^1 HARDWARE REFERENCE MANUAL

PMAC2A-PC/104
Axis Expansion
Accessory-1P

^3 PMAC2A-PC/104 ACC-1P Hardware Reference

^4 4xx-603671-xHxx

^5 December 6, 2010

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
Copyright Information
© 2009 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: [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.
 REVISION HISTORY
REV. DESCRIPTION DATE CHG APPVD

1 ADDED ENCODER JUMPERS E20-E23 04/10/07 CP S. MILICI

2 ADDED SOFTWARE SETUP INFO, P. 23 10/15/09 CP S. MILICI
3 CORR. I-VARIABLES FOR USE WITH TURBO CPU 10/01/10 SS S. SATTARI
Hardware Reference Manual

Table of Contents
INTRODUCTION .......................................................................................................................................................4
Acc-1P: Axis Expansion Piggyback Board...........................................................................................................4
Acc-1P Option 1: I/O Ports .................................................................................................................................4
Acc-1P Option 2: Analog-to-Digital Converters .................................................................................................4
HARDWARE SETUP .................................................................................................................................................6
I/O Configuration Jumpers........................................................................................................................................6
Encoder Configuration Jumpers ................................................................................................................................6
Reserved Configuration Jumpers ..............................................................................................................................7
Resistor Packs Configuration (older rev boards without E20-23) .............................................................................7
Differential or Single-Ended Encoder Selection...................................................................................................7
Handwheel Encoder Termination Resistors .........................................................................................................8
MACHINE CONNECTIONS.....................................................................................................................................9
Mounting ...................................................................................................................................................................9
Power Supplies..........................................................................................................................................................9
Digital Power Supply............................................................................................................................................9
DAC Outputs Power Supply .................................................................................................................................9
Flags Power Supply............................................................................................................................................10
Overtravel Limits and Home Switches....................................................................................................................10
Types of Overtravel Limits..................................................................................................................................10
Home Switches....................................................................................................................................................10
Motor Signals Connections .....................................................................................................................................10
Incremental Encoder Connection .......................................................................................................................10
DAC Output Signals ...........................................................................................................................................11
Pulse and Direction (Stepper) Drivers ...............................................................................................................11
Amplifier Enable Signal (AENAx/DIRn).............................................................................................................11
Amplifier Fault Signal (FAULT-) .......................................................................................................................12
General-Purpose Digital Inputs and Outputs (J7 Port) ............................................................................................12
Thumbwheel Multiplexer Port (JTHW Port)...........................................................................................................13
Handwheel Port (JHW / PD Port) ...........................................................................................................................14
Optional Analog Inputs ...........................................................................................................................................14
Compare Equal Outputs ..........................................................................................................................................14
Machine Connections Example: Using Analog ±10V Amplifier ............................................................................15
Machine Connections Example: Using Pulse and Direction Drivers ......................................................................16
SOFTWARE SETUP (NON-TURBO PMAC2A-PC104) ......................................................................................18
Communications......................................................................................................................................................18
PMAC I-Variables...................................................................................................................................................18
Filtered DAC Outputs Configuration ......................................................................................................................18
Using Flag I/O as General-Purpose I/O...................................................................................................................18
General-Purpose Digital Inputs and Outputs...........................................................................................................19
Jumper E6 on Position 1-2 .................................................................................................................................19
Jumper E5 in Position 2-3 ..................................................................................................................................19
Thumbwheel Port Digital Inputs and Outputs .........................................................................................................21
Jumper E6 in Position 1-2 ..................................................................................................................................21
Jumper E6 in Position 2-3 ..................................................................................................................................21
Analog Inputs Setup ................................................................................................................................................22
Analog Inputs......................................................................................................................................................22
SOFTWARE SETUP (TURBO PMAC2A-PC104 AND CLIPPER) ....................................................................23
Filtered DAC Outputs Configuration ......................................................................................................................23
Motor Setup for channels 9-12 ...........................................................................................................................24
Using Flag I/O as General-Purpose I/O...................................................................................................................29
General-Purpose Digital Inputs and Outputs...........................................................................................................30

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JOPTO port first ACC-1P, Jumper E6 on Position 1-2......................................................................................30

JTHW port first ACC-1P, Jumper E6 on Position 1-2........................................................................................31
JOPTO port second ACC-1P, Jumper E6 on Position 2-3 .................................................................................31
JTHW port second ACC-1P, Jumper E6 on Position 2-3 ...................................................................................32
Analog Inputs Setup ................................................................................................................................................33
Analog Inputs first ACC-1P................................................................................................................................33
Analog Inputs second ACC-1P ...........................................................................................................................33
HARDWARE REFERENCE SUMMARY .............................................................................................................35
Board Dimensions ...................................................................................................................................................35
Board Layout...........................................................................................................................................................36
Connectors and Indicators .......................................................................................................................................37
J2 - Thumbwheel Multiplexer Port (JTHW Port) ...............................................................................................37
J3 - Machine Connector (JMACH1 Port)...........................................................................................................37
J4 - Machine Connector (JMACH2 Port)...........................................................................................................37
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port).........................................................................37
J8 – Handwheel / Pulse and Direction Port (JHW / PD Port) ...........................................................................37
TB1 – Power Supply Terminal Block (JPWR Connector) ..................................................................................37
E-POINT JUMPER DESCRIPTIONS ....................................................................................................................39
E0: Reserved for Future Use ..................................................................................................................................39
E1 - E2: Machine Output Supply Voltage Configure.............................................................................................39
E3 – E4: JHW, PD Function Select........................................................................................................................39
E5: Servo Gate Address Select...............................................................................................................................40
E6: I/O Gate Address Select....................................................................................................................................40
E7: Machine Input Source/Sink Control ................................................................................................................40
E16: ADC Inputs Enable........................................................................................................................................40
CONNECTOR PINOUTS.........................................................................................................................................41
TB1 (JPWR): Power Supply ..................................................................................................................................41
J2 (JTHW): Multiplexer Port Connector .................................................................................................................42
J3 (JMACH1): Machine Port Connector (50-Pin Header) .....................................................................................43
J4 (JMACH2): Machine Port Connector (34-Pin Header) ......................................................................................45
J7 (JOPTO): I/O Port Connector .............................................................................................................................46
J8 (JHW) Handwheel Encoder Connector...............................................................................................................47
SCHEMATICS ..........................................................................................................................................................49

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INTRODUCTION
The PMAC2A PC/104 motion controller is a compact, cost-effective version of Delta Tau’s PMAC2
family of controllers. The PMAC2A PC/104 can be composed of three boards in a stack configuration.
The baseboard provides four channels of either DAC ±10V or pulse and direction command outputs. The
optional axis expansion board provides a set of four additional servo channels and I/O ports. The optional
communications board provides extra I/O ports and either the USB or Ethernet interface for faster
communications.
Acc-1P: Axis Expansion Piggyback Board
Acc-1P provides four additional channels axis interface
circuitry for a total of eight servo channels, each including:
• 12-bit ±10V filtered PWM analog output
• Pulse-and-direction digital outputs
• 3-channel differential/single-ended encoder input
• Four input flags, two output flags
• Three PWM top-and-bottom pairs (unbuffered)

Acc-1P Option 1: I/O Ports

Option 1 provides the following ports on the Acc-1P axes PMAC2A PC/104 Base Board shown
expansion board for digital I/O connections. stacked with the Acc-1P axes
• Multiplexer Port: This connector provides eight input lines and eight output lines at TTL levels.
When using the PMAC Acc-34x type boards these lines allow multiplexing large numbers of inputs
and outputs on the port. Up to 32 of the multiplexed I/O boards may be daisy-chained on the port, in
any combination.
• I/O Port: This port provides eight general-purpose digital inputs and eight general-purpose digital
outputs at 5 to 24Vdc levels. This 34-pin connector was designed for easy interface to OPTO-22 or
equivalent optically isolated I/O modules when different voltage levels or opto-isolation to the
PMAC2A PC/104 is necessary.
• Handwheel port: this port provides two extra channels, each jumper selectable between encoder input
or pulse output.
Acc-1P Option 2: Analog-to-Digital Converters
Option 2 permits the installation on the Acc-1P of two channels of analog-to-digital converters with ±10V
input range and 12-bits resolution. The key component installed with this option is U20.

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HARDWARE SETUP
On the Acc-1P, there are a number of jumpers called E-points or W-points that customize the hardware
features of the CPU for a given application and must be setup appropriately. The following is an
overview grouped in appropriate categories. For an itemized description of the jumper setup
configuration, refer to the E-Point Descriptions section.
I/O Configuration Jumpers
E1-E2: Machine Output Supply Configure – With the default sinking output driver IC (ULN2803A or
equivalent) in U7 for the J7 JOPT port outputs, these jumpers must connect pins 1 and 2 to supply the IC
correctly. If this IC is replaced with a sourcing output driver IC (UDN2981A or equivalent), these
jumpers must be changed to connect pins 2 and 3 to supply the new IC correctly. A wrong setting of
these jumpers will damage the associated output IC.
E3-E4: JHW, PD Function Select – When jumper E3 connects pins 2 and 3, a set of pulse and direction
signals can be output on channel 1 (pins 2 to 5) of the JHW, PD port. If E3 connects pins 1 and 2, then
channel 1 is configured as a handwheel encoder input. When jumper E4 connects pins 2 and 3, a set of
pulse and direction signals can be output on channel 2 (pins 6 to 9) of the JHW, PD port. If E4 connects
pins 1 and 2, then channel 2 is configured as a handwheel encoder input.
E5: Servo Gate address select – If jumper E5 connects pins 1 and 2 (default) the servo channels on the
Acc-1P will be accessed at the regular addresses for motors 5 to 8. When E5 connects pins 2 and 3 the
servo channels on the Acc-1P board will be accessed at the regular addresses for motors 5 to 8 plus $40,
and this is useful only when two Acc-1Ps are used with the same PMAC2A PC/104 baseboard.
E6: I/O Gate address select – If jumper E6 connects pins 1 and 2 (default) the I/O features on the Acc-
1P will be accessed at the regular addresses and the JTHW port can be used as a multiplexer port. When
E6 connects pins 2 and 3 the I/O features on the Acc-1P board will be accessed at the regular addresses
plus $40, and this is useful only when two I/O gate accessories are used with the same PMAC2A PC/104
baseboard.
E7: Machine Input Source/Sink Control – With this jumper connecting pins 1 and 2 (default) the
machine input lines on the J7 JOPT port are pulled up to +5V or the externally provided supply voltage
for the port. This configuration is suitable for sinking drivers. If the jumper is changes to connect pins 2
and 3, these lines are pulled down to GND – this configuration is suitable for sourcing drivers.
E16: ADC Enable Jumper – Install E16 to enable the analog-to-digital converter circuitry ordered
through Option-2. Remove this jumper to disable this option, which might be necessary to control motor
5 through a digital amplifier with current feedback.
Encoder Configuration Jumpers
E20-E23: Encoder Single Ended/Differential Select – The ACC-1P has differential line receivers for
each encoder channel, but can accept either single-ended (one signal line per channel) or differential (two
signal lines, main and complementary, per channel). A jumper for each encoder permits customized
configurations, as described below.
Single-Ended Encoders
With the jumper for an encoder set for single-ended (pin 1 to 2), the differential input lines for that
encoder are tied to 2.5V; the single signal line for each channel is then compared to this reference as it
changes between 0 and 5V. When using single-ended TTL-level digital encoders, the differential line
input should be left open, not grounded or tied high; this is required for The PMAC differential line
receivers to work properly.

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Differential Encoders
Differential encoder signals (pin 2 to 3) can enhance noise immunity by providing common-mode noise
rejection. Modern design standards virtually mandate their use for industrial systems, especially in the
presence of PWM power amplifiers, which generate a great deal of electromagnetic interference.

Connect pin 1 to 2 to tie differential line to +2.5V

• Tie to +2.5V when no connection
• Tie to +2.5V for single-ended encoders
Connect pin 2 to 3 to tie differential line to +5V
• Don’t care for differential line driver encoders
• Tie to +5V for complementary open-collector encoders (obsolete)

Reserved Configuration Jumpers

E0: Reserved for future use
Resistor Packs Configuration (older rev boards without E20-23)
Differential or Single-Ended Encoder Selection
The differential input signal pairs to the PMAC have user-configurable pull-up/pull-down resistor
networks to permit the acceptance of either single-ended or differential signals in one setting, or the
detecting loss of differential signals in another setting.
The ‘+’ inputs of each differential pair each have a hard-wired 1 kΩ pull-up resistor to +5V. This cannot
be changed.
The ‘-‘ inputs of each differential pair each have a hard-wired 2.2 kΩ resistor to +5V; each also has
another 2.2 kΩ resistor as part of a socketed resistor pack that can be configured as a pull-up resistor to
+5V, or a pull-down resistor to GND.
If this socketed resistor is configured as a pull-down resistor (the default configuration), the combination
of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.5V in the
absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines
alone; it is desirable for unconnected inputs to prevent the pick-up of spurious noise; it is permissible for
differential line-driver inputs.
If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the
two parallel 2.2 kΩ resistors act as a single 1.1 kΩ pull-up resistor, holding the line at +5V in the absence
of an external signal. This configuration is required if complementary open-collector drivers are used; it
is permissible for differential line-driver inputs.
If Pin 1 of the resistor pack, marked by a dot on the pack, matches Pin 1 of the socket, labeled by a white
square, then the pack is configured as a bank of pull-down resistors. If the pack is reversed in the socket,
it is configured as a bank of pull-up resistors. The following table lists the pull-up/pull-down resistor
pack for each input device:
Device Resistor Pack Pack Size
Encoder 1 RP30 6-pin
Encoder 2 RP31 6-pin
Encoder 3 RP36 6-pin

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Encoder 4 RP37 6-pin

Handwheel Encoder RP55 6-pin

Handwheel Encoder Termination Resistors

The PMAC provides a socket for termination resistors on the handwheel encoder differential input pairs
coming into the board. As shipped, there is no resistor pack in the RP56 socket. If these signals are
brought long distances into the PMAC board and ringing at signal transitions is a problem, a SIP resistor
pack may be mounted on the RP56 socket to reduce or eliminate the ringing. The 6-pin termination
resistor pack is the type that has independent resistors (no common connection) with each resistor using 2
adjacent pins.

