^1 USER MANUAL
^2 Accessory 8T
^3 Supplemental Flag Switch Multiplexer Interface Board
^4 3Ax-602670-xUxx
^5 June 13, 2005
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
© 2005 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 directly exposed to hazardous or conductive
materials and/or environments, we cannot guarantee their operation.
EN
Dispose in accordance with applicable regulations.
Accessory 8T
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
U, V, W, T and User Flag Toggle ............................................................................................................................. 1
Encoder Inputs ........................................................................................................................................................... 1
A-D Converter Signals .............................................................................................................................................. 1
CONNECTORS ........................................................................................................................................................... 2
JMACH1 ................................................................................................................................................................... 2
JMACH2 ................................................................................................................................................................... 2
TB1............................................................................................................................................................................ 2
TB2............................................................................................................................................................................ 2
J1 ............................................................................................................................................................................... 2
J2 ............................................................................................................................................................................... 2
J3 ............................................................................................................................................................................... 2
JUMPERS .................................................................................................................................................................... 3
E1 .............................................................................................................................................................................. 3
E2, E3 ........................................................................................................................................................................ 3
E4, E5 ........................................................................................................................................................................ 3
E6 .............................................................................................................................................................................. 3
INDICATORS .............................................................................................................................................................. 4
D1, D2 ....................................................................................................................................................................... 4
D3, D4 ....................................................................................................................................................................... 4
MAKING PMAC2 WORK WITH ACC-8T ............................................................................................................. 5
U, V, W, T and User Flag Toggle ............................................................................................................................. 5
Encoder Inputs ........................................................................................................................................................... 6
A-D Converter Signals .............................................................................................................................................. 6
Things to Know: .................................................................................................................................................... 6
CONNECTOR PINOUTS ........................................................................................................................................... 7
Headers, Terminal Blocks, and IDC Connectors ....................................................................................................... 7
JMACH1 (100-Pin Header) .................................................................................................................................. 7
TB1 UVWT and User Flag Input Channel #1 ....................................................................................................... 7
TB2 UVWT and User Flag Input Channel #2 ....................................................................................................... 7
J1 UVWT and User Flag Input Header for Channels #1 & #2 ............................................................................ 8
J2 A-D Converter Breakout Header ..................................................................................................................... 8
J3 Encoder Inputs (10-Pin Header) ...................................................................................................................... 9
JUMPERS .................................................................................................................................................................. 10
SCHEMATICS .......................................................................................................................................................... 11
Accessory 8T
Introduction 1
INTRODUCTION
PMAC2's Accessory 8T (ACC-8T) is a 2-channel interface board designed to provide alternate access to
U, V, W, T, USER flags, encoder inputs, and A-D converter signals. This interface board provides a
pass-through of all the JMACH connector signals that are used by other PMAC2 accessory boards.
U, V, W, T and User Flag Toggle
The PMAC2 can use the U, V, W, T and user flags to input data from such devices as the ACC-8D,
Option 8 (Sub-count resolver accessory) or from the Hall Effect sensors that are used in 3-phase
brushless servomotors. However, when both sets of inputs are desired, the ACC-8T interface is placed in
the middle of the JMACH cable. This allows the user to select PMAC2’s U, V, W, T and User Flag
signals from the JMACH2 and pass-through connector on the ACC-8T and those received on TB1, TB2,
or J1 (a set of local input terminal blocks or a connector).
This is done by toggling a bit in the ADC strobe line at pin 25 and 26 in the JMACH data cable. Data is
continuously being decoded for the status of the UVWT toggle. Refer to M-variable assignments in this
manual for how to select the toggle directions.
LEDs display the current toggle status of the ACC-8T board. The default direction is jumper selectable.
Five bits are needed for sub-count resolution input. The User Flag may be jumpered so that it may be
toggled or left as a pass-through only.
Encoder Inputs
The ACC-8T provides a breakout for encoder inputs. This simplifies the PMAC2 interface when an
interpolator accessory is used or when any encoder is used where other accessory devices are not
necessary.
