^1 HARDWARE REFERENCE MANUAL ^2 MACRO CPU BOARD ^3 HRM for UMAC MACRO & MACRO Stack ^4 4Ax-602804-xHxx ^5 January 29, 2003 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.
MACRO-CPU Hardware Reference CONTENTS INTRODUCTION ....................................................................................................................... 1 3U Product Configurations (General Description) .................................................................................................................2 MACRO CPU Specifications ....................................................................................................................................................
MACRO-CPU Hardware Reference U MACRO-CPU HARDWARE MEMORY MAP ...................................................................... 28 ACCESSORIES ......................................................................................................................
MACRO-CPU Hardware Reference INTRODUCTION The 3U MACRO-CPU board is the processor and MACRO interface board that is used in a 3U MACRO Station (in either UMAC MACRO or MACRO Stack configuration). Note There are 3 documents that describe the operation of Delta Tau Data Systems Inc.
MACRO-CPU Hardware Reference 3U MACRO-CPU Board (3A0-602804-10x): • 80MHz DSP56303 CPU • 512k x 8 flash memory for user backup & firmware • Latest released firmware version • RS-232 serial interface for setup and debugging • Stack connectors for servo and I/O accessory boards • • UBUS connector for backplane connection to servo and I/O accessory boards JTHW multiplexed I/O port with 26-pin IDC header The 3U MACRO Station can be configured in either of two fundamental assemblies – “UMAC MACRO” a
MACRO-CPU Hardware Reference Assemblies of 3U-format boards can be made with either of two CPU processor boards – a 3U MACRO-CPU board, or a 3U Turbo PMAC2 CPU board. Most other 3U-format boards, labeled “Accessory” boards, can be used with either CPU board. • When the 3U MACRO-CPU board is used, the resulting assemblies are called “UMAC MACRO” or "3U MACRO Stack." • When the 3U Turbo PMAC2 CPU board is used, the resulting assemblies are called “UMAC Turbo” or "Turbo Stack.
MACRO-CPU Hardware Reference MACRO CPU Specifications Physical Specifications Size: 33.5cm x 9.9cm x 3.8cm (13.2" x 3.9" x 1.4") Weight: ½ lb. Temperature Operating: 0°C to 60°C (32°)F to 140°F) Storage: 12°C to 82°C (10°F to 180°F) Humidity: 10% to 95%, noncondensing Electrical Specifications Power: 4 1.5A @ +5V (±5%) (7.5W) Pertains to 8-channel configuration, with a typical load of encoders.
MACRO-CPU Hardware Reference 3U MACRO-CPU CONFIGURATION The purchase of the 3U MACRO CPU board provides a 3U-format (100mm x 160mm) board with a DSP processor, MACRO ring circuitry, “piggyback” connectors onto which “stack” accessory boards can be mounted, and a backplane connector through which other 3U-format boards can be connected by means of a “UBUS” passive-backplane board.
MACRO-CPU Hardware Reference 6 3U MACRO-CPU Configuration
MACRO-CPU Hardware Reference 3U MACRO CPU BOARD HARDWARE SETUP The hardware setup of the 3U MACRO CPU Board consists of the setting of 2 rotary switches, the setting of several E-point jumpers on each board, followed by power supply and signal connections. Note E-Point Jumper numbers are shown in white ink on the legend of each board.
MACRO-CPU Hardware Reference SW2 Rotary Switch Setting: SW2 establishes the number of the master IC to which the MACRO station will respond. The values of 0 to 15 correspond to Master numbers 0 to 15, respectively. For a non-Turbo PMAC2 master, this value must match the master number value in the first hexadecimal digit of PMAC2’s I996.
MACRO-CPU Hardware Reference ACC-Ux “UBUS” backplane board. It can also be used to bring in 5V power, and optionally +/-15V power, from a backplane or breakout board, to the entire MACRO Station. Note When interfacing to accessory boards across the UBUS backplane, it is strongly recommended to use a new revision (-105 or higher) of the MACRO CPU board, and an ACC-Ux backplane board (not an older ACC-Jx backplane board).