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MACHINE CONNECTIONS
Typically, the user connections are actually made to terminal blocks that are attached to the JMACH
connectors by a flat cable. The following are the terminal blocks recommended for connections:
• 34-Pin IDC header to terminal block breakouts (Phoenix part number 2281063) Delta Tau
part number 100-FLKM34-000
• 50-Pin IDC header to terminal block breakouts (Phoenix part number 2281089) Delta Tau
part number 100-FLKM50-000
Mounting
The PMAC2A PC/104 is always installed either using standoffs, when it is
stacked to a PC/104 computer or used as a stand-alone controller. At each of
the four corners of the PMAC2A PC/104 board, there are mounting holes that
can be used to mount the board on standoffs.
The PMAC2A PC/104 baseboard is placed always at the bottom of the stack.
The order of the Acc-1P or Acc-2P with respect to the baseboard does not
matter.
Baseboard mounted at
the bottom of the stack
Power Supplies
Digital Power Supply
3A @ +5V (±5%) (15 W)
(Eight-channel configuration, with a typical load of encoders)
The PMAC2A PC/104, the Acc-1P and the Acc-2P each require a 1A @ 5VDC power supply for
operation. Therefore, a 3A @ 5VDC power supply is recommended for a PMAC2A PC/104 board stack
with Acc-1P and Acc-2P boards.
• The host computer provides the 5 Volts power supply in the case PMAC is installed in the
PC/104 bus. With the board stack into the bus, it will automatically pull +5V power from the
bus and it cannot be disconnected. In this case, there must be no external +5V supply, or the
two supplies will "fight" each other, possibly causing damage. This voltage could be
measured on the TB1 terminal block or the JMACH1 connector.
• In a stand-alone configuration, when PMAC is not plugged in a computer bus, it will need an
external 5V supply to power its digital circuits. The 5V power supply can be brought in
either from the TB1 terminal block or from the JMACH1 connector.
DAC Outputs Power Supply
0.3A @ +12 to +15V (4.5W)
0.25A @ -12 to -15V (3.8W)
(Eight-channel configuration)
• The host computer provides the ±12 Volts power supply in the case PMAC is installed in the
PC/104 bus. With the board stack into the bus, it will pull ±12V power from the bus
automatically and it cannot be disconnected. In this case, there must be no external ±12V
supply, or the two supplies will fight each other, possibly causing damage. This voltage
could be measured on the TB1 terminal block.
• In a stand-alone configuration, when PMAC is not plugged in a computer bus, it will need an
external ±12V supply only when the digital-to-analog converter (DAC) outputs are used. The
±12V lines from the supply, including the ground reference, can be brought in either from the
TB1 terminal block or from the JMACH1 connector.

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Flags Power Supply

Each channel of PMAC has five dedicated digital inputs on the machine connector: PLIMn, MLIMn
(overtravel limits), HOMEn (home flag), FAULTn (amplifier fault), and USERn. A power supply from 5
to 24V must be used to power the circuits related to these inputs. This power supply can be the same
used to power PMAC and can be connected from the TB1 terminal block or the JMACH1 connector.
Overtravel Limits and Home Switches
When assigned for the dedicated uses, these signals provide important safety and accuracy functions.
PLIMn and MLIMn are direction-sensitive over-travel limits that must conduct current to permit motion
in that direction. If no over-travel switches will be connected to a particular motor, this feature must be
disabled in the software setup through the PMAC Ix25 variable.
Types of Overtravel Limits
PMAC expects a closed-to-ground connection for the limits to not be considered on fault. This
arrangement provides a failsafe condition. Usually, a passive normally close switch is used. If a
proximity switch is needed instead, use a 5 to 24V normally closed to ground NPN sinking type sensor.

Home Switches
• While normally closed-to-ground switches are required for the overtravel limits inputs, the
home switches could be either normally close or normally open types. The polarity is
determined by the home sequence setup, through the I-variables I9n2. .
Motor Signals Connections
Incremental Encoder Connection
Each JMACH1 connector provides two +5V outputs and two logic grounds for powering encoders and
other devices. The +5V outputs are on pins 1 and 2; the grounds are on pins 3 and 4. The encoder signal
pins are grouped by number: all those numbered 1 (CHA1+, CHA1-, CHB1+, CHC1+, etc.) belong to
encoder #1. The encoder number does not have to match the motor number, but usually does. Connect
the A and B (quadrature) encoder channels to the appropriate terminal block pins. For encoder 1, the
CHA1+ is pin 5 and CHB1+ is pin 9. If there is a single-ended signal, leave the complementary signal
pins floating – do not ground them. However, if single-ended encoders are used, check the settings of the
resistor packs (see the Hardware Setup section for details). For a differential encoder, connect the
complementary signal lines – CHA1- is pin 7, and CHB1- is pin 11. The third channel (index pulse) is
optional; for encoder 1, CHC1+ is pin 13, and CHC1- is pin 15.
Example: differential quadrature encoder connected to channel #1:

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DAC Output Signals

If PMAC is not performing the commutation for the motor, only one analog output channel is required to
command the motor. This output channel can be either single-ended or differential, depending on what
the amplifier is expecting. For a single-ended command using PMAC channel 1, connect DAC1+ (pin
29) to the command input on the amplifier. Connect the amplifier’s command signal return line to
PMAC’s GND line (pin 48). In this setup, leave the DAC1- pin floating; do not ground it.
For a differential command using PMAC channel 1, connect DAC1 (pin 29) to the plus-command input
on the amplifier. Connect DAC1- (pin 31) to the minus-command input on the amplifier. PMAC’s GND
should still be connected to the amplifier common.
Any analog output not used for dedicated servo purposes may be utilized as a general-purpose analog
output by defining an M-variable to the command register, then writing values to the M-variable. The
analog outputs are intended to drive high-impedance inputs with no significant current draw. The 220Ω
output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the
output circuitry, but any current draw above 10 mA can result in noticeable signal distortion.
Example:

Pulse and Direction (Stepper) Drivers

The channels provided by the PMAC2A PC/104 board or the Acc-1P board can output pulse and
direction signals for controlling stepper drivers or hybrid amplifiers. These signals are at TTL levels.

Amplifier Enable Signal (AENAx/DIRn)

Most amplifiers have an enable/disable input that permits complete shutdown of the amplifier regardless
of the voltage of the command signal. PMAC’s AENA line is meant for this purpose. AENA1- is pin 33.
This signal is an open-collector output and an external 3.3 kΩ pull-up resistor can be used if necessary.

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Amplifier Fault Signal (FAULT-)

This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems,
and can shut down action. The polarity is programmable with I-variable Ix25 (I125 for motor 1) and the
return signal is ground (GND). FAULT1- is pin 35. With the default setup, this signal must actively be
pulled low for a fault condition. In this setup, if nothing is wired into this input, PMAC will consider the
motor not to be in a fault condition.

General-Purpose Digital Inputs and Outputs (J7 Port)

Acc-1P J7 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.
Delta Tau’s Acc-21F is a six-foot cable for this purpose. Characteristics of the JOPTO port on the
PMAC:
• 16 I/O points. 100 mA per channel, up to 24V
• Hardware selectable between sinking and sourcing in groups of 8; default is all sinking
(inputs can be changed simply by moving a jumper; sourcing outputs must be special-ordered
or field-configured)
• Eight inputs, and eight outputs only; no changes. Parallel (fast) communications to PMAC
CPU
• Not opto-isolated; easily connected to Opto-22 (PB16) or similar modules through Acc-21F
cable
Jumper E7 on the Acc-1P board controls the configuration of the eight inputs. If it connects pins 1 and 2
(the default setting), the inputs are biased to +5V for the OFF state, and they must be pulled low for the
ON state. If E7 connects pins 2 and 3, the inputs are biased to ground for the OFF state, and must be
pulled high for the ON state. In either case, a high voltage is interpreted as a 0 by the PMAC software,
and a low voltage is interpreted as a 1.
PMAC is shipped standard with a ULN2803A sinking (open-collector) output IC for the eight outputs.
These outputs can sink up to 100 mA and have an internal 3.3 kΩ pull-up resistor to go high (RP18). Do
not connect these outputs directly to the supply voltage, or damage to the PMAC will result from
excessive current draw. The user can provide a high-side voltage (+5 to +24V) into Pin 33 of the J7
connector, and allow this to pull up the outputs by connecting pins 1 and 2 of Jumper E1. Jumper E2
must also connect pins 1 and 2 for a ULN2803A sinking output.
It is possible for these outputs to be sourcing drivers by substituting a UDN2981A IC for the ULN2803A.
This U7 IC is socketed, and so may easily be replaced. Usually the U7 IC is offset by two pins on its
socket, and so pins 1 and 2 usually remain open.
WARNING
Having Jumpers E1 and E2 set wrong can damage the IC. The +V output on this
connector has a 2A fuse, F1, for excessive current protection.
For this driver, the internal resistor packs pull-down instead. With a UDN2981A driver IC, Jumper E1
must connect pins 2 and 3, and Jumper E2 must connect pins 2 and 3.
Example: Standard configuration using the ULN2803A sinking (open-collector) output IC.

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Further software settings are required to configure this port. See the Software Setup section for details.
Thumbwheel Multiplexer Port (JTHW Port)
The Thumbwheel Multiplexer Port, or Multiplexer Port, on the JTHW connector has sixteen lines. These
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. Either the
Acc-1P or the Acc-2P boards, but not both, can use this connector as a multiplexing port. This is selected
by jumper E6 on the Acc-1P board and jumper E5 on the Acc-2P board.
Alternatively, the inputs and outputs on this port may be used as discrete, non-multiplexed I/O. In this
case, these I/O lines can be accessed through M-variables. See the Software Setup section for details on
this.

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When used as non-multiplexed I/O, jumpers E7 and E8 select the I/O lines direction of the JTHW
connector. This allows configuring this port as all inputs, all outputs or half inputs and half outputs. If
E7 is removed or E8 is installed then the multiplexing feature if the JTHW port cannot be used.
Handwheel Port (JHW / PD Port)
This port provides an extra encoder input or a set of pulse and direction outputs. Jumpers E3 and E4 select
the function of this connector between encoder input or pulse and direction outputs. The handwheel
encoder input can be linked to a servomotor for manual displacement or used by a motor as a secondary
encoder for dual-feedback applications. There is no C index channel input on the handwheel encoder
port.
Optional Analog Inputs
The optional analog-to-digital converter inputs are ordered either through Option-12 on the baseboard or
Option-2 on the axes expansion board. Each option provides two 12-bit analog inputs analog inputs with
a ±10Vdc range.

Compare Equal Outputs

The compare-equals (EQU) outputs have a dedicated use of providing a signal edge when an encoder
position reaches a pre-loaded value. This is very useful for scanning and measurement applications.
Instructions for use of these outputs are covered in detail in the PMAC2 User Manual.

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Machine Connections Example: Using Analog ±10V Amplifier

Machine Connections 15
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Machine Connections Example: Using Pulse and Direction Drivers

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SOFTWARE SETUP (non-Turbo PMAC2A-PC104)

Note:
The PMAC2A PC/104 requires the use of V1.17 or newer firmware. There are
few differences between the previous V1.16H firmware and the V1.17 firmware
other than the addition of internal support for the Flex CPU design.

Communications
Delta Tau provides software tools that allow communicating with of the PMAC2A PC/104 board by
either its standard RS-232 port or the optional USB or Ethernet ports. PEWIN is the most important in
the series of software accessories, and it allows configuring and programming the PMAC for any
particular application.
PMAC I-Variables
PMAC has a large set of Initialization parameters (I-variables) that determine the "personality" of the card
for a specific application. Many of these are used to configure a motor properly. Once set up, these
variables may be stored in non-volatile EAROM memory (using the SAVE command) so the card is
always configured properly (PMAC loads the EAROM I-variable values into RAM on power-up).

Filtered DAC Outputs Configuration

The following I-variables must be set properly to use the digital-to-analog (filtered DAC) outputs:
I900 = 1001 ; PWM frequency 29.4kHz, PWM 1-4
I901 = 2 ; Phase Clock 19.6kHz
I902 = 3 ; Servo frequency 4.9kHz
I903 = 1746 ; ADC frequency
I906 = 1001 ; PWM frequency 29.4kHz, PWM 5-8
I907 = 1746 ; ADC frequency
I9n6 = 0 ; Output mode: PWM
Ix69 = 1001 ; DAC limit 10Vdc
I10 = 1710933 ; Servo interrupt time
n = channel number from 1 to 8
x = motor number from 1 to 8
Using Flag I/O as General-Purpose I/O
Either the user flags or other not assigned axes flag on the base board can be used as general-purpose I/O
for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions,
which are defined in the PMAC2 Software reference, allows accessing each particular line according to
the following table:
Channel Number
Flag Type
#5 #6 #7 #8
HOME 5-24 VDC Input M520 M620 M720 M820
PLIM 5-24 VDC Input M521 M621 M721 M821
MLIM 5-24 VDC Input M522 M622 M722 M822
USER 5-24 VDC Input M515 M615 M715 M815
AENA 5-24 VDC Output M514 M614 M714 M814

Note:
When using these lines as regular I/O points the appropriate setting of the Ix25
variable must be used to enable or disable the safety flags feature.