Note
The encoder inputs are provided as a breakout only. When used with other accessory
cards, any encoder inputs provided on those cards are merged with the ACC-8T encoder
inputs. Only one encoder may be used per channel.
A-D Converter Signals
The ACC-8T provides a breakout for A-D converter signals. This simplifies the PMAC2 interface when
an A-D converter accessory (i.e. ACC-28B) is used. These non-analog input signals are used for serial
A-D converters.
Note
The A-D converter signals are provided as a breakout only. When used with other
accessory cards, any A-D signals are merged with the ACC-8T A-D signals. Care should
be exercised to insure that accessories that have A-D converters (i.e. ACC-8K2) are not
used when converter input signals are used on the ACC-8T.
ACC-8T is one of a series of I/O accessories for PMAC2. The interface to the PMAC2 is made using the
JMACH connector cable. This cable is supplied with the board and is 24 inches long.
Accessory 8T
2 Connectors
CONNECTORS
A pin definition listing for each connector is listed later in this manual.
JMACH1
This is the 100-pin connector that attaches the ACC-8T to the PMAC2.
JMACH2
This 100-pin connector attaches the ACC-8T to another accessory card. All signals are fed directly
through from the JMACH1 connector except the T, U, V, W, and User flags that go through the on-board
multiplexer circuit.
TB1
This 8-pin terminal block is the T, U, V, W, and User1 flag inputs for axis #1. Power supply taps are
provided for +5Vdc and +5V return.
TB2
This 8-pin terminal block is the T, U, V, W, and User2 flag inputs for axis #2. Power supply taps are
provided for +5Vdc and +5V return.
J1
This 14-pin header is used to interface devices that use a ribbon cable for two axes of flag inputs. A
typical device which uses this header input is the Delta Tau Interpolator Board (ACC-8D Option 8).
J2
This is a 16-pin header for connecting devices that use the ADC strobe, clock and serial data return lines
to the PMAC2. These inputs are typically used with Delta Tau’s ACC-28B A-D converter accessory.
J3
This is a 10-pin header for connecting Aquad B encoder inputs and clock outputs. These are single-
ended inputs that provide connection to both axes. This connector is equivalent to the JXIO connector on
the PMAC1 product, and has several possible uses:
1. Provide clock signals to accessories such as ACC-24 or ACC-8D Option 8.
2. Receive quadrature encoder signals from accessories such as ACC-14 or ACC-8D Option 8.
Accessory 8T
Jumpers 3
JUMPERS
Refer to the layout diagram of ACC-8T for the location of the jumpers on the board. A position listing
for each jumper is provided at the end of this manual.
E1
This jumper must be used to select whether the card is connected to an odd-numbered or even-numbered
JMACH connector on the PMAC2. The odd-numbered JMACH connector is used to feed flag signals to
the lower 2 channels of a 4-channel set on the PMAC2. The even-numbered JMACH connector is used
to feed the upper 2 channels of 4 channels set on the PMAC2. This jumper is necessary to select the
proper channel pair for the flag selector.
When an 8-channel PMAC2 is used, there are two odd-numbered and even-numbered JMACH
connectors. Selector data is handled in groups of four channels on PMAC2.
Refer to ‘M-Variable selection’ description in Making PMAC2 Work with ACC-8T section in this
manual for a further explanation.
E2, E3
These jumpers allow the user to choose the default flag selection for the ACC-8T. Note that when the
jumper is changed, the logic is reversed when selecting the flag source.
E4, E5
These jumpers allow the choice of whether the User flag is toggled by the ACC-8T. When selected not
to toggle the user flag, the data will always pass from JMACH2 to JMACH1.
E6
This jumper allows the user to choose between providing the DAC_CLK or the ADC_CLK to pin 10 on
J3.
Accessory 8T
4 Indicators
INDICATORS
Refer to the layout diagram of ACC-8T for the location of the indicators on the board.
