Delta Tau PMAC2A-PC/104 User Manual
PMAC2A PC104 Hardware Reference Manual
Software Setup
25
Using Flag I/O as General-Purpose I/O
Either the user flags or other not assigned axes flag on the base board can be used as general-purpose I/O
for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions,
which are defined in the PMAC2 Software reference, allows accessing each particular line according to
the following table:
for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions,
which are defined in the PMAC2 Software reference, allows accessing each particular line according to
the following table:
Channel Number
Flag Type
#1 #2 #3
#4
HOME
5-24 VDC Input
M120
M220
M320
M420
PLIM
5-24 VDC Input
M121
M221
M321
M421
MLIM
5-24 VDC Input
M122
M222
M322
M422
USER
5-24 VDC Input
M115
M215
M315
M415
AENA
5-24 VDC Output
M114
M214
M314
M414
Note:
When using these lines as regular I/O points the appropriate setting of the Ix25
variable must be used to enable or disable the safety flags feature.
variable must be used to enable or disable the safety flags feature.
General-Purpose Digital Inputs and Outputs
If one Acc-1P is present on the PMAC2A PC/104 stack configuration then its jumpers E5 and E6 should be
set at the default position 1-2. In this case, the lines on its J7 general-purpose I/O connector will be mapped
into PMAC’s address space in register Y:$C080. Jumpers E5 and E6 should be configured on position 2-3
only when two Acc-1Ps are used. In this case, the I/O lines can be accessed at address Y:$C0C0.
set at the default position 1-2. In this case, the lines on its J7 general-purpose I/O connector will be mapped
into PMAC’s address space in register Y:$C080. Jumpers E5 and E6 should be configured on position 2-3
only when two Acc-1Ps are used. In this case, the I/O lines can be accessed at address Y:$C0C0.
If no Acc-1P is present on the PMAC2A PC/104 stack configuration, and only Acc-2P is used, then
jumper E5 on the Acc-2P board should connect pins 1 and 2. In this case the lines on its JOPT general-
purpose I/O connector will be mapped into PMAC's address space in register Y:$C080.
jumper E5 on the Acc-2P board should connect pins 1 and 2. In this case the lines on its JOPT general-
purpose I/O connector will be mapped into PMAC's address space in register Y:$C080.
If both Acc-1P and Acc-2P are used, then jumper E5 on the Acc-2P board should connect pins 2 and 3
and its I/O lines can be accessed at address Y:$C0C0.
and its I/O lines can be accessed at address Y:$C0C0.
Typically, these I/O lines are accessed individually with M-variables. Following is a suggested set of M-
variable definitions to use these data lines.
variable definitions to use these data lines.
Acc-1P with Jumper E6 on Position 1-2
M0->Y:$C080,0
; Digital Output M00
M1->Y:$C080,1
; Digital Output M01
M2->Y:$C080,2
; Digital Output M02
M3->Y:$C080,3
; Digital Output M03
M4->Y:$C080,4
; Digital Output M04
M5->Y:$C080,5
; Digital Output M05
M6->Y:$C080,6
; Digital Output M06
M7->Y:$C080,7
; Digital Output M07
M8->Y:$C080,8
; Digital Input MI0
M9->Y:$C080,9
; Digital Input MI1
M10->Y:$C080,10
; Digital Input MI2
M11->Y:$C080,11
; Digital Input MI3
M12->Y:$C080,12
; Digital Input MI4
M13->Y:$C080,13
; Digital Input MI5
M14->Y:$C080,14
; Digital Input MI6
M15->Y:$C080,15
; Digital Input MI7
M32->X:$C080,0,8
; Direction Control (1=output, 0 = input)
M34->X:$C080,8,8
; Direction Control (1=output, 0 = input)
M40->X:$C084,0,24
; Inversion control (0 = 0V, 1 = 5V)
M42->Y:$C084,0,24
; J7 port data type control (1 = I/O)