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Four Axis Box Manual
PMAC
FOUR
AXIS
BOX

1

PMAC Four Axes Box
Version 1.0
CONTENTS

Section
1.0

Four Axes Box
1.0.1
Specification
1.0.2
Description
1.0.3
Ordering
Information

Section
2.0

Recommended installation practices to conform
with
Council
Directive
89/336/EEC

Section
3.0

Machine, Amplifier & Encoder Interface
3.0.1
Specification
3.0.2
Description
3.0.3
Power
connections

Section 4.0
Axis
connections
4.0.1
Axis
flag
input
circuit
4.0.2
Amplifier
and
encoder
connections

Section
5.0

8 Input 8 Output opto-isolated Interface
5.0.1
Input
circuit
detail
5.0.2
Output
circuit
detail

Section 6.0
Other
ports
6.0.1
Serial
port
6.0.2
Thumbwheel
multiplexer
6.0.3
Handwheel
port

Section
7.0

Four Axes Box software setup


2 1.0.1 Specification


Input Power Requirements.
24Vdc

Power
Supplies.
I/O
supply
+24
VDC
@
1.5
amps.







PMAC internal supplies






+5 VDC @ 3 amps.
+12
VDC
@
0.6
amps.
-12
VDC
@
0.6
amps








Temperature
Range.
Storage -30C.
to
+60C.
Operating
0C.
to
+40C.

Humidity.
0%
to
90%
Non-Condensing.


Overall Size.


300mm x 130mm x 90mm High.


User Inputs.


24VDC @ 10mA. 150usec. rise time
5usec.
fall
time,
source
or
sink
link
selectable
by
user.


User Outputs.


Maximum output switching current is
approximately
500mA.
at
50
VDC.
with
one
output
turned
on.
With
all
outputs
turned
on
is
100mA.
per
output
at
25C.






Recommended maximum is 50mA.

1.0.2 Description.


The PMAC Four Axes Box is a fully integrated, stand alone position
control and PLC system. Using the Power of PMAC this product is
uniquely suited for small simple applications and larger more complex
applications alike.

With Amplifier output signals of +/-10Vdc and pulse and direction the
Four Axes Box is totally flexible in the mix of drives used on a system.

I/O availability and control is always a priority in systems but the PMAC
Four Axes Box takes the user to new levels of simplicity. With 8 inputs
and 8 outputs expandable in blocks of 32 inputs and outputs there is
never a shortage of hardware. Also, with 64 independent



PLCs the user can more easily than ever, create programmes with
both synchronous and asynchronous I/O control.
Whether creating operator control panels or controlling and monitoring
I/O while exes are moving its never been more precise than with the

3 integrated philosophy of PMAC which put both PLC and motion control
in one, easy to use package.


Simple or sophisticated? You choose. The extensive command library
of PMAC together with its open architecture means you will never find
yourself stuck for a control solution.

The Four Axes Box comes complete with two communications ports,
one RS232 and one USB port, which means communications to
operator control panels and computers for data transfer or
programming can be achieved with ease.

One Power supply is required to bring the Four Axes Box to life but
internally, careful attention has been paid to the noise immunity of the
system by utilising three separate power supplies. The first of these is
the main PMAC internal supply, +5 volts then the +/- 12 volts supply
PMAC DACs and opto driver electronics.

The input 24Vdc supply is also made available on adjacent connectors
for convenient connection to power any external I/O

Connection to PMAC Four Axes Box is quick and simple using
removable screw terminal connectors with earthing to the individual
connectors.


Encoder feedback signals enter via 9 way D type connectors.
.

For CE compliance refer to section 2.0


















4 1.0.3 Four Axes Box Ordering Information.