D1, D2
Channel 1 input selection for ACC-8T. D1 (green) is lit to indicate that local flag inputs are selected. D2
(yellow) is lit to indicate that flag inputs are passed through from ACC-8T’s JMACH2 connector.
D3, D4
Channel 2 input selection for ACC-8T. D3 (green) is lit to indicate that local flag inputs are selected. D4
(yellow) is lit to indicate that flag inputs are passed through from ACC-8T’s JMACH2 connector.
Layout Diagram ACC-8T: Connectors and Jumpers
Accessory 8T
Making PMAC Work with Acc-8T 5
MAKING PMAC2 WORK WITH ACC-8T
U, V, W, T and User Flag Toggle
The flag toggle operates by receiving data from the serial conversion strobe that PMAC2 uses for A-D
conversion input. Since there are 2 axes available to be toggled on the ACC-8T, there is a minimum of 2
variable assignments that the user should make.
M-Variables are ideal for selecting the direction on the ACC-8T.
Example: When E1 is jumpered between 1-2, the lower two axes in PMAC2’s JMACH connector are
selected.
1. Enter M126->X:$C014,11 for 1st channel on PMAC2’s JMACH1; E1 jumpered 1-2.
2. Enter M226->X:$C014,12 for 2nd channel on PMAC2’s JMACH1; E1 jumpered 1-2.
3. Enter M326->X:$C014,13 for 1st channel on PMAC2’s JMACH2; E1 jumpered 2-3.
4. Enter M426->X:$C014,14 for 2nd channel on PMAC2’s JMACH2; E1 jumpered 2-3.
5. Enter M526->X:$C034,11 for 1st channel on PMAC2’s JMACH3; E1 jumpered 1-2.
6. Enter M626->X:$C034,12 for 2nd channel on PMAC2’s JMACH3; E1 jumpered 1-2.
7. Enter M726->X:$C034,13 for 1st channel on PMAC2’s JMACH4; E1 jumpered 2-3.
8. Enter M826->X:$C034,14 for 2nd channel on PMAC2’s JMACH4; E1 jumpered 2-3.
Note
The JMACH connector in the above table refers to the actual JMACH connector number
that is located on the PMAC2 controller card.
To select the default source for the flags, set Mx26 to 0. To select the alternate source, set Mx26 to 1.
Jumpers E2 and E3 on the ACC-8T control which is the default source and which is the alternate source.
PMAC2 sets all Mx26 control bits to 0 automatically on power-up or reset, which selects the default
source.
Note
Each ACC-8T only interfaces to two axes. However, it is possible to have two ACC-8T
accessory cards jumpered to select their inputs across two PMAC2 JMACH connectors
at the same time.
Toggling the U, V, W, T, and User Flag for each channel has no effect on the encoder or A-D Converter
interface signals at J2 and J3.
Accessory 8T
6 Making PMAC Work with Acc-8T
Encoder Inputs
The inputs that are provided at J3 are single-ended encoder signals. Both channels 1 and 2 are provided
in the same connector to simplify future interfaces.
Included with the encoder signals is the encoder sample clock (pin 9). This allows for synchronization
between devices that sample encoder counts externally (i.e. Interpolator Accessory ACC-8D Option 8)
and PMAC2.
Pin #10 allows the use of either the DAC clock or the ADC clock. This depends upon the setting of
jumper E6. Place jumper E6 into the 1 - 2 position for DAC clock output and into 2 - 3 position for the
ADC clock.
Note
The signals at J3 are ‘tapped’ from the signals that are provided through the JMACH
ribbon. Therefore, it should be noted that when an accessory is used that uses encoder
inputs on it, the inputs on this connector are not available.
A-D Converter Signals
These signals are provided to simplify the breakout of A-D converter related accessories such as the
ACC-28B. The PMAC2 provides the drive to allow for 4 simultaneous serial inputs using the TTL
compatible inputs through the J2 connector.
It should be noted that the signals at J2 are tapped from the signals that are provided through the JMACH
ribbon. Therefore, it should be noted that when an accessory is used that has an A-D Converter on it,
(i.e. ACC-8K1, ACC-8K2) the inputs on this connector are not available.