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Hardware Reference Manual

General-Purpose Digital Inputs and Outputs

If one Acc-1P is present on the PMAC2A PC/104 stack configuration then its jumpers E5 and E6 should
be set at the default position 1-2. In this case, the lines on its J7 general-purpose I/O connector will be
mapped into PMAC’s address space in register Y:$C080. Jumpers E5 and E6 should be configured on
position 2-3 only when two Acc-1Ps are used. In this case, the I/O lines can be accessed at address
Y:$C0C0.
If no Acc-1P is present on the PMAC2A PC/104 stack configuration, and only Acc-2P is used, then
jumper E5 on the Acc-2P board should connect pins 1 and 2. In this case the lines on its JOPT general-
purpose I/O connector will be mapped into PMAC's address space in register Y:$C080.
If both Acc-1P and Acc-2P are used, then jumper E5 on the Acc-2P board should connect pins 2 and 3
and its I/O lines can be accessed at address Y:$C0C0.
Typically, these I/O lines are accessed individually with M-variables. Following is a suggested set of M-
variable definitions to use these data lines.
Jumper E6 on Position 1-2
M0->Y:$C080,0 ; Digital Output M00
M1->Y:$C080,1 ; Digital Output M01
M2->Y:$C080,2 ; Digital Output M02
M3->Y:$C080,3 ; Digital Output M03
M4->Y:$C080,4 ; Digital Output M04
M5->Y:$C080,5 ; Digital Output M05
M6->Y:$C080,6 ; Digital Output M06
M7->Y:$C080,7 ; Digital Output M07
M8->Y:$C080,8 ; Digital Input MI0
M9->Y:$C080,9 ; Digital Input MI1
M10->Y:$C080,10 ; Digital Input MI2
M11->Y:$C080,11 ; Digital Input MI3
M12->Y:$C080,12 ; Digital Input MI4
M13->Y:$C080,13 ; Digital Input MI5
M14->Y:$C080,14 ; Digital Input MI6
M15->Y:$C080,15 ; Digital Input MI7
M32->X:$C080,0,8 ; Direction Control bits 0-7 (1=output, 0 = input)
M34->X:$C080,8,8 ; Direction Control bits 8-15 (1=output, 0 = input)
M40->X:$C084,0,24 ; Inversion control (0 = 0V, 1 = 5V)
M42->Y:$C084,0,24 ; J7 port data type control (1 = I/O)
In order to properly setup the digital outputs an initialization PLC must be written scanning through once
on power-up/reset, then disabling itself:
OPEN PLC1 CLEAR
M32=$FF ;BITS 0-8 are assigned as output
M34=$0 ;BITS 9-16 are assigned as input
M40=$FF00 ;Define as inputs and outputs
M42=$FFFF ;All lines are I/O type
DIS PLC1 ;Disable PLC1 (scanning through once on
;power-up/reset)
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

Jumper E5 in Position 2-3

M0->Y:$C0C0,0 ; Digital Output M00
M1->Y:$C0C0,1 ; Digital Output M01

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M2->Y:$C0C0,2 ; Digital Output M02

M3->Y:$C0C0,3 ; Digital Output M03
M4->Y:$C0C0,4 ; Digital Output M04
M5->Y:$C0C0,5 ; Digital Output M05
M6->Y:$C0C0,6 ; Digital Output M06
M7->Y:$C0C0,7 ; Digital Output M07
M8->Y:$C0C0,8 ; Digital Input MI0
M9->Y:$C0C0,9 ; Digital Input MI1
M10->Y:$C0C0,10 ; Digital Input MI2
M11->Y:$C0C0,11 ; Digital Input MI3
M12->Y:$C0C0,12 ; Digital Input MI4
M13->Y:$C0C0,13 ; Digital Input MI5
M14->Y:$C0C0,14 ; Digital Input MI6
M15->Y:$C0C0,15 ; Digital Input MI7
M32->X:$C0C0,0,8 ; Direction Control (1=output, 0 = input)
M34->X:$C0C0,8,8 ; Direction Control (1=output, 0 = input)
M40->X:$C0C4,0,24 ; Inversion control (0 = 0V, 1 = 5V)
M42->Y:$C0C4,0,24 ; JI/O port data type control (1 = I/O)
In order to properly setup the digital outputs, an initialization PLC must be written scanning through once
on power-up/reset, and then disabling itself:
OPEN PLC1 CLEAR
M32=$FF ;BITS 0-8 are assigned as output
M34=$0 ;BITS 9-16 are assigned as input
M40=$FF00 ;Define as inputs and outputs
M42=$FFFF ;All lines are I/O type
DIS PLC1 ;Disable PLC1 (scanning through once on
;power-up/reset)
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

20 Software Setup
Hardware Reference Manual

Thumbwheel Port Digital Inputs and Outputs

The inputs and outputs on the thumbwheel multiplexer port of either the Acc-1P or the Acc-2P boards
may be used as discrete, non-multiplexed I/O. In this case, these I/O lines can be accessed through M-
variables that are defined according to the setup of the address selection jumpers. Jumper E6 on the Acc-
1P or E5 on the Acc-2P determine which set of the following M-variables are used:
Jumper E6 in Position 1-2
M40->Y:$C082,8,1 ; SEL0 Output
M41->Y:$C082,9,1 ; SEL1 Output
M42->Y:$C082,10,1 ; SEL2 Output
M43->Y:$C082,11,1 ; SEL3 Output
M44->Y:$C082,12,1 ; SEL4 Output
M45->Y:$C082,13,1 ; SEL5 Output
M46->Y:$C082,14,1 ; SEL6 Output
M47->Y:$C082,15,1 ; SEL7 Output
M48->Y:$C082,8,8,U ; SEL0-7 Outputs treated as a byte
M50->Y:$C082,0,1 ; DAT0 Input
M51->Y:$C082,1,1 ; DAT1 Input
M52->Y:$C082,2,1 ; DAT2 Input
M53->Y:$C082,3,1 ; DAT3 Input
M54->Y:$C082,4,1 ; DAT4 Input
M55->Y:$C082,5,1 ; DAT5 Input
M56->Y:$C082,6,1 ; DAT6 Input
M57->Y:$C082,7,1 ; DAT7 Input
M58->Y:$C082,0,8,U ; DAT0-7 Inputs treated as a byte

Jumper E6 in Position 2-3

M40->Y:$C0C2,8,1 ; SEL0 I/O Line
M41->Y:$C0C2,9,1 ; SEL1 I/O Line
M42->Y:$C0C2,10,1 ; SEL2 I/O Line
M43->Y:$C0C2,11,1 ; SEL3 I/O Line
M44->Y:$C0C2,12,1 ; SEL4 I/O Line
M45->Y:$C0C2,13,1 ; SEL5 I/O Line
M46->Y:$C0C2,14,1 ; SEL6 I/O Line
M47->Y:$C0C2,15,1 ; SEL7 I/O Line
M48->Y:$C0C2,8,8,U ; SEL0-7 I/O Lines treated as a byte
M50->Y:$C0C2,0,1 ; DAT0 I/O Line
M51->Y:$C0C2,1,1 ; DAT1 I/O Line
M52->Y:$C0C2,2,1 ; DAT2 I/O Line
M53->Y:$C0C2,3,1 ; DAT3 I/O Line
M54->Y:$C0C2,4,1 ; DAT4 I/O Line
M55->Y:$C0C2,5,1 ; DAT5 I/O Line
M56->Y:$C0C2,6,1 ; DAT6 I/O Line
M57->Y:$C0C2,7,1 ; DAT7 I/O Line
M58->Y:$C0C2,0,8,U ; DAT0-7 I/O Lines treated as a byte

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Analog Inputs Setup

The optional analog-to-digital converter inputs are ordered either through Option-12 on the baseboard or
Option-2 on the axes expansion board. Each option provides two 12-bit analog inputs with a ±10Vdc
range. The M-variables associated with these inputs provided a range of values between +2048 and –
2048 for the respective ±10Vdc input range. The following is the software procedure to setup and read
these ports.
Analog Inputs
I907 = 1746 ;Set ADC clock frequency at 4.9152 MHz
WX:$C034, $1FFFFF ;Clock strobe set for bipolar inputs
M305->X:$0714,12,12,S ;ADCIN_1 on JMACH1 connector (Acc-1P) pin 45
M405->X:$0715,12,12,S ;ADCIN_2 on JMACH1 connector (Acc-1P) pin 46

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SOFTWARE SETUP (Turbo PMAC2A-PC104 and Clipper)

Filtered DAC Outputs Configuration
Although the Clipper Board uses standard Turbo PMAC2 firmware certain I-variables must be set
properly to use the digital-to-analog (filtered DAC) outputs. For the first ACC-1P board, the E5 jumper
should be set 1-2 to enable the four channels as motors 5-8 at base address $78100. The PMAC firmware
will automatically set up the encoder conversion table and basic motor I-variables for channels 5 through
8 after a “$$$***” command is issued. This will provide a total of 8 channels. The suggested M-variables
as specified in the Turbo PMAC/PMAC2 Software reference for motors 5 through 8 will apply. The I-
variables should be set as follows:
I7000 = 1001 ; PWM frequency 29.4kHz, PWM 1-4
I7001 = 5 ; Phase Clock 9.8kHz
I7002 = 3 ; Servo frequency 2.45kHz
I7003 = 1746 ; ADC frequency
I7100 = 1001 ; PWM frequency 29.4kHz, PWM 5-8
I7101 = 5 ; Phase Clock 9.8kHz
I7102 = 3 ; Servo frequency 2.45kHz
I7103 = 1746 ; ADC frequency
I7016 = 0 ; Output mode ch#1: PWM
I7026 = 0 ; Output mode ch#2: PWM
I7036 = 0 ; Output mode ch#3: PWM
I7046 = 0 ; Output mode ch#4: PWM
I7116 = 0 ; Output mode ch#5: PWM
I7126 = 0 ; Output mode ch#6: PWM
I7136 = 0 ; Output mode ch#7: PWM
I7146 = 0 ; Output mode ch#8: PWM
I169 = 1001 ; DAC limit ch#1 10Vdc
I269 = 1001 ; DAC limit ch#2 10Vdc
I369 = 1001 ; DAC limit ch#3 10Vdc
I469 = 1001 ; DAC limit ch#4 10Vdc
I569 = 1001 ; DAC limit ch#5 10Vdc
I669 = 1001 ; DAC limit ch#6 10Vdc
I769 = 1001 ; DAC limit ch#7 10Vdc
I869 = 1001 ; DAC limit ch#8 10Vdc
I10 = 3421867 ; Servo interrupt time
Once this has been downloaded to the Clipper board, save and reset the board (“SAVE” and “$$$”
commands). The executive’s tuning programs can now be used to set up the PID parameters.
For the second ACC-1P board, the E5 jumper should be set 2-3 to enable the four channels as motors 9-
12 at base address $78140. This will require special set-up since there are no I-variables associated with
this servo gate address, nor will the PMAC firmware set up the encoder conversion table – this must be
done in a “run once startup PLC”. The following M-variables will be required to access the hardware set-
up registers of the 3rd servo gate:
M7200->X$7815C,8,16 ;MaxPhase/PWM Frequency Control (I7m00 equivalent)
M7201->X$78144,16,4 ;Phase Clock Frequency Control (I7m01 equivalent)
M7202->X$78144,20,4 ;Servo Clock Frequency Control (I7m02 equivalent)
M7203->X$78144,0,12 ; Hardware Clock Control (I7m03 equivalent)
M7204->X$7815C,0,8 ; PWM/PFM Deadtime/Width Control (I7m04 equivalent)
M7205->X$7814C,0,24 ; DAC Strobe Word (I7m05 equivalent)
M7206->X$78154,0,24 ; ADC Strobe Word (I7m06 equivalent)

The following I-variables will add motors 9 through 12 to the encoder conversion table:

Software Setup 23
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I8008=$78140;ECT Entry motor #9

I8009=$78148;ECT Entry motor #10
I8010=$78150;ECT Entry motor #11
I8011=$78158;ECT Entry motor #12
I8012=$0;ECT Entry 12

The following run once startup PLC will assign the correct clock values and other hardware settings for
the third servo gate to properly set-up the filtered PWM DAC outputs:
OPEN PLC 25 CLEAR
M7200 = 1001
M7201 = 5
M7202 = 3
M7203 = 1746
M7204 = 15
M7205 = $7FFFC0
M7206 = $FFFFFE
DIS PLC 25
CLOSE

Motor Setup for channels 9-12

The following M-variables will be required to access the necessary registers for the set-up (with default
values) and status of each motor (listed separately for each motor):

// FIRST CHANNEL OF GATE #3 - MOTOR #9

M901->X:$078141,0,24,S ; ENC9 24-bit counter position
M902->Y:$078142,8,16,S ; OUT9A command value; DAC or PWM
M903->X:$078143,0,24,S ; ENC9 captured position
M914->X:$078145,14 ; AENA9 output status
M915->X:$078140,19 ; USER9 flag input status
M917->X:$078140,11 ; ENC9 capture flag
M918->X:$078140,8 ; ENC9 count error flag
M919->X:$078140,14 ; CHC9 input status
M920->X:$078140,16 ; HMFL9 flag input status
M921->X:$078140,17 ; PLIM9 flag input status
M922->X:$078140,18 ; MLIM9 flag input status
M923->X:$078140,15 ; FAULT9 flag input status

M7210->X:$78145,0,4 ;I7mn0 Servo IC m Channel n Encoder/Timer Decode Control

M7211->X:$78145,13,1 ;I7mn1 Servo IC m Channel n Position Compare Channel Select
M7212->X:$78145,4,4 ;I7mn2 Servo IC m Channel n Capture Control
M7213->X:$78145,8,4 ;I7mn3 Servo IC m Channel n Capture Flag Select Control
M7216->X:$78145,20,4 ;I7mn6 Servo IC m Channel n Output Mode Select

// Default values (NOT retained on a "SAVE" command)

M7210 = 3
M7211 = 0
M7212 = 1
M7213 = 0
M7216 = 0
//Motor specific I-variables (retained on a "SAVE" command)
I924 = 1
I925 = $78140
I969 = 1001
I902 = $78142

