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