MACRO-CPU Hardware Reference 10 3U MACRO CPU Board Hardware Setup
MACRO-CPU Hardware Reference 3U MACRO-CPU JUMPER AND SWITCH CONFIGURATIONS 3U MACRO-CPU Card Layout The "Location" columns of the following tables refer to the mapped locations shown in the drawings below: A B C D E F 1 2 3 4 REV-105 and Later Revisions REV-104 and Earlier Revisions Note: Pin 1 of an E-point is masked by an "X" in white ink on the composite side, and by a square solder pad on the solder side.
MACRO-CPU Hardware Reference E1: Watchdog Timer Disable Rev -105 and Later Location Rev -104 and Earlier Location Jumper Type Description Remove jumper to enable Watchdog Timer. B-1 F-1 2-PIN Default not jumpered Jump pins 1 and 2 to disable Watchdog Timer (for test purposes only) E2: CPU Mode Operation Rev -105 and Later Location D-2 Rev -104 and Earlier Location D-1 Jumper Type 3-PIN Description Jump pins 1 and 2 for firmware download through serial port.
MACRO-CPU Hardware Reference E5: MACRO Received Signal Detect/Bypass Mode (rev -105 and 106 only). Does not exist on rev 107 and later models. Rev -105 and Later Location Rev -104 and Earlier Location B-3 Jumper Type 3-PIN Description Default Jump pins 1 and 2 to access the receiver’s signal detect operation. Pin 1-2 Jump pins 2 and 3 to bypass the receiver’s signal detect operation. This jumper does not exist on MACRO-CPU versions -104 and earlier.
MACRO-CPU Hardware Reference JP5-JP6: MACRO Copper EQ Select (rev -104 and earlier) Rev -105 and Later Location Rev -104 and Earlier Location B-1 Jumper Type 2-PIN Description Default These jumpers are used to select different modes of equalization when copper-based communications are used. not jumpered When not jumpered, adaptive equalization is used. JP5 and JP6 are used for manufacturer's testing only. These jumpers do not exist on MACRO-CPU versions -105 and greater.
MACRO-CPU Hardware Reference Switch Configurations SW1: MACRO Slave Node Configure MACRO Servo Nodes Specified Station Channel Nos.
MACRO-CPU Hardware Reference Connector Summary J1: ☼ JEXP_A: for interboard connection J2: ☼ JEXP_B: for interboard connection J3: ☼ JEXP_C: for interboard connection J4: ☼ JISP: Factory configuration header J5: ☼ ☼ JTAG/OnCE: Factory troubleshoot header J6: JTHW: Multiplexer Port Connector J7: JRS232: Serial Port Connector J14, J17: RJ45: MACRO Copper I/O (OPT C) P1: JEXP: Backplane Expansion Port Connector TB1: JPWR: 4-Pin Terminal Block U73: MACRO Fiber Optic Connector (OPT A)
MACRO-CPU Hardware Reference MACRO STATION CHARACTER DISPLAY The Compact MACRO Station has a single hexadecimal character display on the CPU/Interface Board that provides useful information as to the status of the station.
MACRO-CPU Hardware Reference HARDWARE RE-INITIALIZATION MACRO hardware reinitialization to factory defaults is enabled when the SW1 setting is set to 15 or F (hexidecimal) and the power is cycled at the MACRO Station. The only time the user would want to use a hardware reinitialization to factory defaults with the MACRO Station would be if the MACRO Station always powers up with a watchdog (typically if the ring clock at the Ultralite is different than the ring clock at the MACRO Station).
MACRO-CPU Hardware Reference Hardware Re-initialization 19
MACRO-CPU Hardware Reference FIRMWARE UPDATES Downloading new firmware to the MACRO Station is a simple process once the MACRO board is setup properly. To download new firmware to the MACRO station, the user must have the following items: 5V power supply 2 jumpers DB9 female to 10 pin header (any cable used for PMAC RS232 communications) PC at the DOS prompt.