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Hardware Reference Manual

I903 = $3509
I904 = $3509

The default values not retained on a “SAVE” command must be added to the “run once startup PLC”
from the previous section that set up the main hardware clocks:
OPEN PLC 25 CLEAR
// Main HDW Clocks
M7200 = 1001
M7201 = 5
M7202 = 3
M7203 = 1746
M7204 = 15
M7205 = $7FFFC0
M7206 = $FFFFFE
// Motor #9 defaults
M7210 = 3
M7211 = 0
M7212 = 1
M7213 = 0
M7216 = 0
DIS PLC 25
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

// SECOND CHANNEL OF GATE #3 - MOTOR #10

M1001->X:$078149,0,24,S ; ENC10 24-bit counter position
M1002->Y:$07814A,8,16,S ; OUT10A command value; DAC or PWM
M1003->X:$07814B,0,24,S ; ENC10 captured position
M1014->X:$07814D,14 ; AENA10 output status
M1015->X:$078148,19 ; USER10 flag input status
M1017->X:$078148,11 ; ENC10 capture flag
M1018->X:$078148,8 ; ENC10 count error flag
M1019->X:$078148,14 ; CHC10 input status
M1020->X:$078148,16 ; HMFL10 flag input status
M1021->X:$078148,17 ; PLIM10 flag input status
M1022->X:$078148,18 ; MLIM10 flag input status
M1023->X:$078148,15 ; FAULT10 flag input status

M7220->X:$7814D,0,4 ;I7mn0
M7221->X:$7814D,13,1 ;I7mn1
M7222->X:$7814D,4,4 ;I7mn2
M7223->X:$7814D,8,4 ;I7mn3
M7226->X:$7814D,20,4 ;I7mn6

// Default values (NOT retained on a "SAVE" command)

M7220 = 3
M7221 = 0
M7222 = 1
M7223 = 0

Software Setup 25
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M7226 = 0
//Motor specific I-variables (retained on a "SAVE" command)
I1024 = 1
I1025 = $78148
I1069 = 1001
I1002 = $7814A
I1003 = $350A
I1004 = $350A

The default values not retained on a “SAVE” command must again be added to the “run once startup
PLC” from the previous section:
OPEN PLC 25 CLEAR
// Main HDW Clocks
M7200 = 1001
M7201 = 5
M7202 = 3
M7203 = 1746
M7204 = 15
M7205 = $7FFFC0
M7206 = $FFFFFE
// Motor #9 defaults
M7210 = 3
M7211 = 0
M7212 = 1
M7213 = 0
M7216 = 0
// Motor #10 defaults
M7220 = 3
M7221 = 0
M7222 = 1
M7223 = 0
M7226 = 0
DIS PLC 25
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

// THIRD CHANNEL OF GATE #3 - MOTOR #11

M1101->X:$078151,0,24,S ; ENC11 24-bit counter position
M1102->Y:$078152,8,16,S ; OUT11A command value; DAC or PWM
M1103->X:$078153,0,24,S ; ENC11 captured position
M1114->X:$078155,14 ; AENA11 output status
M1115->X:$078150,19 ; USER11 flag input status
M1117->X:$078150,11 ; ENC11 capture flag
M1118->X:$078150,8 ; ENC11 count error flag
M1119->X:$078150,14 ; CHC11 input status
M1120->X:$078150,16 ; HMFL11 flag input status
M1121->X:$078150,17 ; PLIM11 flag input status
M1122->X:$078150,18 ; MLIM11 flag input status
M1123->X:$078150,15 ; FAULT11 flag input status

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M7230->X:$78155,0,4 ;I7mn0
M7231->X:$78155,13,1 ;I7mn1
M7232->X:$78155,4,4 ;I7mn2
M7233->X:$78155,8,4 ;I7mn3
M7236->X:$78155,20,4 ;I7mn6

// Default values (NOT retained on a "SAVE" command)

M7230 = 3
M7231 = 0
M7232 = 1
M7233 = 0
M7236 = 0
//Motor specific I-variables (retained on a "SAVE" command)
I1124 = 1
I1125 = $78150
I1169 = 1001
I1102 = $78152
I1103 = $350B
I1104 = $350B

The default values not retained on a “SAVE” command must again be added to the “run once startup
PLC” from the previous section:
OPEN PLC 25 CLEAR
M7200 = 1001
M7201 = 5
M7202 = 3
M7203 = 1746
M7204 = 15
M7205 = $7FFFC0
M7206 = $FFFFFE
// Motor #9 defaults
M7210 = 3
M7211 = 0
M7212 = 1
M7213 = 0
M7216 = 0
// Motor #10 defaults
M7220 = 3
M7221 = 0
M7222 = 1
M7223 = 0
M7226 = 0
// Motor #11 defaults
M7230 = 3
M7231 = 0
M7232 = 1
M7233 = 0
M7236 = 0
DIS PLC 25
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

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// FOURTH CHANNEL OF GATE #3 - MOTOR #12

M1201->X:$078159,0,24,S ; ENC12 24-bit counter position
M1202->Y:$07815A,8,16,S ; OUT12A command value; DAC or PWM
M1203->X:$07815B,0,24,S ; ENC12 captured position
M1214->X:$07815D,14 ; AENA12 output status
M1215->X:$078158,19 ; USER12 flag input status
M1217->X:$078158,11 ; ENC12 capture flag
M1218->X:$078158,8 ; ENC12 count error flag
M1219->X:$078158,14 ; CHC12 input status
M1220->X:$078158,16 ; HMFL12 flag input status
M1221->X:$078158,17 ; PLIM12 flag input status
M1222->X:$078158,18 ; MLIM12 flag input status
M1223->X:$078158,15 ; FAULT12 flag input status

M7240->X:$7815D,0,4 ;I7mn0
M7241->X:$7815D,13,1 ;I7mn1
M7242->X:$7815D,4,4 ;I7mn2
M7243->X:$7815D,8,4 ;I7mn3
M7246->X:$7815D,20,4 ;I7mn6

// Default values (NOT retained on a "SAVE" command)

M7240 = 3
M7241 = 0
M7242 = 1
M7243 = 0
M7246 = 0
//Motor specific I-variables (retained on a "SAVE" command)
I1224 = 1
I1225 = $78158
I1269 = 1001
I1202 = $7815A
I1203 = $350C
I1204 = $350C

The default values not retained on a “SAVE” command must again be added to the “run once startup
PLC” from the previous section:
OPEN PLC 25 CLEAR
M7200 = 1001
M7201 = 5
M7202 = 3
M7203 = 1746
M7204 = 15
M7205 = $7FFFC0
M7206 = $FFFFFE
// Motor #9 defaults
M7210 = 3
M7211 = 0
M7212 = 1
M7213 = 0
M7216 = 0
// Motor #10 defaults
M7220 = 3
M7221 = 0
M7222 = 1

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M7223 = 0
M7226 = 0
// Motor #11 defaults
M7230 = 3
M7231 = 0
M7232 = 1
M7233 = 0
M7236 = 0
// Motor #12 defaults
M7240 = 3
M7241 = 0
M7242 = 1
M7243 = 0
M7246 = 0
DIS PLC 25
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

Using Flag I/O as General-Purpose I/O

Either the user flags or other unassigned axes flag on the ACC-1P board can be used as general-purpose
I/O for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated M-variables definitions, which are
the suggested definitions for motors 5 through 8 in the Turbo PMAC/PMAC2 Software reference, allows
accessing each particular line according to the following table:
Channel Number
Flag Type
#5 #6 #7 #8
HOME 5-24 VDC Input M520 M620 M720 M820
PLIM 5-24 VDC Input M521 M621 M721 M821
MLIM 5-24 VDC Input M522 M622 M722 M822
USER 5-24 VDC Input M515 M615 M715 M815
AENA 5-24 VDC Output M514 M614 M714 M814

Motors 9 through 12 must use the following M-variables as defined from the previous section since the
servo gate used for these motors is at a non-standard address:
Channel Number
Flag Type
#9 #10 #11 #12
HOME 5-24 VDC Input M920 M1020 M1120 M1220
PLIM 5-24 VDC Input M921 M1021 M1121 M1221
MLIM 5-24 VDC Input M922 M1022 M1122 M1222
USER 5-24 VDC Input M915 M1015 M1115 M1215
AENA 5-24 VDC Output M914 M1014 M1114 M1214

Note:
When using these lines as regular I/O points the appropriate setting of the Ixx24
variable must be used to enable or disable the safety flags feature.

Software Setup 29
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General-Purpose Digital Inputs and Outputs

If one Acc-1P is present then its jumper E6 should be set at the default position 1-2. In this case, the lines
on its J7 general-purpose I/O connector will be mapped into PMAC’s address space at base address
Y:$78500. If a second Acc-1P is used then its E6 jumper should be configured 2-3 and its I/O lines can
be accessed at base address Y:$78540.
The inputs and outputs on the thumbwheel port of the Acc-1P boards may only be used as discrete, non-
multiplexed I/O. As in the case of the JOPTO port they are defined according to the setup of the address
selection jumper E6.
Typically, these I/O lines are accessed individually with M-variables. Following is a suggested set of M-
variable definitions to use these data lines.
JOPTO port first ACC-1P, Jumper E6 on Position 1-2
M4050->Y:$78500,0 ; Digital Output M00
M4051->Y:$78500,1 ; Digital Output M01
M4052->Y:$78500,2 ; Digital Output M02
M4053->Y:$78500,3 ; Digital Output M03
M4054->Y:$78500,4 ; Digital Output M04
M4055->Y:$78500,5 ; Digital Output M05
M4056->Y:$78500,6 ; Digital Output M06
M4057->Y:$78500,7 ; Digital Output M07
M4066->Y:$78500,0,8,u ;all outputs as an 8bit word

M4058->Y:$78500,8 ; Digital Input MI0

M4059->Y:$78500,9 ; Digital Input MI1
M4060->Y:$78500,10 ; Digital Input MI2
M4061->Y:$78500,11 ; Digital Input MI3
M4062->Y:$78500,12 ; Digital Input MI4
M4063->Y:$78500,13 ; Digital Input MI5
M4064->Y:$78500,14 ; Digital Input MI6
M4065->Y:$78500,15 ; Digital Input MI7
M4067->Y:$78500,8,8,u ; all inputs as an 8bit word

M4068->X:$78500,0,8 ; Direction Control bits 0-7 (1=output, 0 = input)

M4069->X:$78500,8,8 ; Direction Control bits 8-15 (1=output, 0 = input)
M4070->X:$78504,0,24 ; Inversion control (0 = 0V, 1 = 5V)
M4071->Y:$78504,0,24 ; port data type control (1 = I/O)

In order to properly setup the JOPTO digital I/O an initialization PLC must be written scanning through
once on power-up/reset, and then disabling itself:
OPEN PLC12 CLEAR
M4068=$FF ;BITS 0-8 are assigned as output
M4069=$0 ;BITS 9-16 are assigned as input
M4070=$FF00 ;Define inputs and outputs
M4071=$FFFF ;All lines are I/O type
DIS PLC1 ;Disable PLC1 (scanning through once on power-
up/reset)
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

30 Software Setup
Hardware Reference Manual

JTHW port first ACC-1P, Jumper E6 on Position 1-2

M4080->Y:$78502,8,1 ; SEL0 Output
M4081->Y:$78502,9,1 ; SEL1 Output
M4082->Y:$78502,10,1 ; SEL2 Output
M4083->Y:$78502,11,1 ; SEL3 Output
M4084->Y:$78502,12,1 ; SEL4 Output
M4085->Y:$78502,13,1 ; SEL5 Output
M4086->Y:$78502,14,1 ; SEL6 Output
M4087->Y:$78502,15,1 ; SEL7 Output
M4088->Y:$78502,8,8,U ; SEL0-7 Outputs treated as a byte

M4090->Y:$78502,0,1 ; DAT0 Input

M4091->Y:$78502,1,1 ; DAT1 Input
M4092->Y:$78502,2,1 ; DAT2 Input
M4093->Y:$78502,3,1 ; DAT3 Input
M4094->Y:$78502,4,1 ; DAT4 Input
M4095->Y:$78502,5,1 ; DAT5 Input
M4096->Y:$78502,6,1 ; DAT6 Input
M4097->Y:$78502,7,1 ; DAT7 Input
M4098->Y:$78502,0,8,U ; DAT0-7 Inputs treated as a byte

M4099->X:$078502,0,8 ; Direction control for DAT0 to DAT7

M4099->X:$078502,8,8 ; Direction control for SEL0 to SEL7

In order to properly setup the JTHW digital I/O an initialization PLC must be written scanning through
once on power-up/reset, and then disabling itself:
OPEN PLC 13 CLEAR
M4089=0
M4099=$FF
DISPLC10
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 13.

