Socapel PAM
A Programmable Axes Manager

PAM VME
Technical Manual

Ordering Number: 006.8020

Rev. October 1992

This upgraded and improved

version replaces all the previous.
We reserve the right to amend this
document without prior notice and
decline all responsibilities for
eventual errors.
Doc. No. 006.8020/GD
Atlas Copco Controls SA
En Montillier 4  October 92
CH-1303 PENTHAZ by Atlas Copco Controls SA (previously SOCAPEL SA).
Switzerland All rights reserved.
SOCAPEL SA PAM VME Technical Manual 006.8020

CONTENTS
1. Introduction..................................................................................................................................3
1.1. Objective ........................................................................................................................3
1.2. General Informations......................................................................................................3
1.3. Bloc Scheme of PAM Processor Card ...........................................................................4

2. Interface Configuration................................................................................................................5
2.1. Scheme of the VME interface of PAM . ........................................................................5
2.2. Signals transmitted or received by the VME Bus. .........................................................6
2.3. VME bus Backplane Connectors and VME Board Connectors.....................................7
2.3.1. Remarks ............................................................................................................8
2.4. PAM Dual-port Memory Configuration.........................................................................9
2.4.1. Distribution of the addresses on the PAM :......................................................9
2.4.2. Configuration : ..................................................................................................10
2.4.3. Implantation of configuration switches on the bus interface board ................11
2.4.4. Example ............................................................................................................11
2.5. Other switches ................................................................................................................12

3. Analog outputs .............................................................................................................................13

4. Consumption and Mechanical Specifications of the PAM VME . ..............................................14

4.1. Consumption of the PAM VME ....................................................................................14
4.2. Mechanical Specifications of the PAM VME ...............................................................14

Appendix A ........................................................................................................................................15

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SOCAPEL SA PAM VME Technical Manual 006.8020

1. INTRODUCTION

1.1. OBJECTIVE .

To familiarize the user with PAM system in a VME bus environment .

1.2. GENERAL INFORMATIONS

The PAM - Programmable Axes Manager - is a system developed by Socapel to control our ST1 digital
motion controllers with a high precision synchronisation. All these controllers are connected on PAM
Ring, the optical fiber field bus from Socapel.
The PAM system is based around a 32 bits RISC microprocessor that permits very high performances.
This processor card is connected to a MASTER card VME compatible to exchange informations. The
MASTER is the host of the system. The link between these two modules is made by the VME parallel
bus.

Bloc scheme:

MASTER

VME BUS
Optical fiber Optical fiber
PAM

ST1 ST1 ST1 ST1

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SOCAPEL SA PAM VME Technical Manual 006.8020

1.3. BLOC SCHEME OF PAM PROCESSOR CARD

The bloc scheme of the PAM processor card is represented as follows :

MASTER VME

VME BUS

INTERFACE
PAM - VME

IN T E R F A C E OUT
P A M R IN G
O P T IC A L F IB E R IN
IN T E L
80960
R IS C S E R IA L RS232-C
PROC ESSOR IN T E R F A C E RS422-A
RS485

ANALOG OUT S0
OUTPUTS OUT S1

M A IN
M EM ORY:
EPR OM
EEPR OM
DRAM
SR AM

The interfaces RS-232-C and RS-422-A/RS-485 are used to connect PAM with a terminal or a
computer to make application diagnostic and debugging.

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SOCAPEL SA PAM VME Technical Manual 006.8020

2. INTERFACE CONFIGURATION

2.1. SCHEME OF THE VME INTERFACE OF PAM .

The following drawing gives a detailed bloc scheme of the interface. Part of the layout is given in
appendix A .

SYSRESET*

POWERDOWN*

DRIVERS CONTROL

UPPER DTACK* S IG N A L S C O N T R O L
DSO* A N D W A IT S T A T E
C O N N EC TO R DS1*
A N D D R IV E R S WRITE* GEN ER ATO R
AS*

ADDRESS BUS (VME) AD D RESS

DECODER
W IT H S W IT C H E S
DATA BUS (VME) SIGNAL CONTROL OF THE DPM
SIGNAL CONTROL OF THE DPM

ADDRESS BUS (PAM)

DUAL-PORT DATA BUS (PAM)
MEMORY
LOWER
CONNECTOR

BLOC WITH A CONNECTOR FOR VME BUS

*This character mean that the signal is active to low.

On the lower connector only the supply pins are used.

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SOCAPEL SA PAM VME Technical Manual 006.8020

2.2. SIGNALS TRANSMITTED OR RECEIVED BY THE VME BUS.

Address Bus : There are two types of address :

1°) Address modifier AM0 to AM5 .
2°) Address line A01 to A23.
All informations for this two types of addresses are explain in the 2.4
chapter.

Data Bus : This configuration used only 16 data bits .

Dtack* : Dtack* is driven by the SLAVE to indicate that the data was successfully
received on a write cycle. On a read cycle the SLAVE uses Dtack* to
indicate that the data has been read from memory and has been placed
on the data bus.

DS0* and DS1* : This two lines are explain in the 2.4 chapter .

Write* : This line controls the direction of data transfer between MASTER and
SLAVE .
If Write* is high ,the operation is a transfer from SLAVE to MASTER .
If Write* is low , the operation is a transfer from MASTER to SLAVE .

AS* : AS* is the address strobe . It informs all slave modules that the address is
now stable and may be clocked into holding registers .

Powerdown* : It signals that the system has detected a power failure in the VME side .

Sysreset*: System Reset .

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SOCAPEL SA PAM VME Technical Manual 006.8020

2.3. VME BUS BACKPLANE CONNECTORS AND VME BOARD CONNECTORS

The connector consists of three rows of pins labelled rows A , B , and C.

