Universal PMAC Lite Manual (EN)

^1 PRODUCT GUIDE ^2 Universal PMAC Lite ^3 PMAC Product Guide ^4 500-603657-xPGx ^5 April 21, 2004 Single Source Machine Control Power // Flexibility // Ease of Use 21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

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Copyright Information © 2003 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues. To report errors or inconsistencies, call or email: Delta Tau Data Systems, Inc. Technical Support Phone: (818) 717-5656 Fax: (818) 998-7807 Email: support@deltatau.com Website: http://www.deltatau.com Operating Conditions All Delta Tau Data Systems, Inc.

motion controller products, accessories, and amplifiers contain static sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only qualified personnel should be allowed to handle this equipment. In the case of industrial applications, we expect our products to be protected from hazardous or conductive materials and/or environments that could cause harm to the controller by damaging components or causing electrical shorts.

When our products are used in an industrial environment, install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are directly exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation. PMAC Guide

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PMAC Product Guide Table of Contents INTRODUCTION .......................................................................................................................................................1 What is PMAC?.............................................................................................................................................................1 Standard Features for a Typical Application ............................................................................................................2 Configuring and Programming PMAC..........................................................................................................................2 Hardware Setup.........................................................................................................................................................2 Software Setup...........................................................................................................................................................2 Programming PMAC.................................................................................................................................................3 Universal PMAC Lite 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).............................................................................3 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 Universal PMAC Lite Dimensions................................................................................................................................5 Universal PMAC Lite Jumpers and Connectors Layout................................................................................................6 Default Jumper Configuration.......................................................................................................................................7 Troubleshooting.............................................................................................................................................................8 Getting PMAC to Communicate Again......................................................................................................................8 Resetting PMAC to Factory Defaults ........................................................................................................................8 Before Calling for Help .............................................................................................................................................8 PMAC JUMPER CONFIGURATION....................................................................................................................11 Power-Supply Configuration Jumpers.........................................................................................................................11 E85, E87, E88:

Analog Circuit Isolation Control ...................................................................................................11 E89-E90: Input Flag Supply Control.......................................................................................................................12 Clock Configuration Jumpers......................................................................................................................................12 E98: DAC/ADC Clock Frequency Control..............................................................................................................12 E29-E33:

Phase Clock Frequency Control .............................................................................................................12 E48: Option CPU Clock Frequency Control...........................................................................................................12 E3-E6: Servo Clock Frequency Control..................................................................................................................12 E34A-E38: Encoder Sample Clock..........................................................................................................................13 E40-E43:

Servo and Phase Clock Direction Control..............................................................................................13 Encoder Configuration Jumpers ..................................................................................................................................13 E24-E27: Encoder Complementary Line Control ...................................................................................................13 E22-E23: Control-Panel Handwheel Enable ..........................................................................................................13 E72-E73:

Control Panel Analog Input Enable........................................................................................................13 E74-E75: Encoder Sample Clock Output................................................................................................................14 Board Reset/Save Jumpers ..........................................................................................................................................14 E39: Reset-From-Bus Enable..................................................................................................................................14 E50:

Flash-Save Enable/Disable Control ...............................................................................................................14 E51: Re-Initialization on Reset Control ..................................................................................................................14 E93-E94: Reset from Bus by Software Enable ........................................................................................................14 E103: Watchdog Timer Disable ..............................................................................................................................15 E106:

Power-Up/Reset Load Source.......................................................................................................................15 Communication Jumpers .............................................................................................................................................15 E9-E10, E13-E14: Serial Interface Configuration Control.....................................................................................15 Table of Contents i

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PMAC Product Guide E44-E47: Serial Baud Rate Selection......................................................................................................................16 E49: Serial Communications Parity Control...........................................................................................................16 E66-E71, E91-E92: ISA Bus Base Address Control................................................................................................16 E54-E55, E57-E59, E61-63, E65: Interrupt Source Control...................................................................................18 E76-E84, E86:

Host Interrupt Signal Select............................................................................................................18 E107-E108: Serial Port Configure..........................................................................................................................18 I/O Configuration Jumpers ..........................................................................................................................................19 E1-E2: Machine Output Supply Configure..............................................................................................................19 E7:

Machine Input Source/Sink Control..................................................................................................................19 E17A - E17D: Amplifier-Enable Polarity Control ..................................................................................................19 E28: Following Error/Watchdog Timer Signal Control..........................................................................................20 E100: Auxiliary Signals Supply Control..................................................................................................................20 E101-E102:

Auxiliary Signals Output Voltage Configure.......................................................................................20 E109: Display Port Configuration ..........................................................................................................................20 E110: Expansion Port Configuration......................................................................................................................20 Reserved Configuration Jumpers.................................................................................................................................21 E0:

Reserved for Future Use...................................................................................................................................21 WIRING GUIDELINES ...........................................................................................................................................23 Ground Loops..............................................................................................................................................................23 Star Ground Connection..........................................................................................................................................23 Opto-Isolation Circuits ................................................................................................................................................24 EMI, Electromagnetic Interference..............................................................................................................................24 Twisted Wires ..........................................................................................................................................................24 Shielded Cable.........................................................................................................................................................25 Wires Separation and Length ..................................................................................................................................25 Flat Cable Shielding ....................................................................................................................................................25 Basic Rules for Proper Wiring.....................................................................................................................................26 MACHINE CONNECTIONS...................................................................................................................................27 Power Supplies ............................................................................................................................................................27 Digital Power Supply...............................................................................................................................................27 Analog Power Supply ..............................................................................................................................................27 Flags Power Supply (Optional)...............................................................................................................................28 Overtravel Limits and Home Switches........................................................................................................................28 Types of Overtravel Limits.......................................................................................................................................28 Home Switches.........................................................................................................................................................29 Motor Signals Connections..........................................................................................................................................29 Incremental Encoder Connection............................................................................................................................29 Termination Resistors..............................................................................................................................................30 DAC Output Signals ................................................................................................................................................30 Amplifier Enable Signal (AENAx/DIRn)..................................................................................................................31 Amplifier Fault Signal (FAULTn) ...........................................................................................................................32 General-Purpose Digital Inputs and Outputs (JOPTO Port)........................................................................................33 J5 (JOPTO):

I/O Port Connector............................................................................................................................34 Serial Connections.......................................................................................................................................................35 J4 (JRS232) Serial Port Connector .........................................................................................................................36 J4A (JRS422):

Serial Port Connector .....................................................................................................................37 Machine Connections Example ...................................................................................................................................38 ACC-8P/ACC-8D Breakout Board..............................................................................................................................39 J8 (JEQU): Position-Compare Connector....................................................................................................................41 TB1 (JPWR):

Power Supply........................................................................................................................................41 TB1 (4-Pin Terminal Block) ....................................................................................................................................41 PROGRAMMING PMAC........................................................................................................................................43 Moving a Motor:

Jog Commands and Motion Programs ............................................................................................43 Axes and Coordinate Systems .....................................................................................................................................44 ii Table of Contents

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