JOPTO port second ACC-1P, Jumper E6 on Position 2-3

M4100->Y:$78540,0 ; Digital Output M00
M4101->Y:$78540,1 ; Digital Output M01
M4102->Y:$78540,2 ; Digital Output M02
M4103->Y:$78540,3 ; Digital Output M03
M4104->Y:$78540,4 ; Digital Output M04
M4105->Y:$78540,5 ; Digital Output M05
M4106->Y:$78540,6 ; Digital Output M06
M4107->Y:$78540,7 ; Digital Output M07
M4116->Y:$78540,0,8,u ;all outputs as an 8bit word

M4108->Y:$78540,8 ; Digital Input MI0

M4109->Y:$78540,9 ; Digital Input MI1
M4110->Y:$78540,10 ; Digital Input MI2
M4111->Y:$78540,11 ; Digital Input MI3
M4112->Y:$78540,12 ; Digital Input MI4
M4113->Y:$78540,13 ; Digital Input MI5

Software Setup 31
 Hardware Reference Manual

M4114->Y:$78540,14 ; Digital Input MI6

M4115->Y:$78540,15 ; Digital Input MI7
M4117->Y:$78540,8,8,u ; all inputs as an 8bit word

M4118->X:$78540,0,8 ; Direction Control bits 0-7 (1=output, 0 = input)

M4119->X:$78540,8,8 ; Direction Control bits 8-15 (1=output, 0 = input)
M4120->X:$78544,0,24 ; Inversion control (0 = 0V, 1 = 5V)
M4121->Y:$78544,0,24 ; J9 port data type control (1 = I/O)

In order to properly setup the JOPTO digital I/O, an initialization PLC must be written scanning through
once on power-up/reset, and then disabling itself:
OPEN PLC14 CLEAR
M4118=$FF ;BITS 0-8 are assigned as output
M4119=$0 ;BITS 9-16 are assigned as input
M4120=$FF00 ;Define inputs and outputs
M4121=$FFFF ;All lines are I/O type
DIS PLC3 ;Disable PLC1 (scanning through once on power-
up/reset)
CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

JTHW port second ACC-1P, Jumper E6 on Position 2-3

M4130->Y:$78542,8,1 ; SEL0 Output
M4131->Y:$78542,9,1 ; SEL1 Output
M4132->Y:$78542,10,1 ; SEL2 Output
M4133->Y:$78542,11,1 ; SEL3 Output
M4134->Y:$78542,12,1 ; SEL4 Output
M4135->Y:$78542,13,1 ; SEL5 Output
M4136->Y:$78542,14,1 ; SEL6 Output
M4137->Y:$78542,15,1 ; SEL7 Output
M4138->Y:$78542,8,8,U ; SEL0-7 Outputs treated as a byte

M4140->Y:$78542,0,1 ; DAT0 Input

M4141->Y:$78542,1,1 ; DAT1 Input
M4142->Y:$78542,2,1 ; DAT2 Input
M4143->Y:$78542,3,1 ; DAT3 Input
M4144->Y:$78542,4,1 ; DAT4 Input
M4145->Y:$78542,5,1 ; DAT5 Input
M4146->Y:$78542,6,1 ; DAT6 Input
M4147->Y:$78542,7,1 ; DAT7 Input
M4148->Y:$78542,0,8,U ; DAT0-7 Inputs treated as a byte

M4139->X:$078502,0,8 ; Direction control for DAT0 to DAT7

M4149->X:$078502,8,8 ; Direction control for SEL0 to SEL7

In order to properly setup the JTHW digital I/O an initialization PLC must be written scanning through
once on power-up/reset, and then disabling itself:
OPEN PLC 15 CLEAR
M4139=0
M4149=$FF
DISPLC10

32 Software Setup
Hardware Reference Manual

CLOSE

Note:
After loading this program, set I5=2 or 3 and ENABLE PLC 1.

Analog Inputs Setup

The optional analog-to-digital converter inputs are ordered either through Option-2 on the axes expansion
board. Each option provides two 12-bit analog inputs with a ±10Vdc range. The M-variables associated
with these inputs provided a range of values between +2048 and –2048 for the respective ±10Vdc input
range. The following is the software procedure to setup and read these ports on the first ACC-1P.
Analog Inputs first ACC-1P
I7103 = 1746 ;Set ADC clock frequency at 4.9152 MHz
I7106 = $1FFFFF ;Clock strobe set for bipolar inputs
M505->Y:$78105,12,12,S ;ADCIN_1 on JMACH1 connector (Acc-1P) pin 45
M605->Y:$7810D,12,12,S ;ADCIN_2 on JMACH1 connector (Acc-1P) pin 46

Analog Inputs second ACC-1P

M7203 = 1746 ;Set ADC clock frequency at 4.9152 MHz
M7206 = $1FFFFF ;Clock strobe set for bipolar inputs
M905->Y:$78145,12,12,S ;ADCIN_1 on JMACH1 connector (Acc-1P) pin 45
M1005->Y:$7814D,12,12,S ;ADCIN_2 on JMACH1 connector (Acc-1P) pin 46

Software Setup 33
 Hardware Reference Manual

34 Software Setup
Hardware Reference Manual

HARDWARE REFERENCE SUMMARY

The following information is based on the Acc-1P board, part number 603671-100.
Board Dimensions

Hardware Reference Summary 35

 Hardware Reference Manual

Board Layout

A B C D E F

Feature Location Feature Location

E0 C6 RP30 E2
E1 B2 RP31 E2
E2 B2 RP36 E3
E3 E4 RP37 E3
E4 E4 RP55 E4
E5 E5 RP56 E5
E6 E5 TB1 B6
E7 E5 JMACH1 F4
E16 D1 JMACH2 A4
D6 F6 JHW / PD A2
F1 A1 J7 A3
J2 E4

36 Hardware Reference Summary

Hardware Reference Manual

Connectors and Indicators

J2 - Thumbwheel Multiplexer Port (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.
1. 26-pin female flat cable connector T&B Ansley P/N 609-2641
2. Standard flat cable stranded 26-wire T&B Ansley P/N 171.26
3. Phoenix varioface module type FLKM 26 (male pins) P/N 22 81 05 0
J3 - Machine Connector (JMACH1 Port)
The primary machine interface connector is JMACH1, labeled J3 on the PMAC. It contains the pins for
four channels of machine I/O: analog outputs, incremental encoder inputs, amplifier fault and enable
signals and power-supply connections.
1. 50-pin female flat cable connector T&B Ansley P/N 609-5041
2. Standard flat cable stranded 50-wire T&B Ansley P/N 171-50
3. Phoenix varioface module type FLKM 50 (male pins) P/N 22 81 08 9
J4 - Machine Connector (JMACH2 Port)
This machine interface connector is labeled JMACH2 or J4 on the PMAC. It contains the pins for four
channels of machine I/O: end-of-travel input flags, home flag and pulse-and-direction output signals. In
addition, the B_WDO output allows monitoring the state of the Watchdog safety feature.
1. 34-pin female flat cable connector T&B Ansley P/N 609-3441
2. Standard flat cable stranded 34-wire T&B Ansley P/N 171-34
3. Phoenix varioface module type FLKM 34 (male pins) P/N 22 81 06 3
J7 - General-Purpose Digital Inputs and Outputs (JOPT Port)
Acc-1P’s JOPT 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.
Delta Tau's Acc-21F is a six-foot cable for this purpose.
1. 34-pin female flat cable connector T&B Ansley P/N 609-3441
2. Standard flat cable stranded 34-wire T&B Ansley P/N 171-34
3. Phoenix varioface module type FLKM 34 (male pins) P/N 22 81 06 3
J8 – Handwheel / Pulse and Direction Port (JHW / PD Port)
This port provides an extra encoder input or a set of pulse and direction outputs, and its function is
selectable by jumpers.
1. 10-pin female flat cable connector T&B Ansley P/N 609-1041
2. Standard flat cable stranded 10-wire T&B Ansley P/N 171-10
3. Phoenix varioface module type FLKM 10 (male pins) P/N 22 81 01 8
TB1 – Power Supply Terminal Block (JPWR Connector)
In almost in all cases the PMAC2A PC/104 will be powered from the PC/104 bus when it is installed in a
host computer’s bus, or from the JMACH1 connector. This terminal block may be used as an alternative
power supply connector or to easily measure the voltages applied to the board.
1. 4-pin terminal block, 0.150 pitch

Hardware Reference Summary 37

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38 Hardware Reference Summary

Hardware Reference Manual

E-POINT JUMPER DESCRIPTIONS

E0: Reserved for Future Use
E Point and
Location Description Default
Physical Layout
E0 C6 For future use. No jumper

E1 - E2: Machine Output Supply Voltage Configure

E Point and
Location Description Default
Physical Layout
E1 B2 Jump pin 1 to 2 to apply +V (+5V to 24V) to 1-2 Jumper installed
pin 10 of U7 (should be ULN2803A for sink
output configuration) JOPTO Machine
outputs M01-M08.
Jump pin 2 to 3 to apply GND to pin 10 of
U7 (should be UDN2981A for source output
configuration).
Warning:
The jumper setting must match the type of
driver IC, or damage to the IC will result.
E2 B2 Jump pin 1 to 2 to apply GND to pin 11 of 1-2 Jumper installed
U7 (should be ULN2803A for sink output
configuration).
Jump pin 2 to 3 to apply +V (+5V to 24V) to
pin 10 of U7 (should be UDN2981A for
source output configuration).
Warning:
The jumper setting must match the type of
driver IC, or damage to the IC will result.

E3 – E4: JHW, PD Function Select

E Point and
Location Description Default
Physical Layout
E3 E4 Jump pin 1 to 2 to enable handwheel channel 1-2 Jumper installed
1 inputs.
Jump pin 2 to 3 to enable pulse and direction
channel 1 outputs.
E4 E4 Jump pin 1 to 2 to enable handwheel channel 1-2 Jumper installed
2 inputs.
Jump pin 2 to 3 to enable pulse and direction
channel 2 outputs.

E-Point Jumper Descriptions 39

 Hardware Reference Manual

E5: Servo Gate Address Select

E Point and
Location Description Default
Physical Layout
E5 E5 Jump pin 1 to 2 to address Acc-1P channels at the 1-2 Jumper installed
regular addresses for channels 5 to 8.
Jump pin 2 to 3 to address Acc-1P channels at the
regular addresses for channels 5 to 8 plus $40.
E6: I/O Gate Address Select
E Point and
Location Description Default
Physical Layout
E6 E5 Jump pin 1 to 2 to address Acc-1P I/O ports at 1-2 Jumper installed
the regular addresses.
Jump pin 2 to 3 to address Acc-1P I/O ports at
the regular addresses plus $40.
E7: Machine Input Source/Sink Control
E Point and
Location Description Default
Physical Layout
E5 Jump pin 1 to 2 to apply +5V to input reference 1-2 Jumper installed
E7 resistor sip pack; this will bias MI1 to MI8 inputs
to +5V for OFF state; input must then be
grounded for ON state.
Jump pin 2 to 3 to apply GND to input reference
resistor sip pack; this will bias MI1 to MI8 inputs
to GND for OFF state; input must then be pulled
up for ON state (+5V to +24V).
E16: ADC Inputs Enable
E Point and
Location Description Default
Physical Layout
D1 Jump pin 1 to 2 to enable the Option-12 ADC No jumper
E16 inputs.
Remove jumper to disable the ADC inputs,
which might be necessary for reading current
feedback signals from digital amplifiers.

40 E-Point Jumper Descriptions

Hardware Reference Manual

CONNECTOR PINOUTS
TB1 (JPWR): Power Supply
(4-Pin Terminal Block)

Top View

Pin# Symbol Function Description Notes

1 GND Common Reference Voltage
2 +5V Input Positive Supply Voltage Supplies all PMAC digital
circuits
3 +12V Input Positive Supply Voltage REF to digital GND
4 -12V Input Negative Supply Voltage REF to digital GND
This terminal block can be used to provide the input for the power supply for the circuits on the PMAC
board when it is not in a bus configuration. When the PMAC is in a bus configuration, these supplies
automatically come through the bus connector from the bus power supply; in this case, this terminal block
should not be used.

Connector Pinouts 41
 Hardware Reference Manual

J2 (JTHW): Multiplexer Port Connector

(26-Pin Connector) 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 multiplexed accessory
4 SEL0 Output Select-0 Output Multiplexer select output
5 DAT1 Input Data -1 Input Data input from multiplexed accessory
6 SEL1 Output Select -1 Output Multiplexer select output
7 DAT2 Input Data -2 Input Data input from multiplexed accessory
8 SEL2 Output Select -2 Output Multiplexer select output
9 DAT3 Input Data -3 Input Data input from multiplexed accessory
10 SEL3 Output Select -3 Output Multiplexer select output
11 DAT4 Input Data -4 Input Data input from multiplexed accessory
12 SEL4 Output Select -4 Output Multiplexer select output
13 DAT5 Input Data -5 Input Data input from multiplexed accessory
14 SEL5 Output Select -5 Output Multiplexer select output
15 DAT6 Input Data -6 Input Data input from multiplexed accessory
16 SEL6 Output Select -6 Output Multiplexer select output
17 DAT7 Input Data -7 Input Data input from multiplexed accessory
18 SEL7 Output Select -7 Output Multiplexer select output
19 N.C. N.C. No Connection
20 GND Common PMAC Common
21 N.C. Output Buffer Request Low is Buffer Request
22 GND Common PMAC Common
23 N.C. Output In Position Low is In Position
24 GND Common PMAC Common
25 +5V Output +5VDC Supply Power supply out
26 N.C. Input PMAC Reset Low is Reset
The JTHW multiplexer port provides eight inputs and eight outputs at TTL levels. While these I/O can be used
in unmultiplexed form for 16 discrete I/O points, most users will utilize PMAC software and accessories to use
this port in multiplexed form to greatly multiply the number of I/O that can be accessed on this port. In
multiplexed form, some of the SELn outputs are used to select which of the multiplexed I/O are to be accessed.

