PMAC-PCI Hardware Reference
ii Table of Contents
E1 - E2: Machine Output Supply Voltage Configure ..................................................................................... 14
E3 - E6: Servo Clock Frequency Control ..................................................................................................... 15
E7: Machine Input Source/Sink Control....................................................................................................... 15
E17A-D: Amplifier Enable/Direction Polarity Control ................................................................................. 16
E17E-H: Amplifier Enable/Direction Polarity Control .................................................................................. 16
E22 - E23: Control Panel Handwheel Enable .............................................................................................. 17
E28: Following Error/Watchdog Timer Signal Control ................................................................................. 17
E29 - E33: Phase Clock Frequency Control ................................................................................................ 17
E34 - E38: Encoder Sampling Clock Frequency Control .............................................................................. 18
E40 - E43: Software Address Control .......................................................................................................... 18
E44 - E47: Serial Port Baud Rate ................................................................................................................. 19
E48: CPU Clock Frequency Control (Option CPU Section) ......................................................................... 19
E49: Serial Communications Parity Control ................................................................................................ 20
E50: Flash Save Enable/Disable ................................................................................................................. 20
E51: Normal /Re-initializing Power-Up ....................................................................................................... 20
E54 - E65: Host Interrupt Signal Select ....................................................................................................... 20
E72 - E73: Panel Analog time Base Signal Enable ....................................................................................... 21
E74 - E75: Clock Output Control for Ext. Interpolation ............................................................................... 22
E85: Host-Supplied Analog Power Source Enable ....................................................................................... 22
E87 - E88: Host-Supplied Analog Power Source Enable .............................................................................. 22
E89: Amplifier-Supplied Switch Pull-Up Enable .......................................................................................... 22
E90: Host-Supplied Switch Pull-Up Enable ................................................................................................. 23
E98: DAC/ADC Clock Frequency Control ................................................................................................... 23
E100: Output Flag Supply Select ................................................................................................................. 23
E101 - E102: Motors 1-4 Amplifier Enable Output Configure ...................................................................... 24
E109: Reserved for Future Use ................................................................................................................... 24
E110: Serial Port Configure ........................................................................................................................ 24
E111: Clock Lines Output Enable ................................................................................................................ 25
E114 - E115: Motors 5-8 Amplifier Enable Output Configure ....................................................................... 25
E121 - E122: XIN Feature Selection ............................................................................................................ 26
MACHINE CONNECTIONS ............................................................................................................................ 27
Mounting ......................................................................................................................................................... 27
Power Supplies................................................................................................................................................. 27
Digital Power Supply ................................................................................................................................... 27
Analog Power Supply ................................................................................................................................... 27
Flags Power Supply (optional) ..................................................................................................................... 28
Overtravel Limits and Home Switches .............................................................................................................. 28
Resistor Pack Configuration: Flag and Digital Inputs Voltage Selection ....................................................... 28
Types of Overtravel Limits ........................................................................................................................... 28
Home Switches ............................................................................................................................................. 29
Motor Signals Connections (JMACH Connectors) ............................................................................................ 29
Resistor Pack Configuration: Termination Resistors ..................................................................................... 29
Resistor Pack Configuration: Differential or Single-Ended Encoder Selection ............................................. 29
Incremental Encoder Connection ................................................................................................................. 30
DAC Output Signals ..................................................................................................................................... 30
Amplifier Enable Signal (AENAx/DIRn) ....................................................................................................... 31
Amplifier Fault Signal (FAULTn) ................................................................................................................. 32
General-Purpose Digital Inputs and Outputs (JOPTO Port) ............................................................................... 32
Control-Panel Port I/O (JPAN Port) .................................................................................................................. 33
Command Inputs .......................................................................................................................................... 33
Selector Inputs ............................................................................................................................................. 33
Alternate Use ............................................................................................................................................... 33
Reset Input ................................................................................................................................................... 34
Handwheel Inputs ........................................................................................................................................ 34
Optional Voltage to Frequency Converter .................................................................................................... 34
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