Things to Know:
U, V, W, T and User Flag Selection
Connect only one ACC-8T per JMACH cable on the PMAC2 for best results.
The Mx26 variable gets set to 0 when the power is cycled on the PMAC2 or a reset occurs. This should
be taken into account when choosing the position of the default jumpers (E2, E3).
Encoder Input Connector
The clock outputs are available on this connector even though there may be an encoder used down the
line.
Accessory 8T
Connector Pinouts 7
CONNECTOR PINOUTS
Headers, Terminal Blocks, and IDC Connectors
JMACH1 (100-Pin Header)
Top View
This header provides the connection to the matching 100-pin header on the PMAC2. It contains all of the input
and output signals for the axes between this board and the PMAC2.
Refer to a PMAC2 family Hardware/Software Reference for a complete listing of JMACH connector pins.
TB1 UVWT and User Flag Input
Channel #1
Top View
Pin #
Symbol
Function
Description
Notes
1
T1
Input
Encoder Input
10K Pull-up
2
U1
Input
Encoder Input
10K Pull-up
3
V1
Input
Encoder Input
10K Pull-up
4
W1
Input
Encoder Input
10K Pull-up
5
USER1
Input
User Flag Input #1
10K Pull-up
6
+5Vdc
Output
Encoder Power
7
RET
Output
Encoder Power Return
8
RET
Output
Encoder Power Return
Care should be exercised when using the +5Vdc output to power an encoder. Large amounts of current draw
(current in excess of 100mA per channel) require the user to apply an external +5Vdc power source.
The user’s connector is a Phoenix MCVW1.5/8-ST-3.81 (Delta Tau P/N 016-P00H08-38P), 8 pin screw
terminal type.
TB2 UVWT and User Flag Input
Channel #2
Top View
Pin
#
Symbol
Function
Description
Notes
1
T2
Input
Encoder Input
10K Pull-up
2
U2
Input
Encoder Input
10K Pull-up
3
V2
Input
Encoder Input
10K Pull-up
4
W2
Input
Encoder Input
10K Pull-up
5
USER2
Input
User Flag Input #2
10K Pull-up
6
+5Vdc
Output
Encoder Power
7
RET
Output
Encoder Power Return
8
RET
Output
Encoder Power Return
Care should be exercised when using the +5Vdc output to power an encoder. Large amounts of current draw
(current in excess of 100mA per channel) require the user to apply an external +5Vdc power source.
The user’s connector is a Phoenix MCVW1.5/8-ST-3.81 (Delta Tau P/N 016-P00H08-38P), 8-pin screw
terminal type.
Accessory 8T
8 Connector Pinouts
J1 UVWT and User Flag Input
Header for Channels #1 & #2
Top View
Pin #
Symbol
Function
Description
Notes
1
USER1
Input
User Flag Input #1
10K Pull-up
2
N.C.
-
Not Connected
3
W1
Input
Encoder Input
10K Pull-up
4
V1
Input
Encoder Input
10K Pull-up
5
U1
Input
Encoder Input
10K Pull-up
6
T1
Input
Encoder Input
10K Pull-up
7
USER2
Input
User Flag Input #2
10K Pull-up
8
N.C.
-
Not Connected
9
W2
Input
Encoder Input
10K Pull-up
10
V2
Input
Encoder Input
10K Pull-up
11
U2
Input
Encoder Input
10K Pull-up
12
T2
Input
Encoder Input
10K Pull-up
13
RET
Output
Encoder Power Return
14
+5Vdc
Output
Encoder Power
Care should be exercised when using the +5Vdc output to power an encoder. Large amounts of current
draw (current in excess of 100mA per axis) require the user to apply an external +5Vdc power source.
The user’s connector is a 14-pin IDC (ribbon cable crimp style) connector.
J2 A-D Converter Breakout Header
Top View
Pin #
Symbol
Function
Description
Notes
1
ADC_CLK1-
Output
A-D Clock Output
2
N.C.
-
3
N.C.