42 Connector Pinouts
Hardware Reference Manual

J3 (JMACH1): Machine Port Connector

(50-Pin Header)
Top View

Pin# Symbol Function Description Notes

1 +5V Output +5V Power For Encoders, 1
2 +5V Output +5V Power For Encoders, 1
3 GND Common Digital Common
4 GND Common Digital Common
5 CHA5 Input Encoder A Channel Positive 2
6 CHA6 Input Encoder A Channel Positive 2
7 CHA5/ Input Encoder A Channel Negative 2,3
8 CHA6/ Input Encoder A Channel Negative 2,3
9 CHB5 Input Encoder B Channel Positive 2
10 CHB6 Input Encoder B Channel Positive 2
11 CHB5/ Input Encoder B Channel Negative 2,3
12 CHB6/ Input Encoder B Channel Negative 2,3
13 CHC5 Input Encoder C Channel Positive 2
14 CHC6 Input Encoder C Channel Positive 2
15 CHC5/ Input Encoder C Channel Negative 2,3
16 CHC6/ Input Encoder C Channel Negative 2,3
17 CHA7 Input Encoder A Channel Positive 2
18 CHA8 Input Encoder A Channel Positive 2
19 CHA7/ Input Encoder A Channel Negative 2,3
20 CHA8/ Input Encoder A Channel Negative 2,3
21 CHB7 Input Encoder B Channel Positive 2
22 CHB8 Input Encoder B Channel Positive 2
23 CHB7/ Input Encoder B Channel Negative 2,3
24 CHB8/ Input Encoder B Channel Negative 2,3
25 CHC7 Input Encoder C Channel Positive 2
26 CHC8 Input Encoder C Channel Positive 2
27 CHC7/ Input Encoder C Channel Negative 2,3
28 CHC8/ Input Encoder C Channel Negative 2,3
29 DAC5 Output Analog Out Positive 5 4
30 DAC6 Output Analog Out Positive 6 4
31 DAC5/ Output Analog Out Negative 5 4,5
32 DAC6/ Output Analog Out Negative 6 4,5
33 AENA5/ Output Amplifier-Enable 5
34 AENA6/ Output Amplifier -Enable 6
35 FAULT5/ Input Amplifier -Fault 5 6
36 FAULT6/ Input Amplifier -Fault 6 6
37 DAC7 Output Analog Out Positive 7 4
38 DAC8 Output Analog Out Positive 8 4
39 DAC7/ Output Analog Out Negative 7 4,5

Connector Pinouts 43
 Hardware Reference Manual

J3 JMACH1 (50-Pin-Header)
(Continued)
Top View

Pin# Symbol Function Description Notes

40 DAC8/ Output Analog Out Negative 8 4,5
41 AENA7/ Output Amplifier-Enable 7
42 AENA8/ Output Amplifier -Enable 8
43 FAULT7/ Input Amplifier -Fault 7 6
44 FAULT8/ Input Amplifier -Fault 8 6
45 ADCIN_1 Input Analog Input 1 Option-2 required
46 ADCIN_2 Input Analog Input 2 Option-2 required
47 FLT_FLG_V Input Amplifier Fault pull-up V+
48 GND Input Analog Common
49 A+15V Input DACs +15V Supply
50 A-15V Input DACs -15V Supply
The J3 connector is used to connect PMAC to the second 4 channels (Channels 5, 6, 7, and 8) of servo amps and
encoders.
Note 1: In standalone applications, these lines can be used as +5V power supply inputs to power PMAC’s
digital circuitry.
Note 2: Referenced to digital common (GND). Maximum of ±12V permitted between this signal and its
complement.
Note 3: Leave this input floating if not used (i.e. digital single-ended encoders).
Note 4: ±10V, 10 mA max, referenced to common ground (GND).
Note 5: Leave floating if not used; do not tie to GND.
Note 6: Functional polarity controlled by variable Ix25. Must be conducting to 0V (usually GND) to produce a
0 in PMAC software. Automatic fault function can be disabled with Ix25.

44 Connector Pinouts
Hardware Reference Manual

J4 (JMACH2): Machine Port

Connector (34-Pin Header) Front View

Pin# Symbol Function Description Notes

1 FLG_5_6_V Input Flags 5-6 Pull-Up
2 FLG_7_8_V Input Flags 7-8 Pull-Up
3 GND Common Digital Common
4 GND Common Digital Common
5 HOME5 Input Home-Flag 5 10
6 HOME6 Input Home-Flag 6 10
7 PLIM5 Input Positive End Limit 5 8,9
8 PLIM6 Input Positive End Limit 6 8,9
9 MLIM5 Input Negative End Limit 5 8,9
10 MLIM6 Input Negative End Limit 6 8,9
11 USER5 Input User Flag 5
12 USER6 Input User Flag 6
13 PUL_5 Output Pulse Output 5
14 PUL_6 Output Pulse Output 6
15 DIR_5 Output Direction Output 5
16 DIR_6 Output Direction Output 6
17 EQU5 Output Encoder Comp-Equal 5
18 EQU6 Output Encoder Comp-Equal 6
19 HOME7 Input Home Flag 7 10
20 HOME8 Input Home Flag 8 10
21 PLIM7 Input Positive End Limit 7 8,9
22 PLIM8 Input Positive End Limit 8 8,9
23 MLIM7 Input Negative End Limit 7 8,9
24 MLIM8 Input Negative End Limit 8 8,9
25 USER7 Input User Flag 7
26 USER8 Input User Flag 8
27 PUL_7 Output Pulse Output 7
28 PUL_8 Output Pulse Output 8
29 DIR_7 Output Direction Output 7
30 DIR_8 Output Direction Output 8
31 EQU7 Output Encoder Comp-Equal 7
32 EQU8 Output Encoder Comp-Equal 8
33 B_WDO Output Watchdog Out Indicator/Driver
34 No Connect
Note 1: Pins marked PLIMn should be connected to switches at the positive end of travel. Pins marked MLIMn
should be connected to switches at the negative end of travel.
Note 2: Must be conducting to 0V (usually GND) for PMAC to consider itself not into this limit. Automatic limit
function can be disabled with Ix25.
Note 3: Functional polarity for homing or other trigger use of HOMEn controlled by Encoder/Flag Variable I9n2.
HMFLn selected for trigger by Encoder/Flag Variable I9n3. Must be conducting to 0V (usually GND) to
produce a 0 in PMAC software.

Connector Pinouts 45
 Hardware Reference Manual

J7 (JOPTO): I/O Port Connector

(34-Pin Connector) Front View

Pin# Symbol Function Description Notes

1 MI8 Input Machine Input 8 Low is TRUE
2 GND Common PMAC Common
3 MI7 Input Machine Input 7 Low is TRUE
4 GND Common PMAC Common
5 MI6 Input Machine Input 6 Low is TRUE
6 GND Common PMAC Common
7 MI5 Input Machine Input 5 Low is TRUE
8 GND Common PMAC Common
9 MI4 Input Machine Input 4 Low is TRUE
10 GND Common PMAC Common
11 MI3 Input Machine Input 3 Low is TRUE
12 GND Common PMAC Common
13 MI2 Input Machine Input 2 Low is TRUE
14 GND Common PMAC Common
15 MI1 Input Machine Input 1 Low is TRUE
16 GND Common PMAC Common
17 MO8 Output Machine Output 8 Low-TRUE (Sinking)
High-TRUE (Sourcing)
18 GND Common PMAC Common
19 MO7 Output Machine Output 7 " "
20 GND Common PMAC Common
21 MO6 Output Machine Output 6 " "
22 GND Common PMAC Common
23 MO5 Output Machine Output 5 " "
24 GND Common PMAC Common
25 MO4 Output Machine Output 4 " "
26 GND Common PMAC Common
27 MO3 Output PMAC Common " "
28 GND Common PMAC COMMON
29 MO2 Output Machine Output 2 " "
30 GND Common PMAC Common
31 MO1 Output Machine Output 1 " "
32 GND Common PMAC Common
33 +V Input/Output +V Power I/O +V = +5V to +24V
+5V out from PMAC, +5 to +24V
in from external source, DIODE
isolation from PMAC
34 GND Common PMAC Common
This connector provides means for eight general-purpose inputs and eight general-purpose outputs. Inputs and
outputs may be configured to accept or provide either +5V or +24V signals. Outputs can be made sourcing with
an IC (U7 to UDN2981) and jumper (E1 and E2) change. E7 controls whether the inputs are pulled up or down
internally. Outputs are rated at 100mA per channel.

46 Connector Pinouts
Hardware Reference Manual

J8 (JHW) Handwheel Encoder Connector

Pin# Symbol Function Description
1 GND Common Reference voltage
2 HWA1+ / Input/Output HW1 Channel A or pulse output selected by jumpers E3 and E4
PUL1+
3 HWA1- / Input/Output HW 1 Channel A or pulse output selected by jumpers E3 and E4
PUL1-
4 HWB1+ / Input/Output HW 1 Channel B or direction output selected by jumpers E3 and E4
DIR1+
5 HWB1- / Input/Output HW 1 Channel B or direction output selected by jumpers E3 and E4
DIR1-
6 HWA2+ / Input/Output HW 2 Channel A or pulse output selected by jumpers E3 and E4
PUL2+
7 HWA2- / Input/Output HW 2 Channel A or pulse output selected by jumpers E3 and E4
PUL2-
8 HWB2+ / Input/Output HW 2 Channel B or direction output selected by E3 and E4
DIR2+
9 HWB2- / Input/Output HW 2 Channel B or direction output selected by E3 and E4
DIR2-
10 +5V Output Supply voltage

Connector Pinouts 47
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48 Connector Pinouts
Hardware Reference Manual

SCHEMATICS

Connector Pinouts 49
 Hardware Reference Manual
THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU
DATA SYSTEMS INC. AND IS LOANED SUBJECT TO RETURN UPON
DEMAND. TITLE TO THIS DOCUMENT IS NEVER SOLD OR
TRANSFERRED FOR ANY REASON. THIS DOCUMENT IS TO BE USED
ONLY PURSUANT TO WRITTEN LICENSE OR WRITTEN INSTRUCTIONS
+5V +5V J2J2 (JTHW)
OF DELTA TAU DATA SYSTEMS INC. ALL RIGHTS TO DESIGNS AND GND
INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC. 1 GND
C25 C26 2
POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE DAT0 DAT0
ABOVE AGREEMENT. SEL0 3 SEL0
DAT1 4 DAT1
.1UF .1UF
SEL1 5 SEL1
U5
48 1 R3 3.3K DAT2 6 DAT2
DATA_0 47 OE1 T/R1 2 SEL2 7 SEL2
J1A
GND DATA_1 46 A0 B0 3 DAT3 8 DAT3
32 GND A1 B1 9
SA00 45 4 SEL3 SEL3
31 SA01 DATA_2 44 GND GND 5 DAT4 10 DAT4
30 SA02 DATA_3 43 A2 B2 6 SEL4 11 SEL4
29 SA03 42 A3 B3 7 DAT5 12 DAT5
28 SA04 DATA_4 41 VCC VCC 8 SEL5 13 SEL5
27 SA05 DATA_5 40 A4 B4 9 DAT6 14 DAT6
26 SA06 39 A5 B5 10 SEL6 15 SEL6
25 SA07 DATA_6 38 GND GND 11 DAT7 16 DAT7
24 SA08 DATA_7 37 A6 B6 12 SEL7 17 SEL7
23 SA09 SEL_0 36 A7 B7 13 18 N.C.
22 A8 B8 19

9
8
7
6
5
4
3
2

9
8
7
6
5
4
3
2
SA10 SEL_1 35 14 GND
21 SA11 34 A9 B9 15 20 BFLD-
20 SA12 SEL_2 33 GND GND 16 RP1 RP2 21 GND
19 SA13 SEL_3 32 A10 B10 17 22 IPLD-
18 SA14 31 A11 B11 18 23 GND
17 SA15 SEL_4 30 VCC VCC 19 24 +5V
16 A12 B12 25

10

10
SA16 SEL_5 29 20 INIT-

1
15 SA17 28 A13 B13 21 10KSIP10C 10KSIP10C 26
14 SA18 SEL_6 27 GND GND 22 HEADER 26
13 SA19 SEL_7 26 A14 B14 23
12 AEN RESET+ 25 A15 B15 24 GND
11 IOCHRDY OE2 T/R2
10 SD00 R4 3.3K
74AC16245DL
9 SD01 (DL)
8 SD02 GND GND
7 SD03
6 SD04
5 SD05
4 SD06
3 SD07
2 IOCHCHK-
1
PC/104/HEADER_A32
J1B
GND
32 GND
GND
31 GND
OSC
+5V 30
29 +5V
BALE
28 TC
27 DACK2-
26 IRQ3
25 IRQ4
24 IRQ5
23 IRQ6
22 IRQ7
21 SYSCLK
20 REFRESH-
19 DRQ1
18 DACK1-
17 DRQ3
16 DACK3-
15 SIOR-
14 SIOW-
13 SMEMR-
12 SMEMW-
(KEY) 11 (KEY)
10 GND
+12V
9 +12V
ENDXFR-
-12V 8
7 -12V
DRQ2 +5V
-5V 6
5 -5V
IRQ9 +5V
+5V 4
3 +5V RP3
5

RESTDRV U38 DISP0 2 1

GND

PC/104/HEADER_B32
2
1 GND
BX/Y
1

2
4 BX/Y_A
DISP1
DISP2
DISP3
3
4
5 1
E7
J2C DISP4 6 2
GND (KEY) NC7SZ08M5 C86 DISP5 7 3
E7

10
0 1 GND

1
SBHE- (SOT23-5) DISP6 8 RP4
3

1 2
LA23 DISP7 9 10
2 3
LA22 .1UF

KEY
3 4
4 5
5 6
LA21
LA20
LA19
GND 10KSIP10C

U6
3.3KSIP10C
RP5
J7J7 (JOPT)
6 7 10KSIP8I
LA18 IO_15 18 2 1 2 MI8

9
8
7
6
5
4
3
2
7 8
8 9
LA17
MEMR-
(JEXPA) +5V IO_14 17 Y1
Y2
A1
A2
3 3 4 1
2
GND
MI7
9 10 J5 IO_13 16 4 5 6
Y3 A3 3

5
MEMW- U35 IO_12 15 5 7 8 GND
10 11 +5V 1 2 +5V Y4 A4 4
SD08 CS1- 1 IO_11 14 6 1 2 MI6
11 12 GND GND
12 13
13 14
SD09
SD10
BD00
BD02
3
5
7
4
6
8
BD01
BD03 E5 +5V
2
4 BCS1-
BCS1-
IO_10
IO_09
13
12
Y5
Y6
Y7
A5
A6
A7
7
8
3
5
4
6
5
6
7
GND
MI5

5
SD11 BD04 BD05 1 U33 +5V IO_08 11 9 7 8 GND
14 15 9 10 Y8 A8 8
SD12 BD06 BD07 2 SW1 1 NC7SZ32M5 MI4
15 16 11 12 E5 10KSIP8I 9

