Delta Tau 3-4112 Series Guida rapida per l'utente

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use

21314 Lassen St. Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

^1 HARDWARE REFERENCE MANUAL

^2POWER PMAC UMAC ARM CPU

^3Power PMAC UMAC ARM CPU

^4 3-4112-xxx-xxx-xx-0xx

^5June 22, 2018

DELTA TAU

Data Systems, Inc.

NEW IDEAS IN MOTION

…

DELTA TAU

Data Systems, Inc.

NEW IDEAS IN MOTION

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: suppor[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.

Safety Instructions

Qualified personnel must transport, assemble, install, and maintain this equipment. Properly

qualified personnel are persons who are familiar with the transport, assembly, installation, and

operation of equipment. The qualified personnel must know and observe the following standards

and regulations:

IEC364resp.CENELEC HD 384 or DIN VDE 0100

IEC report 664 or DIN VDE 0110

National regulations for safety and accident prevention or VBG 4

Incorrect handling of products can result in injury and damage to persons and machinery. Strictly

adhere to the installation instructions. Electrical safety is provided through a low-resistance earth

connection. It is vital to ensure that all system components are connected to earth ground.

This product contains components that are sensitive to static electricity and can be damaged by

incorrect handling. Avoid contact with high insulating materials (artificial fabrics, plastic film,

etc.). Place the product on a conductive surface. Discharge any possible static electricity build-

up by touching an unpainted, metal, grounded surface before touching the equipment.

Keep all covers and cabinet doors shut during operation. Be aware that during operation, the

product has electrically charged components and hot surfaces. Control and power cables can

carry a high voltage, even when the motor is not rotating. Never disconnect or connect the

product while the power source is energized to avoid electric arcing.

A Warning identifies hazards that could result in personal injury or

death. It precedes the discussion of interest.

Warning

Caution

A Caution identifies hazards that could result in equipment damage. It

precedes the discussion of interest.

Note

A Note identifies information critical to the understanding or use of

the equipment. It follows the discussion of interest.

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG

APPVD

Released

11/16/16

Sgm

Revision

6/22/18

Sgm

(This page intentionally left blank)

DELTA TAU POWER PMAC REFERENCE JUNE-2018 
POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 6
Table of Contents 
Introduction..................................................................................................................................... 7 
Configuration................................................................................................................................... 8 
Optional Features ........................................................................................................................ 8 
Hardware Setup............................................................................................................................. 10 
E-Point Jumpers (Switch).......................................................................................................... 10 
Connectors and Switches and Indicators....................................................................................... 11 
Board Front/Back Side.............................................................................................................. 11 
Backplane (UBUS) Connection ................................................................................................ 11 
Ethernet Connections ................................................................................................................ 11 
USB Connections...................................................................................................................... 12 
Watchdog Timer Connection (TB2).......................................................................................... 18 
Optional PCI Express Connection............................................................................................. 18 
LED Indicators.......................................................................................................................... 18 
Connector Pinouts ..................................................................................................................... 19 
 
 

DELTA TAU POWER PMAC REFERENCE JUNE-2018

POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 7

Introduction

The Power PMAC UMAC ARM CPU board (part number 604112-10x) provides a powerful

computing engine for UMAC (Universal Motion and Automation Controller) rack-mounted

systems. This 3U-format Eurocard (100 mm x 160 mm) can communicate with multiple

accessory boards over the UBUS backplane. These accessory boards provide interfaces to the

various machine elements for both motion and non-motion I/O, digital and analog.

The Power PMAC UMAC ARM CPU board can communicate with all accessory boards that the

older Turbo PMAC2 UMAC CPU board (603766-10x) could use. In addition, it can

communicate with a new generation of “PMAC3” UMAC accessory boards for motion, MACRO

ring, and I/O that employ a new generation ASIC and a 32-bit data bus on the backplane.

The Power PMAC UMAC ARM CPU board acts as both a dedicated controller and a general-

purpose embedded computer. It uses the Linux operating system with a hard-real-time kernel that

guarantees determinacy of tasks such as servo loop closure.

DELTA TAU POWER PMAC REFERENCE JUNE-2018

POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 8

Configuration

The base version of the Power PMAC UMAC ARM CPU board provides a 1-slot 3U-format

(100mm x 160mm) Eurocard board with the following features:

1.0 GHz 32-bit Dual Core ARM CPU with built-in hardware floating-point math

capabilities

1 GByte DDR3L active memory with error correction

1 GByte built-in NAND flash memory for user application storage

1000-Base-T (1 Gbit/sec) Ethernet communications port

USB 3.0 Host port

RS-232 communications port

32-bit UBUS backplane port to UMAC accessory boards

Optional Features

The following features are optionally present on the Power PMAC UMAC ARM CPU board:

2 GByte DDR3L active memory

4G Byte built-in NAND flash memory for user application storage

PCI Express expansion port

Optional EtherCAT capability

DELTA TAU POWER PMAC REFERENCE JUNE-2018

POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 9

PART NUMBER ORDERING INFORMATION

3 - 4 1 1 2 - A U - 0 - B 00

Power UMAC 2 CORE ARM CPU

A - Dual-Core 1GHz ARM CPU

Main Board CPU and Memory Options

** This Option May require additional plates

*** For EtherCAT option requires selection from

A - 1 GB RAM & 1 GB Flash

E - 2 GB RAM & 4 GB Flash

DA B

K L

00 - No Additional* Options

xx - Factory assigned digits

for Additional* Options

K L

Factory Assigned Options

2 - 2 RJ45 Ethernet Ports OR

(1 EtherNet & 1 EtherCAT Port***)

4 –PCIe** & 2 RJ45 Ethernet Ports OR

(1 EtherNet & 1 EtherCAT Port***)

PCIe, EtherNet And/Or

EtherCAT Options

0 - No EtherCAT

1 - EtherCAT I/O Only

2 - EtherCAT 4 Servo Axes and I/O

3 - EtherCAT 8 Servo Axes and I/O

5 - EtherCAT 16 Servo Axes and I/O

9 - EtherCAT 32 Servo Axes and I/O

For more then 32 Servo Axes call factory

EtherCAT Options

Requires EtherCAT Port Option From

U –UMAC Option with (30U-604147-10X)

Format Option

B0 –1 SLOT Black Front, Top and Bottom plates

Plate Option

DELTA TAU POWER PMAC REFERENCE JUNE-2018

POWER PMAC UMAC ARM CPU BOARD HARDWARE REFERENCE 10

Hardware Setup

There is virtually no hardware setup required before installation of the Power PMAC UMAC

ARM CPU board in the system.

E-Point Jumpers (Switch)

The E-point jumpers on the board have been replaced with a 4 pole switch. This is intended for

factory use only. Their functionality is listed here primarily for reference.

S1-1: For factory use only. Must remain off (open)

S1-2: Should remain off (open) for normal operation. On (closed) disables the watchdog timer

circuit.

S1-3: Enables PCIe connector when on (closed). To disable PCIe connector leave off (open)

S1-4: For factory use only. Must remain off (open)

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