-
4
N.C.
-
5
ADC_STB1+
Output
A-D Convert
Serial command word
6
N.C.
-
7
N.C.
-
8
N.C.
-
9
N.C.
-
10
N.C.
-
11
ADC_DAA1+
Input
Serial Data Input CH1
12
ADC_DAA2+
Input
Serial Data Input CH2
13
ADC_DAA3+
Input
Serial Data Input CH3
14
ADC_DAA4+
Input
Serial Data Input CH4
15
+5Vdc
Output
16
RET
Output
+5V RET
The user’s connector is a 16-pin IDC (ribbon cable crimp style) connector.
Accessory 8T
Connector Pinouts 9
J3 Encoder Inputs (10-Pin
Header)
Top View
Pin #
Symbol
Function
Description
Notes
1
CHA1+
Input
Encoder CH1-A
Single-Ended Input
2
CHB1+
Input
Encoder CH1-B
Single-Ended Input
3
CHC1+
Input
Encoder CH1-C
Single-Ended Input
4
CHA2+
Input
Encoder CH2-A
Single-Ended Input
5
CHB2+
Input
Encoder CH2-B
Single-Ended Input
6
CHC2+
Input
Encoder CH2-C
Single-Ended Input
7
GND
+5V RET
8
GND
+5V RET
9
SCLK12+
Output
Sample Clock
10
DCLK
Output
DAC_CLK OR
ADC_CLK
Jumper E6 Selects
The user’s connector is a 10-pin IDC (ribbon cable crimp style) connector.
Accessory 8T
10 Jumpers
JUMPERS
E- Point
Physical Layout
Description
Default
E1
Jumper pin 1 to 2 to select lower 2 channels for data input
(connection to odd-numbered PMAC2 JMACH connector).
Jumper pin 2 to 3 to select upper 2 channels for data input
(connection to even-numbered PMAC2 JMACH connector).
1 to 2
E2
Jumper pin 1 to 2 to select local input default at power-up for
1st channel.
Jumper pin 2 to 3 to select pass-through default at power-up.
1 to 2
E3
Jumper pin 1 to 2 to select local input default at power-up for
second channel.
Jumper pin 2 to 3 to select pass-through default at power-up.
1 to 2
E4
Jumper pin 2 to 3 to use USER_FLAG1 toggle.
Jumper pin 1 to 2 to defeat USER_FLAG1 toggle.
2 to 3
E5
Jumper pin 2 to 3 to use USER_FLAG2 toggle.
Jumper pin 1 to 2 to defeat USER_FLAG2 toggle.
2 to 3
E6
Jumper pin 1 to 2 to select ADC_CLK output.
Jumper pin 2 to 3 to select DAC_CLK output.
1 to 2
Accessory 8T
Schematics 11
SCHEMATICS
Date: January 3, 1996 Sheet 1 of 1
Size Document Number REV
D602670-321 -
Title
(ACC8T) PMAC-2 TUVW FLAG SWITCH INTERFACE
NORTHRIDGE, CA. 91324
9036 WINNETKA ST.
DELTA TAU DATA SYSTEMS
23456
1RP3
10KRP6C
VCC
VCC
1 2 RP1A
220
3 4 RP1B
220
5 6 RP1C
220
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
OF DELTA TAU DATA SYSTEMS INC. ALL RIGHTS TO DESIGNS AND
INVENTIONS ARE RESERVED BY DELTA TAU DATA SYSTEMS INC.
POSSESSION OF THIS DOCUMENT INDICATES ACCEPTANCE OF THE
ABOVE AGGREEMENT.
