Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
202
Turbo PMAC General Purpose I/O Use
In operation, Turbo PMAC reads one ADC pair each phase cycle and copies it into the appropriate
memory registers. Therefore, it reads each ADC pair every I5060 phase cycles. If these values are used
as feedback for a servo loop, the loop should not be closed more often than the ADC is read.
memory registers. Therefore, it reads each ADC pair every I5060 phase cycles. If these values are used
as feedback for a servo loop, the loop should not be closed more often than the ADC is read.
UMAC Digital I/O Boards
The UMAC has an extensive family of digital I/O boards. The following table summarizes these boards
and their properties:
and their properties:
ACC #
of
Inputs
Input
Range
Drivers for
Inputs
# of
Outputs
Output
Range
Output
Drivers
Notes
9E 48 12V-
24V
Sink/Source by
wiring
0 –
– Isolated
I/O
10E
0
–
–
48
5V – 24V
Sink/Source by
factory option
Isolated I/O
11E 24 12V-
24V
Sink/Source by
wiring
5V – 24V
Sink/Source by
factory option
Isolated I/O
14E
0 - 48
5V
TTL/Sinking
48 - 0
5V
Sinking with
pull-ups
TTL, each
reversible
65E 24 12V-
24V
Sourcing only
24
5V – 24V
Sourcing only
Isolated,
protected I/O
66E 48 12V-
24V
Sourcing only
0
–
–
Isolated,
protected I/O
67E
0
–
–
48
5V – 24V
Sourcing only
Isolated,
protected I/O
Addressing UMAC I/O Boards
All of these boards utilize Delta Tau’s memory-mapped IOGATE ASIC, which supports 48 I/O points
mapped as 6 consecutively addressed 8-bit registers. In the next two 8-bit registers are setup and control
bits. The base address of the IOGATE IC is set by jumpers on the Acc- 9E, 10, and 11E boards, set by
DIP-switches on the 14E, 65E, 66E, and 67E boards.
mapped as 6 consecutively addressed 8-bit registers. In the next two 8-bit registers are setup and control
bits. The base address of the IOGATE IC is set by jumpers on the Acc- 9E, 10, and 11E boards, set by
DIP-switches on the 14E, 65E, 66E, and 67E boards.
The Acc-14E, 65E, 66E, and 67E boards support automatic identification by the UMAC CPU. Status
variables I4950 – I4965 indicate which of these boards are present, and at what addresses. The Turbo
Setup program can identify and display the results of these variables automatically, indicating which
boards are present. It can also identify the presence of Acc-9E, 10E, and 11E boards, but because these
older boards lack self-identification features, it cannot tell which type of board each one is.
variables I4950 – I4965 indicate which of these boards are present, and at what addresses. The Turbo
Setup program can identify and display the results of these variables automatically, indicating which
boards are present. It can also identify the presence of Acc-9E, 10E, and 11E boards, but because these
older boards lack self-identification features, it cannot tell which type of board each one is.
Boards With Jumper-Set Addresses
For the Acc-9E, 10E, and 11E boards, the base address of the board is set by putting a jumper on one and
only one of the E-points E1 – 4. The registers on the board are found at eight consecutive addresses:
{Base} through {Base + 7}. The byte – low (bits 0 – 7), middle (bits 8 – 15), or high (bits 16 – 23) – of
Turbo PMAC’s 24-bit word in which the registers are found is determined by the setting of the jumper
bank E6A – H. The settings for the base addresses for these boards are summarized in the following
table:
only one of the E-points E1 – 4. The registers on the board are found at eight consecutive addresses:
{Base} through {Base + 7}. The byte – low (bits 0 – 7), middle (bits 8 – 15), or high (bits 16 – 23) – of
Turbo PMAC’s 24-bit word in which the registers are found is determined by the setting of the jumper
bank E6A – H. The settings for the base addresses for these boards are summarized in the following
table:
Address
Jumper
E6A H Pins 1&2
E6A H Pins 2&3
E6A H Pins 1&2
E1
Y:$078C00 Bits 0 - 7
Y:$078C00 Bits 8 - 15
Y:$078C00 Bits 16 - 23
E2
Y:$078D00 Bits 0 - 7
Y:$078D00 Bits 8 - 15
Y:$078D00 Bits 16 - 23
E3
Y:$078E00 Bits 0 - 7
Y:$078E00 Bits 8 - 15
Y:$078E00 Bits 16 - 23
E4
Y:$078F00 Bits 0 - 7
Y:$078F00 Bits 8 - 15
Y:$078F00 Bits 16 - 23