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Turbo PMAC2 PCI Hardware Reference Manual

6 Hardware Setup

Re-Initialization Jumper

If E3 is OFF during power-up/reset, the controller will load its last saved set-up parameters from flash

memory into active memory. T his is the setting for normal operation. If E3 is ON during power-up/reset,

the controller will load its factory-default set-up parameters from firmware into active memory.

Generally this is only done if communications cannot be established with the card when in comes up in

normal operational mode.

Encoder Sample Clock Source Jumpers

Jumpers E13 and E14 control the source of the SCLK encoder-sampling clock for each servo IC. The

default setting of no jumper installed means that the SCLK signal comes from the servo IC and is output

on the JMACH connectors. This setting is suitable for all but a few very special applications.

Serial Port Selection Jumper

Jumpers E17 and E18 control which serial-port connector is used. If E17 and E18 connect their pins 1 and

2, the 10-pin RS-232 port connector J5 is used. If E17 and E18 connect their pins 2 and 3, the 26-pin RS-

422 port connector J5A is used. The RS-422 port must be used if several cards are to be daisy chained

together on a single multi-drop cable.

Output Disable State Jumpers

Jumpers E111 through E118 control the hardware state of the digital command output signals for each

channel when the amplifier enable signal for that channel is in the disable state (false). Jumper E11n (n =

1 to 8) controls the output signals for Channel n on the board.

If E11n is OFF (default), the command output signals for Channel n are still active when the amplifier

enable signal is in the disable state. The Turbo PMAC software should be commanding a net zero

command to be output on these signals and the amplifier-enable signal should be used by the amplifier so

that no command output will cause action if it is receiving a disable signal. This OFF setting should be

definitely be used when DAC output format is selected for the channel.

If E11n is ON, the command output signals for Channel n are tri-stated when the amplifier-enable signal

is in the disable state. Typically, this setting is only used with direct-PWM power-block amplifiers that

do not use amplifier enable to gate the PWM signals and in which the zero-command format of 50% top

on-time, and 50% bottom on-time cannot be tolerated in the disable state.

Resistor Pack Configuration

Termination Resistors

The PMAC2 PCI provides sockets for termination resistors on differential input pairs coming into the

board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances

into the PMAC2 PCI board and ringing at signal transitions is a problem, SIP resistor packs may be

mounted in these sockets to reduce or eliminate the ringing.

All termination resistor packs are the type that has independent resistors (no common connection) with

each resistor using two adjacent pins. The following table shows which packs are used to terminate each

input device:

Input Pack Pack Size Input Pack Pack Size

Encoder 1 RP46 6-pin ADC 1 and 2 RP60 8-pin

Encoder 2 RP50 6-pin ADC 3 and 4 RP61 8-pin

Encoder 3 RP47 6-pin ADC 5 and 6 RP121 8-pin

Encoder 4 RP51 6-pin ADC 7 and 8 RP122 8-pin

Encoder 5 RP107 6-pin Fault 1 and 2 RP63 6-pin

Encoder 6 RP111 6-pin Fault 3 and 4 RP64 6-pin

Encoder 7 RP108 6-pin Fault 5 and 6 RP124 6-pin

Encoder 8 RP112 6-pin Fault 7 and 8 RP125 6-pin

SCLK12 and 34 RP52 6-pin SCLK56 and 78 RP113 6-pin

1 2 ... 5 6 7 8 9 10 11 12 13 14 15 ... 50 51

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