DAC_CLK1+
DACA_DAT1+
DAC_STB1+
DACB_DAT1+
DIR1+
PULSE1+
ACC8_FLT1+
1 2
3 4
5 6
7 8
910
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
51 52
53 54
55 56
57 58
59 60
61 62
63 64
65 66
67 68
69 70
71 72
73 74
75 76
77 78
79 80
81 82
83 84
85 86
87 88
89 90
91 92
93 94
95 96
97 98
99 100
JMACH1
HEADER 50X2
014-000100-FPB
CHA1+
CHB1+
CHC1+
AENA1+
PWMATOP1+
PWMABOT1+
PWMBTOP1+
PWMBBOT1+
PWMCTOP1+
PWMCBOT1+
SCLK_12+
FAULT1+
ADC_STB1+
ADC_CLK1+
ADC_DAA1+
ADC_DAB1+
CHU1
CHW1
MLIM1
USER1
PWR_GUD-
GND
+5V
DAC_CLK1-
DACA_DAT1-
DAC_STB1-
DACB_DAT1-
DIR1-
PULSE1-
CHA1-
CHB1-
CHC1-
AENA1-
PWMABOT1-
PWMBTOP1-
PWMBBOT1-
PWMCTOP1-
PWMCBOT1-
PWMATOP1-
SCLK_12-
/WDO
FAULT1-
ADC_STB1-
ADC_CLK1-
ADC_DAA1-
ADC_DAB1-
CHT1
CHV1
PLIM1
HOME1
GND
+5V
CLK
1
N.C.
2
N.C.
3
N.C.
4
DATA
5
N.C.
6
N.C.
7
N.C.
8
N.C.
9
SEL1
10
SEL2
11
GND
12 RESET 13
Q4 14
Q3 15
OUT4 16
OUT3 17
OUT2 18
OUT1 19
OUT0 20
Q2 21
Q1 22
Q0 23
VCC 24
U3
GAL22V10LP
ATDSTB
/DRV_CON1
/DRV_SFT1
VCC
32
1 2
U4A
74HC04
3 4
U4B
74HC04
E2
JUMPER3
(TO J1)
R1
470
D1
LED-GRN
LOCAL INPUT
AXIS #1
9 10
RP1E
220
1A1
2
1A2
4
1A3
6
1A4
8
2A1
11
2A2
13
2A3
15
2A4
17
1G
1
2G
19
1Y1 18
1Y2 16
1Y3 14
1Y4 12
2Y1 9
2Y2 7
2Y3 5
2Y4 3
U5
74HCT244
7 8 RP1D
220
SELECT1
USER_1
VCC
CH_T
CH_U
CH_V
CH_W
+5V
RET
AXIS #1
INPUTS
12
3
1-2 BYPASSES USER FLAG TOGGLE
2-3 ENABLES USER FLAG TOGGLE
RET
USER_1
E4
JUMPER3
1
2
3
4
5
6
7
8
TB1
HEADER 8
CH_U1
CH_V1
CH_W1
CH_T1
CHT1
CHU1
CHV1
CHW1
USER1
USER_1
USR1_IN
HEADER FOR
ENCODER
INPUTS
DAC_CLK1+
CHA1+
CHB1+
CHC1+
CHA2+
CHB2+
CHC2+
GND
GND
CLOCK
1
2
3
4
5
6
7
8
9
10
J3
HEADER 10
E6
JUMPER3
CHA1+
CHB1+
CHC1+
CHA2+
CHB2+
CHC2+
GND
GND
CLOCK
ADC_CLK1+
PWMATOP1+ SCLK_12+ SCLK_12+
R2
470
D2
LED-GRN
PASS-THRU
AXIS #1
1A1
2
1A2
4 1A3
6
1A4
8
2A1
11
2A2
13
2A3
15
2A4
17
1G
1
2G
19
1Y1 18
1Y2 16
1Y3 14
1Y4 12
2Y1 9
2Y2 7
2Y3 5
2Y4 3
U6
74HCT244
23456
1RP5
10KRP6C
CHT1_IN
CHU1_IN
CHV1_IN
CHW1_IN