The following table gives all signals which are used by PAM:

Upper connector:

Pin Row Row Row

number A B C
1 D00 not used D08
2 D01 not used D09
3 D02 ACFAIL* D10
4 D03 not used D11
5 D04 not used D12
6 D05 not used D13
7 D06 not used D14
8 D07 not used D15
9 GND not used GND
10 not used not used not used
11 GND not used not used
12 DS1* not used SYSRESET*
13 DS0* not used not used
14 WRITE* not used AM5
15 GND not used A23
16 DTACK* AM0 A22
17 GND AM1 A21
18 AS* AM2 A20
19 GND AM3 A19
20 not used GND A18
21 not used not used A17
22 not used not used A16
23 AM4 GND A15
24 A07 not used A14
25 A06 not used A13
26 A05 not used A12
27 A04 not used A11
28 A03 not used A10
29 A02 not used A09
30 A01 not used A08
31 not used not used not used
32 +5V +5V +5V

Lower connector :

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SOCAPEL SA PAM VME Technical Manual 006.8020

Pin Row Row Row

number A B C
1 +5V not used not used
2 not used GND not used
3 to 11 not used not used not used
12 not used GND not used
13 +5V not used not used
14 to 21 not used not used not used
22 not used GND not used
23 to 30 not used not used not used
31 not used GND not used
32 +5V not used not used

These connection is fully compatible with all VME systems . PAM doesn't use all signals of the VME
bus.

2.3.1. REMARKS

The comment "not used" mean that the signal of VME bus is not used by the PAM.

The PAM system needs in all cases the upper and lower connectors in order to
use all supply pins.

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SOCAPEL SA PAM VME Technical Manual 006.8020

2.4. PAM DUAL-PORT MEMORY CONFIGURATION

With the PAM , the system works in a STANDARD NON-PRIVILEGED DATA ACCESS MODE.
The configuration mode is defined with the address modifier . The PAM decodes statically the address
modifier with a switch (N10) . The code of this configuration is 39h.
The standard mode uses only 23 address line (A01 to A23) . In this configuration only a 16 bit data
bus is used .
The two lines DS0* and DS1* allow to introduce separately two bytes or one completely word . These
two lines replace the function that A00 would perform but they allow two bytes to be transferred
simultaneously which not be possible with just an A00 line .
The total of the dual-port memory is 4 Kbytes and its configuration is 2K * 16 .

2.4.1. DISTRIBUTION OF THE ADDRESSES ON THE PAM :

AM5 to AM0 A23 to A12 A11 A10 to A01

The address modifier is These addresses are decoded Not Physical addresses for the
decoded statically with statically with switches to map decoded Dual-port Memory
switches for giving the the Dual-port memory on the
configuration mode addressable space of the VME

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SOCAPEL SA PAM VME Technical Manual 006.8020

2.4.2. CONFIGURATION :

DS1* DS0*
Even byte Odd byte
location location
D15 to D08 D07 toD00
A10 to A01

000h
001h
002h
003h
004h

DPM

3FBh
3FCh
3FDh
3FEh
3FFh

When a byte is introduced on the dual-port memory (DPM) , the capacity of the DPM is two
Kbytes (7FFh).
When a word is introduced on the DPM , the capacity of the DPM is 1Kword (3FFh) ; in this
case , only the even addresses are used (for A10 to A00) .

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SOCAPEL SA PAM VME Technical Manual 006.8020

2.4.3. IMPLANTATION OF CONFIGURATION SWITCHES ON THE BUS INTERFACE BOARD

N7 N8 N10

N7,N8: Select the map of the DPM on the addressable space of the VME Bus.
N10: Define the configuration mode .

Logical values: Switch "ON" -> "0"

Switch "OFF" -> "1"

2.4.4. EXAMPLE

Given information :

The configuration mode is the standard non-privileged data access.

There is a free addressable space on the VME at the address E9Axxxh.(for A23 to A00)

Solution :

The start address of the DPM is E9A000h. The capacity of the DPM is 2 Kbytes => the end
address of the DPM is E9A7FFh.
The address A11 is not decoded => the addressable space of the VME who is reserved to the
DPM is : E9A000h to E9AFFFh (4 Kbytes).

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SOCAPEL SA PAM VME Technical Manual 006.8020

Result :

N7 N8 N10

2.5. OTHER SWITCHES

All other switches of the VME interface board, from S2 to S15, and all switches of the CPU board
may in no case be modified. They are configured in factory.

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SOCAPEL SA PAM VME Technical Manual 006.8020

3. ANALOG OUTPUTS
The analog outputs are accessible on the front panel of the PAM. They are not isolated, have 8 bits
resolution and 0V to 10V amplitude.
The output impedance of the analog outputs is 1KΩ . These outputs are protected against shorts-
circuits.

S0
PAM Analog Outputs
S1

IN

They can be used by the application, for example, for monitoring or debug purpose (see PAM
Reference Manual).

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SOCAPEL SA PAM VME Technical Manual 006.8020

4. CONSUMPTION AND MECHANICAL SPECIFICATIONS OF THE PAM VME .

4.1. CONSUMPTION OF THE PAM VME .

A
U PAM

IAV (typ) = 2.9 [A] . U = +5 [V] ± 5% ( Standard TTL ).

Î (max ) = 4 [A] .

4.2. MECHANICAL SPECIFICATIONS OF THE PAM VME .

The bulk of the PAM is a typical double high board × 40.6 mm Front Panel .
These dimensions are completely compatible with the VME system .

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SOCAPEL SA PAM VME Technical Manual 006.8020

APPENDIX A .
Part of the layout of the VME bus interface board:

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