting to
change the operational firmware version. Compiled PLC programs running under
a firmware version other than that which they were compiled for can have
unpredictable consequences.

Universal PMAC Lite
Jumpers Setup Summary
12
Communication Jumpers
E9-E10, E13-E14: Serial Interface Configuration 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.
E44-E47: Serial Baud Rate Selection –The configuration of these jumpers and the particular CPU
Option ordered will determine the baud rate at which PMAC will communicate through its J4 serial port.
For example, when PMAC is ordered with no CPU Options and only the jumpers E45 and E46 are
installed, the baud rate will be set at 9600 baud.
E49: Serial Communications Parity Control – Jump pin 1 to 2 for NO serial parity; remove jumper for
ODD serial parity.
E66-E71, E91-E92: ISA Bus Base Address Control – Jumpers E91, E92, E66, E67, E68, E69, E70, and
E71 on the PMAC Lite determine the base address of the card in the I/O space of the host PC's expansion
bus (consult the Host PC-at I/O Address Map in this manual for details on selecting the appropriate base
address). Together, they form a binary number that specifies the 16 consecutive addresses on the bus
where the card can be found. The jumpers form the base address in the following fashion:
Jumper E91 E92 E66 E67 E68 E69 E70 E71
Bit # 11 10 9 8 7 6 5 4
Dec Value 2048 1024 512 256 128 64 32 16
Hex Value 800 400 200 100 80 40 20 10
If a jumper is ON, the value it contributes to the base address is ZERO.
If a jumper is OFF, the value it contributes to the base address is given in the table above.
On the PMAC Lite, the jumpers are arranged physically in the same order they are presented in the above
table.
From Jumper Configuration to Address
To determine the address specified by a given jumper configuration, use the following formula:
(Decimal)
Address = 2048*E91 + 1024*E92 + 512*E66 + 256*E67 + 128*E68 + 64*E69 + 32*E70 + 16*E71
(Hexadecimal)
Address = $800*E91 + $400*E92 + $200*E66 + $100*E67 + $80*E68 + $40*E69 + $20*E70 +
$10*E71
In each case, Exx = 1 if the jumper is OFF; Exx = 0 if the jumper is ON.
Example: On a PMAC card, the jumpers are in the following configuration:
E91 E92 E66 E67 E68 E69 E70 E71
ON ON OFF OFF ON ON ON ON
The address can be computed as:
Decimal Address = 0 + 0 + 512 + 256 + 0 + 0 + 0 + 0 = 768
Hex Address = 0 + 0 + $200 + $100 + 0 + 0 + 0 + 0 = $300

Universal PMAC Lite
Jumpers Setup Summary 13
From Address to Jumper Configuration
Once an I/O address on the PC expansion port has been selected, the following procedure can be used for
setting the address jumpers.
1. Convert the address to a 3-digital hexadecimal value ($000 to $FFF, representing 0 to 4095). If the
value does not fit in this range, you will not be able to set PMAC for this address. Make sure the last
digit is 0; only addresses divisible by 16 are permitted as PMAC base addresses.
2. Take the first hex digit and convert it to binary. The binary digits represent bits 11 through 8 of the
base address. Assign each binary digit to jumpers as follows:
Bit # 11(MSB) 10 9 8(LSB)
Jumper E91 E92 E66 E67
Digit Value 8 4 2 1
Setting for 1 OFF OFF OFF OFF
Setting for 0 ON ON ON ON
3. Take the second hex digit and convert it to binary. The binary digits represent bits 7 through 4 of the
base address. Assign each binary digit to jumpers as follows:
Bit # 7(MSB) 6 5 4(LSB)
Jumper E68 E69 E70 E71
Digit Value 8 4 2 1
Setting for 1 OFF OFF OFF OFF
Setting for 0 ON ON ON ON
Example 1: To set up the card to be at base address 992 decimal on the PC expansion bus.
1. 992 decimal is equal to 3E0 hexadecimal.
2. The first digit of 3 is binary 0011. This sets E91 ON, E92 ON, E66 OFF, and E67 OFF.
3. The second digit of E is binary 1110. This sets E68 OFF, E69 OFF, E70 OFF, and E71 ON.
Example 2: To set up the card to be at base address 528 decimal on the PC expansion bus.
1. 528 decimal is equal to 210 hexadecimal.
2. The first digit of 2 is binary 0010. This sets E91 ON, E92 ON, E66 OFF, and E67 ON.
3. The second digit of E is binary 0001. This sets E68 ON, E69 ON, E70 ON, and E71 OFF.
Example 3: To set up the card to be at base address 544 decimal on the PC expansion bus.
1. 544 decimal is equal to 220 hexadecimal.
2. The first digit of 2 is binary 0010. This sets E91 ON, E92 ON, E66 OFF, and E67 ON.
3. The second digit of E is binary 0010. This sets E68 ON, E69 ON, E70 OFF, and E71 ON.
E54-E55, E57-E59, E61-63, E65: Interrupt Source Control – These jumpers control which signals are
tied to interrupt lines IR5, IR6 and IR7 on PMAC’s programmable interrupt controller (PIC), as shown in
the interrupt diagram. Only one signal may be tied into each of these lines.
E76-E84, E86: Host Interrupt Signal Select – This bank of jumpers determines which ISA bus interrupt
line can be used by the PMAC PC, as shown in the interrupt diagram. Only one of these sets of jumpers
should be on in any configuration.
E107-E108: Serial Port Configure – Both RS-232 and RS-422 ports are always provided, and 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; jumpers E107 and E108 must connect pins 2 and 3 to use the
RS-422 port on the J4A connector.