USR1_IN
VCC
1
1-2 PASS-THRU DFLT
2-3 CONNECTOR DFLT
/1OUT3
/DRV_RST1
/TOGGLE1
12
3
JUMPER 2-3 IS UPPR 2 AXES
1-2 IS LWR 2 AXES
E1
JUMPER3
AX2SEL
VCC
AXIS SELECT
DAC_CLK2-
DACA_DAT2-
DAC_STB2-
DACB_DAT2-
DIR2-
PULSE2-
CHA2-
CHB2-
CHC2-
AENA2-
PWMABOT2-
PWMBTOP2-
PWMBBOT2-
PWMCTOP2-
PWMCBOT2-
PWMATOP2-
/WDO
ADC_STB2-
ADC_CLK2-
ADC_DAA2-
ADC_DAB2-
FAULT2-
HOME2
PLIM2
CHT2
CHV2
SCLK_12--
GND
+5V
GND
+5V
DAC_CLK2+
DACA_DAT2+
DAC_STB2+
DACB_DAT2+
DIR2+
PULSE2+
CHA2+
CHB2+
CHC2+
AENA2+
PWMATOP2+
PWMABOT2+
PWMBTOP2+
PWMBBOT2+
PWMCTOP2+
PWMCBOT2+
ACC8_FLT2+
FAULT2+
ADC_STB2+
ADC_CLK2+
ADC_DAA2+
ADC_DAB2+
CHU2
CHW2
USER2
MLIM2
SCLK_12++
GND
+5V
GND
+5V
ACC8_FLT1+
1 2
3 4
5 6
7 8
910
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
51 52
53 54
55 56
57 58
59 60
61 62
63 64
65 66
67 68
69 70
71 72
73 74
75 76
77 78
79 80
81 82
83 84
85 86
87 88
89 90
91 92
93 94
95 96
97 98
99 100
JMACH2
HEADER 50X2
014-000100-FPB
CHA1+
CHB1+
CHC1+
MLIM1
PWR_GUD-
CHU1_IN
CHW1_IN
USR1_IN
GND
+5V
GND
+5V
ADC_STB1+
ADC_STB1-
ADC_CLK1+
ADC_CLK1-
CHA1-
CHB1-
CHC1-
/WDO
PLIM1
HOME1
CHT1_IN
CHV1_IN
VCC
GND
+5V
GND
+5V
INA1
1 INA2
2
INB1
15 INB2
14
EN-AC
4
INC2
6 INC1
7
IND2
10
IND1
9
EN-BD
12
OUTA 3
OUTB 13
OUTC 5
OUTD 11
U1
34C86
ADCSTB_1
/ADCCLK_1
11 10
U4E
74HC04
9 10 RP2E
220
CHU1+
CHV1+
CHW1+
USER1+
CHU2+
CHV2+
CHW2+
USER2+
GND
+5V
CHT1+
CHT2+
1
2
3
4
5
6
7
8
9
10
11
12
13
14
J1
HEADER 14
CH_T1
CH_U1
CH_V1
CH_W1
USER_1
CH_T2
CH_U2
CH_V2
CH_W2
USER_2
VCC
GND
VCC
23456
1RP4
10KRP6C
HALL-EFFECT
OR SUB-COUNT
INPUTS
HEADER FOR
CH_T
CH_U
CH_V
CH_W
+5V
RET
AXIS #2
INPUTS
RET
USER_2
1
2
3
4
5
6
7
8
TB2
HEADER 8
CH_U2
CH_V2
CH_W2
CH_T2
CHT2
CHU2
CHV2
CHW2
USER_2
VCC
R3
470
D3
LED-GRN
LOCAL INPUT
AXIS #2
5 6
RP2C
220
1A1
2
1A2
4
1A3
6
1A4
8
2A1
11
2A2
13
2A3
15
2A4
17
1G
1
2G
19
1Y1 18
1Y2 16
1Y3 14
1Y4 12
2Y1 9
2Y2 7
2Y3 5
2Y4 3
U7
74HCT244
7 8 RP2D
220
3 4 RP2B
220
1 2 RP2A
