DeltaTau PMAC2 PCI Ultralite Programmable Multi Axis Motion Controller

TB1 (Logic Power Supply): Extremely important, this terminal block is only used to provide 5V/± 12V power supply during independent operation. If the controller is already plugged into the PCI slot, it is strictly prohibited to use this terminal for power supply, otherwise it may cause conflicts between the motherboard and external power sources. ± 12V is only used for A/D converters, and the controller itself does not require this voltage to start.

TB2 (watchdog relay): Provides normally open (NO) and normally closed (NC) contacts. During normal operation, the normally closed contacts are closed; Once the watchdog timeout or power outage occurs, the normally closed contacts will open and the normally open contacts will close, which can be used to trigger an external safety circuit to forcibly shut down.

E-point jumper configuration and MACRO network settings

For on-site maintenance engineers, the misplacement of E-Point Jumpers is a common cause of system failure or communication failure.

Clock and Card Number Setting (E1): Removing the jumper (default) indicates that the card is "Card 0" and generates its own phase and servo clock; If 1-2 is short circuited, then as Card 1-F, it must receive an external clock from the serial port.

Reset and initialization (E0, E3, E23): Short circuiting E3 1-2 means that it will be reinitialized during reset. E23 is used to forcibly reload firmware through serial ports or buses, and is commonly used for firmware upgrades or rescue after system "brick changes".

MACRO physical layer selection (E15, E16):

E15: Short circuiting 1-2 allows for genuine electrical MACRO communication; Removing the jumper enables internal loopback (for testing purposes only).

E16: Short circuit 1-2 to select fiber receiver input (option A, using 62.5/125 multimode fiber, 1300nm wavelength); Remove the jumper and select RJ45 electrical receiver input (option C).

Serial port type selection (E17, E18): default 1-2 short circuiting uses J5 (RS-232); Switch to 2-3 and use J5A (RS-422).

Power on loading source (E20-E22): By default, E20 is removed, E21 is connected to 1-2, and E22 is connected to 2-3, indicating that the program is read from the Flash chip during power on/reset. All other combinations are for factory testing and are strictly prohibited from being changed on site.

Typical Troubleshooting and System Maintenance Guide

Based on the above hardware characteristics, engineers often encounter the following types of problems during system debugging and maintenance:

1. Serial communication failure or garbled code

Troubleshooting direction: First, confirm whether the baud rate set by the upper computer software is consistent with the I54 variable (factory 38400). Secondly, check if jumper E17/E18 matches the port being used (J5 or J5A). If using J5A, it is necessary to ensure that the jumper is in position 2-3. In addition, please note that the first pin (PHASE) of the J5 interface should not be connected to modem terminals to avoid signal conflicts.

2. The controller cannot start or frequently triggers the watchdog

Troubleshooting direction: Check the status of TB2 watchdog relay. If the normally closed contact is disconnected, it indicates that the system has crashed or lost power. Focus on checking whether the jumper combination of E20-E22 has been tampered with, to ensure that the system can correctly load firmware from Flash. Meanwhile, confirm if the power input is stable (approximately 2A @+5V). If the E19 jumper is short circuited (watchdog disabled), it may cause the system to crash and fail to trigger security protection. It is recommended to remove the jumper to restore the protection function.

3. MACRO ring communication interruption

Troubleshooting direction: If the system uses MACRO to control the remote driver, first check if the fiber optic or RJ45 cable is damaged. According to the hardware version (option A or C), check if jumper E16 is correctly set for optical/electrical input selection. If E15 is mistakenly removed (in internal loopback test mode), the controller will be unable to communicate with external nodes. In addition, for multi card systems, it is essential to check the E1 jumper to ensure that only one card is set to Card 0 to provide the clock source.

4. Battery life and parameter loss

Troubleshooting direction: The controller board is equipped with 3.0V or 3.6V lithium batteries to maintain memory data. The battery life of a standard CPU (such as 5Cx) is about 10 years, but if the high-speed CPU option (5Ex or 5Fx) is selected, battery consumption will significantly accelerate. If the device frequently experiences "parameter loss" or startup errors, it is necessary to measure the battery voltage in a timely manner and replace it. When replacing the battery, be sure to do so while the system is powered on to prevent data loss.

5. Unable to power on in independent operation mode

Troubleshooting direction: If the controller is not plugged into the PCI slot and is used as a standalone device, it must provide+5V power through the TB1 terminal. If the optional analog input function (J1) is used at this time, an additional ± 12V power supply (range+12V~+15V and -12V~-15V) is required. If only+5V is connected and J1 cannot work, please check if TB1 is only configured with 2 pins (not equipped with A/D power supply).