Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Turbo PMAC General Purpose I/O Use
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TURBO PMAC GENERAL PURPOSE I/O USE
Turbo PMAC controllers have substantial input/output capabilities that are not directly related to servo
operation. I/O points are both digital and analog, both input and output. Board-level Turbo PMAC
controllers have some on-board general-purpose I/O, and more can be added with accessory boards. With
the modular UMAC systems, I/O boards can be added according to the needs of the particular application.
operation. I/O points are both digital and analog, both input and output. Board-level Turbo PMAC
controllers have some on-board general-purpose I/O, and more can be added with accessory boards. With
the modular UMAC systems, I/O boards can be added according to the needs of the particular application.
This section summarizes the general-purpose I/O capabilities of the Turbo PMAC family. More details
can be found in the hardware reference manuals for the particular Turbo PMACs, or the manuals for the
particular accessory boards.
can be found in the hardware reference manuals for the particular Turbo PMACs, or the manuals for the
particular accessory boards.
Turbo PMAC General-Purpose I/O (JOPTO) Port
The JOPTO port on a Turbo PMAC (J5 on Turbo PMAC PC, PCI, and VME) 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 180-cm (six-foot) cable
for this purpose. Note that these I/O points are not optically isolated on the Turbo PMAC itself.
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 180-cm (six-foot) cable
for this purpose. Note that these I/O points are not optically isolated on the Turbo PMAC itself.
Hardware Characteristics
A Turbo PMAC is shipped standard with a ULN2803A sinking (open-collector) output IC for the eight
outputs. These outputs can sink up to 100 mA each, but must have a pull-up resistor to go high.
outputs. These outputs can sink up to 100 mA each, but must have a pull-up resistor to go high.
Do not connect these outputs directly to the supply voltage, or damage to the Turbo PMAC will result
from excessive current draw.
from excessive current draw.
CAUTION:
Having Jumpers E1 and E2 set wrong can damage the IC.
A high-side voltage (+5 to +24V) can be provided into Pin 33 of the JOPTO 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.
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.
CAUTION:
Having Jumpers E1 and E2 set wrong can damage the IC.
It is possible for these outputs to be sourcing drivers by substituting a UDN2981A IC for the ULN2803A.
This IC (U3 on the Turbo PMAC PC, U26 on the Turbo PMAC Lite, U33 on the Turbo PMAC VME) is
socketed, and so may be replaced easily. For this driver, pull-down resistors should be used. With a
UDN2981A driver IC, Jumper E1 must connect pins 2 and 3, and Jumper E2 must connect pins 2 and 3.
This IC (U3 on the Turbo PMAC PC, U26 on the Turbo PMAC Lite, U33 on the Turbo PMAC VME) is
socketed, and so may be replaced easily. For this driver, pull-down resistors should be used. With a
UDN2981A driver IC, Jumper E1 must connect pins 2 and 3, and Jumper E2 must connect pins 2 and 3.
Jumper E7 controls the configuration of the eight inputs. If it connects pins 1 and 2 (the default setting),
the inputs are biased to high-side voltage (+5V to +24V) for the OFF state and they must be pulled low
for the ON state. These inputs are best thought of as 24V-tolerant 5V logic, with a switching point at 2-
3V. 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 Turbo PMAC software,
and a low voltage is interpreted as a 1.
the inputs are biased to high-side voltage (+5V to +24V) for the OFF state and they must be pulled low
for the ON state. These inputs are best thought of as 24V-tolerant 5V logic, with a switching point at 2-
3V. 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 Turbo PMAC software,
and a low voltage is interpreted as a 1.
Software Access
Usually these inputs and outputs are accessed in software through the use of M-variables. In the
suggested set of M-variable definitions, variables M1 through M8 are used to access outputs 1 through 8,
respectively, and M11 through M18 to access inputs 1 through 8, respectively. This port maps into Turbo
PMAC’s memory space at Y-address $078802.
suggested set of M-variable definitions, variables M1 through M8 are used to access outputs 1 through 8,
respectively, and M11 through M18 to access inputs 1 through 8, respectively. This port maps into Turbo
PMAC’s memory space at Y-address $078802.