MACRO-CPU Hardware Reference Firmware Updates 21
MACRO-CPU Hardware Reference 3U MACRO-CPU BOARD CONNECTOR PIN-OUTS The schematic circuits shown in this section are for interface reference only. Subtle differences may exist between the circuits shown here and the actual hardware used. J6: (JTHW) Multiplexer Port Connector (26-pin Header at Location D-3) Pin # Symbol Function 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 GND GND DAT0 SEL0 DAT1 SEL1 DAT2 SEL2 DAT3 SEL3 DAT4 SEL4 DAT5 SEL5 DAT6 SEL6 DAT7 SEL7 N.C.
MACRO-CPU Hardware Reference 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 10 1 1 J6 10 +5V RP7 3.3KSIP10C RP6 3.
MACRO-CPU Hardware Reference J7: (JRS232) Serial Port Connector (10-pin Header at Location C-1) Pin # 1 2 3 4 5 6 7 8 9 10 Symbol Function N.C. DTR TXD/ CTS RXD/ RTS DSR N.C.
MACRO-CPU Hardware Reference J14, J17: MACRO COPPER I/O (OPT C) (8 pin RJ45) Front View Pin # Symbol Function Description Notes 1 DATA+ Data + Differential MACRO Signal. 2 DATA- Data - Differential MACRO Signal 3 4 5 6 7 8 unused unused unused unused unused unused J17: DATA+ input. J14: DATA+ output. J17: DATA- input. J14: DATA- output. See schematic below. See schematic below. See schematic below. See schematic below. See schematic below. See schematic below.
MACRO-CPU Hardware Reference P1: UBUS Interface Connector (96 pin EURO-Connector at F-1, 2, 3, 4) Front View on MACRO-CPU Card Pin # 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1. 2. 26 Row A +5Vdc GND BD01 BD03 BD05 BD07 BD09 BD11 BD13 BD15 BD17 BD19 BD21 BD23 BS1 (GND) BA01 BA03 BX/Y CS3BA05 (CS7-) CS12CS16BA13 (n.c.) BRDBS3 (GND) n.c. PHASE+ PHASE- (n.c.
MACRO-CPU Hardware Reference TB1: (JPWR) 4-Pin Terminal Block (Location B-4) Pin # Symbol Function 1 2 3 4 GND +5V +15V -15V Common Input Input Input Description Reference Voltage Positive Supply Voltage Positive Supply Voltage Negative Supply Voltage Notes Supplies all PMAC digital circuits +12V to +15V; used for on-board analog -12 to –15V; used for on-board analog U73: MACRO Fiber Optic Connector (OPT A) (2 Socket SC-Style) Front View Pin # 1 2 Symbol RX TX Function Fiber Input Fiber Output
MACRO-CPU Hardware Reference U MACRO-CPU HARDWARE MEMORY MAP The values in this table represent the hardware locations associated with register-based transactions that occur in the 3U MACRO-CPU.
MACRO-CPU Hardware Reference U MACRO-CPU Hardware Memory Map 29
MACRO-CPU Hardware Reference ACCESSORIES Both the Turbo and the MACRO CPU boards can support either the Stack or the UMAC configuration. The systems are configured modularly with the selection of a series of accessory boards, some appropriate for the Stack, and some appropriate for the UMAC. These accessories are listed here. Each has its own manual for detailed description. The following table shows 3U products by function: MACRO CPU Board Options Board must be ordered with either Option A or Option C.
MACRO-CPU Hardware Reference Boards Amplifiers – Analog ±10VDC Input (Brush Motors) Amplifiers – Digital PWM Input (brushless) Backplane, 300-603462 Backplane, 300-603403-10x Backplane, 300-603463-10x ACC-U10, UBUS 10-Slot Backplane, 300-603464-10x ACC-U12, UBUS 12-Slot Backplane, 300-603465-10x ACC-U14, UBUS 14-Slot Backplane, 300-603466-10x ACC-U16, UBUS 16-Slot Backplane, 300-603471-10x ACC-U18, UBUS 18-Slot Backplane, 300-603491-10x 4-Axis Analog ± 10V Input Linear Amplifier, 24VDC, 0.