220
VCC
VCC
DAC_CLK1-
DACA_DAT1-
DAC_STB1-
DACB_DAT1-
DIR1-
PULSE1-
AENA1-
PWMABOT1-
PWMBTOP1-
PWMBBOT1-
PWMCTOP1-
PWMCBOT1-
PWMATOP1-
SCLK_12-
FAULT1-
ADC_STB1-
ADC_CLK1-
ADC_DAA1-
ADC_DAB1-
CHA2-
CHB2-
CHC2-
/WDO
HOME2
PLIM2
CHT2_IN
CHV2_IN
GND
+5V
GND
+5V
DAC_CLK1+
DACA_DAT1+
DAC_STB1+
DACB_DAT1+
DIR1+
PULSE1+
AENA1+
PWMATOP1+
PWMABOT1+
PWMBTOP1+
PWMBBOT1+
PWMCTOP1+
PWMCBOT1+
SCLK_12+
FAULT1+
ADC_STB1+
ADC_CLK1+
ADC_DAA1+
ADC_DAB1+
CHA2+
CHB2+
CHC2+
ACC8_FLT2+
MLIM2
CHU2_IN
CHW2_IN
USR2_IN
GND
+5V
GND
+5V
DAC_CLK2+
DACA_DAT2+
DAC_STB2+
DACB_DAT2+
DIR2+
PULSE2+
AENA2+
PWMATOP2+
PWMABOT2+
PWMBTOP2+
PWMBBOT2+
PWMCTOP2+
PWMCBOT2+
FAULT2+
ADC_STB2+
ADC_CLK2+
ADC_DAA2+
ADC_DAB2+
SCLK_12++
GND
+5V
DAC_CLK2-
DACA_DAT2-
DAC_STB2-
DACB_DAT2-
DIR2-
PULSE2-
AENA2-
PWMABOT2-
PWMBTOP2-
PWMBBOT2-
PWMCTOP2-
PWMCBOT2-
PWMATOP2-
ADC_STB2-
ADC_CLK2-
ADC_DAA2-
ADC_DAB2-
FAULT2-
SCLK_12--
GND
+5V
CLK
1
N.C.
2
N.C.
3 N.C.
4
DATA
5
N.C.
6
N.C.
7
N.C.
8
N.C.
9
SEL1
10
SEL2
11
GND
12 RESET 13
Q4 14
Q3 15
OUT4 16
OUT3 17
OUT2 18
OUT1 19
OUT0 20
Q2 21
Q1 22
Q0 23
VCC 24
U2
GAL22V10LP
ATDSTB
/2OUT3
/DRV_CON2
/DRV_RST2
/TOGGLE2
/DRV_SFT2
VCC
32
1
1-2 PASS-THRU DFLT
2-3 CONNECTOR DFLT
5 6
U4C
74HC04
9 8
U4D
74HC04
E3
JUMPER3
R4
470
D4
LED-GRN
PASS-THRU
AXIS #2
1A1
2
1A2
4
1A3
6 1A4
8
2A1
11
2A2
13
2A3
15
2A4
17
1G
1
2G
19
1Y1 18
1Y2 16
1Y3 14
1Y4 12
2Y1 9
2Y2 7
2Y3 5
2Y4 3
U8
74HCT244
23456
1RP6
10KRP6C
CHT2_IN
CHU2_IN
CHV2_IN
CHW2_IN
SELECT2
USR2_IN
USER_2
VCC
12
3
1-2 BYPASSES USER FLAG TOGGLE
2-3 ENABLES USER FLAG TOGGLE
E5
JUMPER3
USER2
USR2_IN
13 12
U4F
74HC04
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
J2
HEADER 16
VCC
ADC_CLK1-
ADC_STB1+
ADC_DAA1+
ADC_DAB1+
ADC_DAA2+
ADC_DAB2+
VCC
GND
HEADER FOR
A-D CONVERTER
C5
.1UF
C6
.1UF
ADC_CLK1-
ADC_STB1+
ADC_DAA1+
ADC_DAB1+
ADC_DAA2+
ADC_DAB2+
+5V
GND
C1
.1UF
C2
.1UF
C3
.1UF
C4
.1UF
C7
22UF
VCC
(602670-1.SCH)
/