5
SD13 BD08 BD09 3 4 (SOT23-5) U37 C27 20 1 GND

3
16 17 13 14 VCC G1 RP6 10
SD14 BD10 BD11 2 GND 1 10 19 MI3
17 18 15 16 GND G2 11
SD15 BD12 BD13 4 IOEN- RP9 .1UF RESET+ GND
18 19 17 18 12
(KEY) (KEY) BD14 BD15 BA06_A NC7SZ86M5 2 DIN0 2 1 74AC541 MI2
19 20 GND 19 20 BA06_A 13
BD16 BD17 (SOT23-5) +5V DIN1 3 (SOL20) GND

3
BD18 21 22 BD19 GND NC7SZ08M5 DIN2 4 14 MI1
PC/104/HEADER/D20
23 24 15

5
J2D BD20 BD21 U36 (SOT23-5) DIN3 5 GND

3
GND BD22 25 26 BD23 CS4- 1 GND DIN4 6 16 MO8
0 1 GND D4
1 2
2 3
MEMCS16-
IOCS16-
BA00
BA02
27
29
28
30
BA01
BA03 E6 +5V
2
4 BCS4- DIN5
DIN6
7
8
1
E0
2 R5 17
18
GND
MO7

E0
31 32 3.3K 19

5
IRQ10 BA04 BA05 1 U34 DIN7 9 10 MBRS140T3 GND
3 4 33 34 20
IRQ11 BX/Y VMECS- 2 SW4 1 NC7SZ32M5 MO6
4 5 35 36 E6 10KSIP10C 21
IRQ12 CS1- CS4- 3 4 (SOT23-5) +5V U7 GND

3
5 6 37 38 22
IRQ15 CS00- BWDO_A- 2 GND 1 20 MO5
6 7 39 40 BWDO_A- 1S VCC 23
IRQ14 BWR- BRD- C24 IO_07 2 19 GND
7 8 41 42 1A 1Y 24
DACK0- SERVO PHASE GND NC7SZ86M5 IO_06 3 18 MO4
8 9 43 44 .1UF 2A 2Y 25
DRQ0 19.6608Mhz RESET- (SOT23-5) IO_05 4 17 GND

3
9 10 45 46 3A 3Y 26
DACK5- GND IO_04 5 16 MO3
10 11 GND 47 48 GND 4A 4Y 27
DRQ5 GND IO_03 6 15 GND
11 12 +12V 49 50 -12V 5A 5Y 28
DACK6- IO_02 7 14 MO2
12 13 6A 6Y 29
DRQ6 HEADER 25X2(FEM) IO_01 8 13 GND
13 14 7A 7Y 30
DACK7- CLS125LDDV IO_00 9 12 MO1
14 15 8A 8Y 31
DRQ7 10 11 GND
15 16
SSM-125-L-DV-LC GND 2S 32

9
8
7
6
5
4
3
2

2
3
4
5
6
7
8
9
+5V +V
16 17 +5V 33
MASTER- RP50 (DIP20) GND
17 18 34
GND IO_16 2 1 XOR8-PLUS153 C31
GND
18 19
19 20
GND
GND guard band IO_17 3 OR
ULN2803A .1UF
IO_18 4
PC/104/HEADER/D20 IO_19 5 RP7 OR RP8
UDN2981A

10

10
IO_20 6

1
10KSIP10C (IN-SOCKET)
IO_21 7 3.3KSIP10C
IO_22 8
IO_23 9 10
SHOULD BE

2
25mil
IO_24
10KSIP10C

2
RP51
1
E2 E2
E1 E1
ETCH
+5V IO_25 3

3
IO_26 4 D5 F1
IO_27 5
IO_28 6

J9
(jisp)
R40
IO_29
IO_30
IO_31
7
8
9 10
1SMC33AT3 2AMP_FUSE

3.3K
J9
+3.3V 10KSIP10C GND
TDO 1 TDO_U4
2 RP52
TDI TDI_U4 CMD_IN 2 1
BSCAN- 3 BSCAN- DAT_STB 3
4 CMD_STB 4

10

10
1

1
TMS TMS_U4 VLTN 5 RP53 RP54
GND 6 CTRL0 6
TCK 7 TCK_U4 CTRL1 7
8 CTRL2 8 2.2KSIP10C 1KSIP10C
HSIP8NO5 CTRL3 9 10
C20 SOCKET REQ'D SOCKET REQ'D
.01UF 10KSIP10C

2
3
4
5
6
7
8
9

2
3
4
5
6
7
8
9
1 RP55 2 HW1_A1- 1 RP56 2 HW1_A1+
3 HW1_B1- 3 4 HW1_B1+
4 HW2_A2- 5 6 HW2_A2+
GND 5 HW2_B2- 7 8 HW2_B2+
6
220SIP8I SW1
2.2KSIP6C (IN-SOCKET)
(IN-SOCKET)
SW4
CE1 M1
+5V
U8 U9
.1UF HOLE 16 16
D1 VCC VCC
+ C1 VCC
CE2 M2
1SMC5.0AT3 22UF
35V
HW1_A1 3
OUT-A IN-A
2

1
HW1_A1+

HW1_A1- 1
DIR_1 1
IN-A OUT-A
2

3
DIR_1+

DIR_1-
+5V J8
J8 (JHW,PD)
.1UF 4 IN-A 2 4 OUT-A GND
HOLE
EN-A,C 7 HW1_B1- 3 E3 EN-A,C 5 PUL_1- PUL_1+ HW1_A1+ 1 HW1_A1+ PUL_1+
IN-C OUT-C PUL_1- HW1_A1- 2 HW1_A1- PUL_1-
CE3 M3 +12V
HW1_B1 5 6 HW1_B1+ PUL_1 7 6 PUL_1+ DIR_1+ HW1_B1+ 3 HW1_B1+ DIR_1+
OUT-C IN-C IN-C OUT-C DIR_1- HW1_B1- 4 HW1_B1- DIR_1-
D2 5
.1UF HOLE + C2 HW2_A2 13 14 HW2_A2+ DIR_2 15 14 DIR_2+ PUL_2+ HW2_A2+ HW2_A2+ PUL_2+
OUT-B IN-B IN-B OUT-B PUL_2- HW2_A2- 6 HW2_A2- PUL_2-
22UF 15 HW2_A2- 1 13 DIR_2- DIR_2+ HW2_B2+ 7 HW2_B2+ DIR_2+
CE4 M4 1SMC18AT3
35V 12 IN-B 2 12 OUT-B DIR_2- HW2_B2- 8 HW2_B2- DIR_2-
EN-B,D 9 HW2_B2- 3 E4 EN-B,D 11 PUL_2- 9 +5V
.1UF IN-D OUT-D 10
HOLE
HW2_B2 11 10 HW2_B2+ PUL_2 9 10 PUL_2+ HEADER 10
-12V OUT-D IN-D IN-D OUT-D
GND GND
TP1 8 C32 8 C33
D3 GND GND
C3 GND
ST34C86CF16 .1UF ST34C87CF16 .1UF
(JPWR) 1SMC18AT3
+
22UF (SO16) (SO16)
TB1 35V
GND SET "E3 1-TO-2 TO ENABLE HANDWHEEL FOR CHANNEL 1
+5V
+12V
1
2
GND
GND SET "E3 2-TO-3 TO ENABLE PULSE/DIR FOR CHANNEL 1
SET "E4 1-TO-2 TO ENABLE HANDWHEEL FOR CHANNEL 2 SHEET2 Title
Delta Tau Data Systems, Inc.
-12V 3 SET "E4 2-TO-3 TO ENABLE PULSE/DIR FOR CHANNEL 2
4 PMAC2-PC/104, SECOND-FOUR-AXIS GENERAL I/O
TERMBLK 4 671-1SH2 Size Document Number Rev
|Link
(.150 PITCH)
|671-1SH2.sch
D
603671-321 --
Date: Thursday, September 13, 2001 Sheet 1 of 2

50 Connector Pinouts
 Hardware Reference Manual
(JEXP_A)
J11
BD00_A BD01_A
BD00_A 1 2 BD01_A
BD02_A BD03_A
BD02_A 3 4 BD03_A
BD04_A BD05_A
BD04_A 5 6 BD05_A
BD06_A BD07_A
BD06_A 7 8 BD07_A
BD08_A BD09_A
BD08_A 9 10 BD09_A
BD10_A BD11_A
BD10_A 11 12 BD11_A
BD12_A BD13_A
BD12_A 13 14 BD13_A
BD14_A BD15_A
BD14_A 15 16 BD15_A
BD16_A BD17_A
BD18_A 17 18 BD19_A
BD20_A 19 20 BD21_A
BD22_A 21 22 BD23_A
BA00_A 23 24 BA01_A
BA00_A 25 26 BA01_A
BA02_A BA03_A
BA02_A 27 28 BA03_A
BA04_A BA05_A
BA04_A 29 30 BA05_A
BA06_A BA07_A
BA06_A 31 32 BA07_A
BA08_A BA09_A
BA08_A 33 34 BA09_A
BA10_A BA11_A
BA10_A 35 36 BA11_A
BA12_A BA13_A
BA12_A 37 38 BA13_A
BX/Y_A
BX/Y_A 39 40
HEADER 20X2(FEM)
SSM-120-L-DV-LC CLS120LDDV

THIS DOCUMENT IS THE CONFIDENTIAL PROPERTY OF DELTA TAU

DATA SYSTEMS INC. AND IS LOANED SUBJECT TO RETURN UPON
C100 U23 DEMAND. TITLE TO THIS DOCUMENT IS NEVER SOLD OR
C116 16 TRANSFERRED FOR ANY REASON. THIS DOCUMENT IS TO BE USED
+12V VCC ONLY PURSUANT TO WRITTEN LICENSE OR WRITTEN INSTRUCTIONS
PWM~A~T5 1 RP12A 2 1 RP13A 2 .1UF ENC_A5 3 2 CHA5+ OF DELTA TAU DATA SYSTEMS INC. ALL RIGHTS TO DESIGNS AND
OUT-A IN-A INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC.
CUT PINS 1 THRU 42 OF P6 AFTER ASSEMBLY 100KSIP8I 47KSIP8I 220PF
POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE
+5V 1 CHA5-
R10 4 IN-A ABOVE AGREEMENT.
EN-A,C

4
C57 7 CHA6-
(JEXPB) 3
+
LF347M
C108 LF347M
200.0K
1%
IN-C
.1UF J6 1 1 RP14A 2 6 - ENC_A6 5 6 CHA6+
U15A LF347M OUT-C IN-C
PWM_A_T5 PWM_B_T5 2 7 5 RP14C 6 9 -
1 2 - 47KSIP8I U15B

3
GND PWM_A_B5 PWM_B_B5 47PF 5 + 8 1 RP17A 2 DAC5- ENC_A7 13 14 CHA7+ BD00_A BD01_A
3 4 (SO14) 47KSIP8I U15C OUT-B IN-B BD00_A BD01_A
PWM_A_T6 PWM_B_T6 RP14B (SO14) 10 + BD02_A BD03_A

11
5 6 220SIP8I BD02_A BD03_A
PWM_A_B6 PWM_B_B6 (SO14) 15 CHA7- BD04_A BD05_A
7 8 47KSIP8I IN-B BD04_A BD05_A

7
PWM_A_T7 PWM_B_T7 12 BD06_A BD07_A
9 10 EN-B,D BD06_A BD07_A
PWM_A_B7 PWM_B_B7 PWM~A~B5 3 RP12B 4 3 RP13B 4 RP14D 9 CHA8- BD08_A BD09_A
11 12 IN-D BD08_A BD09_A
PWM_A_T8 PWM_B_T8 1 RP16A 2 3 RP16B 4 BD10_A BD11_A

4
13 14 100KSIP8I 47KSIP8I 47KSIP8I BD10_A BD11_A
PWM_A_B8 PWM_B_B8 C101 ENC_A8 11 10 CHA8+ BD12_A BD13_A
15 16 47KSIP8I 47KSIP8I OUT-D IN-D BD12_A BD13_A
PWM_C_T5 ADC_A5 -12V BD14_A BD15_A
17 18 C109 LF347M BD14_A BD15_A
PWM_C_B5 ADC_A6 13 8 BD16_A BD17_A

8
-
19 20 GND BD16_A BD17_A
+5V PWM_C_T6 ADC_A7 .1UF 470PF 14 3 RP17B 4 DAC5+ BD18_A BD19_A
21 22 R11 U15D BD18_A BD19_A
PWM_C_B6 ADC_A8 12 + ST34C86CF16 BD20_A BD21_A
23 24 220SIP8I BD20_A BD21_A
C56 PWM_C_T7 ADC_B5 (SO14) (SO16) C76 BD22_A BD23_A
25 26 24K BD22_A BD23_A
PWM_C_B7 ADC_B6 C102 BA00_A BA01_A
.1UF 27 28 BA00_A BA01_A
PWM_C_T8 ADC_B7 +12V C117 BA02_A BA03_A
29 30 BA02_A BA03_A
PWM_C_B8 ADC_B8 .1UF BA04_A
GND ADC_CLK 31 32 ADC_STR PWM~A~T6 5 RP12C 6 5 RP13C 6 BA04_A BX/Y_A
.1UF
AENA_5 33 34 FAULT~5 BX/Y_A
100KSIP8I 47KSIP8I 220PF U24
AENA_6 35 36 FAULT~6 16 BWR_A- BRD_A-
37 38 R12 VCC BWR_A- BRD_A-
AENA_7 FAULT~7 SERVO PHASE
39 40 SERVO PHASE

4
AENA_8 FAULT~8 ENC_B5 3 2 CHB5+
41 42 LF347M 200.0K OUT-A IN-A
BA06_A BA07_A 3 C110
BA06_A 43 44 BA07_A + LF347M 1%
BA08_A BA09_A 1 1 RP15A 2 6 - 1 CHB5-
BA08_A 45 46 BA09_A U16A LF347M IN-A
BA10_A BA11_A 2 7 5 RP15C 6 9 - 4
BA10_A 47 48 BA11_A 47KSIP8I U16B EN-A,C