Description
Part Number
FAB
FAB-Lite
Base version (no options) provides a 90mm x 95mm board with:
40 MHz DSP563xx CPU (80 MHz 560xx equivalent)
128k x 24 internal zero-wait-state SRAM
512k x 8 flash memory for user backup & firmware
Latest released firmware version RS-232 serial interface
4 channels axis interface circuitry, each including:
12-bit +/-10V analog
Pulse-&-direction digital output
3-channel differential/single-ended encoder input
4 input flags, 2 output flags at TTL levels
3 PWM top-and-bottom pairs (unbuffered)
50-pin IDC header for amplifier/encoder interface
34-pin IDC header for flag interface
PID/notch/feedforward servo algorithms
1-year warranty from date of shipment
One manual per set of 1 to 4 PMACs in shipment (Cables, mounting plates,
mating connectors not included)
400-603670-10x
*
*
PC/104 bus stack interface
30A-603670-
OPT
*
*
2-channel on-board 12-bit A/D converter
312-603670-
OPT
*

High-speed-communications/digital-I/O board (requires at least one of Opt 1A,
1B, 2, or 3)
300-603672-10X
*
*
12 Mbit/sec USB interface
3A1-603672-
OPT
*

On-board digital I/O: multiplexer port, "opto" port, "handwheel" port
303-603672-
OPT
*
*
PMAC Four Axes Box enclosure. Select any of the above items and add them to this item to
receive a finished package.
Single 24 VDC Supply required
Compact size 300mm x 130mm x 90m
CE compliant
AC opto-isolated user and axis flag inputs
Relay output on Amp enable signal
8 opto isolated user I/P & 8 user O/P's available if ACC2P-Opt3 selected
LED status indicators for all Axis flags and user I/O
Expansion THW I/O port available for Acc34.
Handwheel I/P
RS232 as standard optional USB
*
*




5 2.0 Recommended Installation Practices.
The Four Axis Box should be installed in accordance with the following
standards:-



EN55011: 1991 Class A Emissions conducted


EN55022: 1987 Class A Emissions radiated


IEC801-4: 1988 2kv Fast Burst Transients


IEC801-2: 1991 ESD 8kv/4kv.

And if installed in accordance with these instructions it should comply with the
Council Directive 89/336/EEC relating to electromagnetic compatibility.
All cables connected to the Four Axis Box, with the exception of the power
supply cable must be screened. All screened cables must be terminated at both ends of the cable. Mating D-Type connectors must have a metal shell and conform to the
EMC Directive. The screen should not be terminated as one tail but should be
splayed out uniformly and connected to the metal case. We recommend the use of foil type screened cable for the encoder
connections. If a cable with a woven screen is used it may be necessary to fit
a ferrite clamp on each of the cables at the entry point to the Four Axis Box. Where plug in Phoenix connectors are used each individual connector has
its own earth connector. The cable screen must be kept as short as possible
and terminated using a crimp type ring termination. A recommendation is to
pass the screen through the connector, pull it as close to the outer sheath as
possible then crimp it. The exposed signal cables must also be kept as short
as possible nominally 10-12mm. In this configuration the Four Axis Box should
conform to class A emissions. Should the user require the system to conform to class B emissions it is
likely that a ferrite clamp must be fitted around each screened cable that
terminates onto a Phoenix connector. The clamp must be fitted as close to the
earth point as possible.



6 3.0 Machine Amplifier and Encoder interface

3.0.1 Specification.


User
Inputs.






Encoder inputs


5VDC link selectable on PMAC
as
differential
or
single
ended.


Limit Switch Inputs.

24VDC @ 10mA. 150usec. rise time,
5usec.
fall
time,
source
or
sink
link
selectable
by
user.


Home Flag Inputs.

24VDC @ 10mA. 150usec. rise time,
5usec.
fall
time,
source
or
sink
link
selectable
by
user.


Fault Inputs.


24VDC @ 10mA. 150usec. rise time,
5usec.
fall
time,
source
or
sink
link
selectable
by
user.


User
Outputs.


Amplifier Enable
Output.
NC & N0 Volt free contact with