3
DPRCS- WAIT- - 5 8 5 RP17C 6 DAC6- 7 CHB6-
(SO14) 47PF +
47KSIP8I
49 50 10 U16C IN-C
RP15B
+
(SO14)

11
220SIP8I
HEADER 25X2(FEM) (SO14) ENC_B6 5 6 CHB6+
47KSIP8I OUT-C IN-C

7
CLS125LDDV
PWM~A~B6 7 RP12D 8 7 RP13D 8 RP15D ENC_B7 13 14 CHB7+
SSM-125-L-DV-LC 5 RP16C 6 7 RP16D 8 OUT-B IN-B

4
100KSIP8I 47KSIP8I 47KSIP8I
C103 15 CHB7-
47KSIP8I 47KSIP8I IN-B
-12V 12
C111 LF347M EN-B,D
13 9 CHB8-

8
-
470PF 14 7 RP17D 8 DAC6+ IN-D
.1UF
R13 12 U16D
+ ENC_B8 11 10 CHB8+
220SIP8I OUT-D IN-D
24K (SO14)
C104 8
GND
+12V C118
ST34C86CF16
PWM~A~T7 1 RP18A 2 1 RP19A 2 .1UF (SO16) C77
220PF +5V C79
100KSIP8I 47KSIP8I
R14 +5V GND
.1UF

4
.1UF
LF347M 200.0K
3 C112 U25 D6 U26A
+ LF347M 1%
1 1 RP20A 2 6 - 16 LED 1
U17A LF347M VCC
2 7 5 RP20C 6 9 - GRN (DIP8) 3 AENA5-
47KSIP8I U17B

3
- 5 8 1 RP23A 2 DAC7- ENC_C5 3 2 CHC5+ AENA_5 2 (SOCKET)
(SO14) 47PF +
47KSIP8I
10 U17C OUT-A IN-A
RP20B
+

11
(SO14) 220SIP8I
(SO14) 1 CHC5- DS75452N
47KSIP8I IN-A

7
4 U26B
PWM~A~B7 3 RP18B 4 3 RP19B 4 EN-A,C 7 CHC6- AENA_6 6
RP20D IN-C R32
1 RP22A 2 3 RP22B 4 5 AENA6-

4
100KSIP8I 47KSIP8I 47KSIP8I 1K (DIP8)
C105 ENC_C6 5 6 CHC6+ U10C 7 (SOCKET)
47KSIP8I 47KSIP8I OUT-C IN-C
-12V LF347M
C113 13 ENC_C7 13 14 CHC7+ BWDO_A+ 5 6

8
- DS75452N
470PF 14 3 RP23B 4 DAC7+ OUT-B IN-B
.1UF U27A
R15 12 U17D 15 CHC7- 1
+
220SIP8I IN-B (SO14)
(SO14) 12 74ACT14 (DIP8) 3 AENA7-
24K EN-B,D 9 CHC8- AENA_7 2 (SOCKET)
C106
IN-D
+12V C119
ENC_C8 11 10 CHC8+ DS75452N
PWM~A~T8 5 RP18C 6 5 RP19C 6 OUT-D IN-D
.1UF U27B
220PF 8 AENA_8 6
100KSIP8I 47KSIP8I GND
+5V (DIP8) 5 AENA8-
R16 ST34C86CF16 7 (SOCKET)

4
C54 (SO16) C78
R35 LF347M 200.0K
GND SCLK_DIR 3 C114 DS75452N
+ LF347M 1%
.1UF 1 1 RP21A 2 6 - C80
3.3K U18A LF347M
2 7 5 RP21C 6 9 - .1UF +5V GND
47KSIP8I U18B

3
GND - 5 8 5 RP23C 6 DAC8- GND +5V
(SO14) 47PF +
47KSIP8I
10 U18C .1UF
U10D RP21B
+

11
(SO14) 220SIP8I
47KSIP8I (SO14)

7
R36 9 8
+5V
PWM~A~B8 7 RP18D 8 7 RP19D 8 RP21D
3.3K
5 RP22C 6 7 RP22D 8

4
(SO14) 100KSIP8I 47KSIP8I 47KSIP8I
74ACT14 C107 47KSIP8I 47KSIP8I
U10E -12V +5V
C115 LF347M
13

8
-
R37 11 10 470PF 14 7 RP23D 8 DAC8+ 1 RP45 2 FLAG_T5
+5V .1UF
R17 12 U18D
+ 3 FLAG_U5
3.3K 220SIP8I
(SO14) (SO14) 4 FLAG_V5
24K 5 FLAG_W5
74ACT14
U10F GND 6 FLAG_T6
C120 100PF 7 FLAG_U6
R38 13 12 8 FLAG_V6
+5V R20 R21
ADCIN_6 10 9 FLAG_W6
3.3K
(SO14) 20.0K/1% 4.99K/1%
74ACT14 3.3KSIP10C
5
LM6132AIM + 7
6 U19B 1 RP46 2 FLAG_T7
- (SO8) 3 FLAG_U7
4 FLAG_V7
+5V R22 R23 5 FLAG_W7
+5V Flag_1_2_V Flag_3_4_V 6 FLAG_T8
20.0K/1% 4.99K/1%
U20 7 FLAG_U8

10

10
+5V C121 100PF 1 24 8 FLAG_V8
DGND +VD

1
RP24 RP27 C124 2 23 ADC_A5 10 9 FLAG_W8
R30 CH_B1+ SDO_A
3.3K C72 C73 3 22 ADC_A6
4 CH_B1- SDO_B 21 3.3KSIP10C
U10A C122 100PF
3.3KSIP10C 3.3KSIP10C .1UF 5 CH_B0+ BUSY 20 ADC_CLK
RESET- 1 2 RESET+ ADCIN_5 R24 R25 6 CH_B0- CLOCK 19 ADC_CS-
RESET+ .1UF .1UF
RESET- Flag_1_2_V Flag_3_4_V 7 CH_A1+ CS- 18
U21 20.0K/1% 4.99K/1% CH_A1- RD

8
1 48 8 17 ADC_STR

2
3
4
5
6
7
8
9

2
3
4
5
6
7
8
9
(SO14) T/R1 OE1 CH_A0+ CONVST
74ACT14 GND (JMACH2) GND FLAG_A5 2 47 1 2RP25 HOME5+ 3 9 16
FLAG_B5 3 B0 A0 46 3 4 PLIM5+ + 1 10 CH_A0- A0 15 +5V
J4 LM6132AIM
4 B1 A1 45 5 6 MLIM5+ 2 U19A 11 REF_IN M0 14
1 2 FLAG_C5 5 GND GND 44 7 810KSIP8I USER5+ - (SO8) 12 REF_OUT M1 13
HOME5+ 3 4 HOME6+ FLAG_D5 6 B2 A2 43 AGND +VA
C64 C63
PLIM5+ 5 6 PLIM6+ 7 B3 A3 42 R26 R27

4
GND +5V GND +5V ADS7861E
MLIM5+ 7 8 MLIM6+ FLAG_A6 8 VCC VCC 41 1 2RP26 HOME6+ C126
20.0K/1% 4.99K/1% C125 (SSOP24) +
.1UF .1UF USER5+ 9 10 USER6+ FLAG_B6 9 B4 A4 40 3 4 PLIM6+ C127
PUL_5+ 11 12 PUL_6+ 10 B5 A5 39 5 6 MLIM6+ .1UF .1UF 10UF/10V
U14A C123 100PF
1 DIR_5+ 13 14 DIR_6+ FLAG_C6 11 GND GND 38 7 810KSIP8I USER6+
3 EQU_5+ 15 16 EQU_6+ FLAG_D6 12 B6 A6 37
2 (SO8) HOME7+ 17 18 HOME8+ FLAG_A7 13 B7 A7 36 1 2RP28 HOME7+
PLIM7+ 19 20 PLIM8+ FLAG_B7 14 B8 A8 35 3 4 PLIM7+ GND
U10B
MLIM7+ 21 22 MLIM8+ 15 B9 A9 34 5 6 MLIM7+
DS75451M
BWDO_A- 3 4 BWDO_A+ (SOCKET) USER7+ 23 24 USER8+ FLAG_C7 16 GND GND 33 7 810KSIP8I USER7+
BWDO_A- PUL_7+ 25 26 PUL_8+ FLAG_D7 17 B10 A10 32
DIR_7+ 27 28 DIR_8+ 18 B11 A11 31
(SO14) U14B
6 EQU_7+ 29 30 EQU_8+ FLAG_A8 19 VCC VCC 30 1 2RP29 HOME8+
R31 74ACT14
5 B_WDO 31 32 FLAG_B8 20 B12 A12 29 3 4 PLIM8+
3.3K (SO8) 33 34 B13 A13
7 21 28 5 6 MLIM8+
FLAG_C8 22 GND GND 27 7 810KSIP8I USER8+
HEADER 17X2
FLAG_D8 23 B14 A14 26 FLT_FLG_V +5V
DS75451M
(SOCKET) 24 B15 A15 25
GND T/R2 OE2

10

10
1

1
74AC16245DL RP43 RP44
(DL)
GND GND
4.7KSIP10C 3.3KSIP10C
+5V

2
3
4
5
6
7
8
9

2
3
4
5
6
7
8
9
U32
FAULT_5 18 2 FAULT~5 1 2RP42 FALT5-
FAULT_6 17 Y1 A1 3 FAULT~6 3 4 FALT6-
FAULT_7 16 Y2 A2 4 FAULT~7 5 6 FALT7-
FAULT_8 15 Y3 A3 5 FAULT~8 7 810KSIP8I FALT8-
EQU_5+ 14 Y4 A4 6 EQU_5
EQU_6+ 13 Y5 A5 7 EQU_6
+5V EQU_7+ 12 Y6 A6 8 EQU_7
EQU_8+ 11 Y7 A7 9 EQU_8
Y8 A8 SERVO
20 1 PHASE
10 VCC G1 19 SCLK
C74 C75 GND G2
C85
GND +5V (JMACH1) +5V GND 74AC541
J3 .1UF .1UF .1UF (SOL20) 1 E16 2 ADC_CS-
U22
1 2 BWDO_A+ 48 1 JUMP E16 TO ENABLE ATD
CHA5+ 3 4 CHA6+ PWM_A_T5 47 OE1 T/R1 2 PWM~A~T5
CHA5- 5 6 CHA6- PWM_A_B5 46 A0 B0 3 PWM~A~B5 GND
CHB5+ 7 8 CHB6+ 45 A1 B1 4
CHB5- 9 10 CHB6- PWM_A_T6 44 GND GND 5 PWM~A~T6
CHC5+ 11 12 CHC6+ PWM_A_B6 43 A2 B2 6 PWM~A~B6
CHC5- 13 14 CHC6- 42 A3 B3 7 +5V +5V
CHA7+ 15 16 CHA8+ PWM_A_T7 41 VCC VCC 8 PWM~A~T7
CHA7- 17 18 CHA8- PWM_A_B7 40 A4 B4 9 PWM~A~B7
CHB7+ 19 20 CHB8+ 39 A5 B5 10

10

10

10

10
21 22 GND GND
1

1
CHB7- CHB8- PWM_A_T8 38 11 PWM~A~T8
CHC7+ 23 24 CHC8+ PWM_A_B8 37 A6 B6 12 PWM~A~B8
CHC7- 25 26 CHC8- PWM_C_T5 36 A7 B7 13 DIR_5+
27 28 A8 B8 RP32 RP33 RP38 RP39
DAC5+ DAC6+ PWM_C_B5 35 14 PUL_5+ SIP SOCKET 2.2KSIP10C 1KSIP10C SIP SOCKET 2.2KSIP10C 1KSIP10C
DAC5- 29 30 DAC6- 34 A9 B9 15
AENA5- 31 32 AENA6- PWM_C_T6 33 GND GND 16 DIR_6+
33 34 A10 B10 RP30 RP36
FALT5- FALT6- PWM_C_B6 32 17 PUL_6+ 6 6
2
3
4
5
6
7
8
9

2
3
4
5
6
7
8
9

2
3
4
5
6
7
8
9

2
3
4
5
6
7
8
9
DAC7+ 35 36 DAC8+ 31 A11 B11 18 5 CHA5- CHA5+ 5 CHA7- CHA7+
DAC7- 37 38 DAC8- PWM_C_T7 30 VCC VCC 19 DIR_7+ 4 CHB5- CHB5+ 4 CHB7- CHB7+
AENA7- 39 40 AENA8- PWM_C_B7 29 A12 B12 20 PUL_7+ 3 CHC5- CHC5+ 3 CHC7- CHC7+
FALT7- 41 42 FALT8- 28 A13 B13 21 1 2 1 2
ADCIN_5 43 44 ADCIN_6 PWM_C_T8 27 GND GND 22 DIR_8+
45 46 PWM_C_B8 26 A14 B14 23 PUL_8+ 2.2KSIP6C 2.2KSIP6C
47 48 BWDO_A+ 25 A15 B15 24
49 50 OE2 T/R2
HEADER 25X2 74AC16245DL RP31 RP37
FLT_FLG_V +12V -12V GND (DL) 6 6
GND GND 5 CHA6- CHA6+ 5 CHA8- CHA8+
4
3
CHB6-
CHC6-
CHB6+
CHC6+
4
3
CHB8-
CHC8-
CHB8+
CHC8+ Title
Delta Tau Data Systems, Inc.
1 2 1 2 PMAC2-PC/104, SECOND-FOUR-AXIS MACHINE I/O
2.2KSIP6C 2.2KSIP6C Size Document Number Rev
D
GND GND 671-1SH2.sch 603671-321 --
Date: Wednesday, October 10, 2001 Sheet 2 of 2

Connector Pinouts 51