FM9925a-E机器人模块,ABB使用进展
MVME2600系列单板机中的地图描述附录D中列出的程序员参考指南，相关文档，以获取详细的编程信息。PCI夹层接口MVME2603/2604系列的一个关键特性是PCI（外围设备组件互连）总线。除了车载本地总线PCI总线支持工业标准夹层接口IEEE P1386.1 PMC（PCI夹层卡）。PMC模块为通过FDDI（光纤分布式数据接口）、ATM（异步传输）模式）、图形、以太网或SCSI端口。基板支持PMC前面板和后P2输入/输出。
FM9925a-E机器人模块还提供堆叠PMC的功能基板上的承载板用于额外扩展。MVME2603/2604支持一个PMC插槽。打开四个64针连接器基板（J11、J12、J13和J14）与32位IEEE P1386.1接口PMC兼容夹层，可添加任何所需功能。PCI夹层卡插槽具有以下特点：PMC载体板连接器（J5）是114针Mictor连接器。请参阅第4章连接器引脚分配，了解
PMC连接器。有关详细的编程信息，请参阅《MVME2603/2604程序员参考》中的PCI总线描述附录D相关文件中列出的指南，并提供给用户您打算使用的PMC模块的文档。VMEbus接口VMEbus接口使用CA91C042 Universe实现ASIC。Universe芯片将32/64位PCI本地总线连接到VMEbus。Universe ASIC提供：❏ PCI总线到VMEbus接口
❏ VMEbus到PCI总线接口❏ 本地VMEbus的DMA控制器功能Universe芯片包括Universe控制和状态寄存器（UCSR）用于处理器间通信。它可以提供VMEbus系统控制器也起作用。用于详细编程有关详细信息，请参阅《Universe用户手册》和中的讨论MVME2603/2604程序员参考指南，列在附录中D、 相关文件。
map description in the MVME2600 Series Single Board Computer
Programmer’s Reference Guide, listed in Appendix D, Related
Documentation, for detailed programming information.
PCI Mezzanine Interface
A key feature of the MVME2603/2604 family is the PCI (Peripheral
Component Interconnect) bus. In addition to the on-board local bus
devices (SCSI, Ethernet, graphics, etc.), the PCI bus supports an industrystandard mezzanine interface, IEEE P1386.1 PMC (PCI Mezzanine Card).
PMC modules offer a variety of possibilities for I/O expansion through
FDDI (Fiber Distributed Data Interface), ATM (Asynchronous Transfer
Mode), graphics, Ethernet, or SCSI ports. The base board supports PMC
front panel and rear P2 I/O. There is also provision for stacking a PMC
carrier board on the base board for additional expansion.
The MVME2603/2604 supports one PMC slot. Four 64-pin connectors on
the base board (J11, J12, J13, and J14) interface with 32-bit IEEE P1386.1
PMC-compatible mezzanines to add any desirable function. The PCI
Mezzanine Card slot has the following characteristics:
The PMC carrier board connector (J5) is a 114-pin Mictor connector.
Refer to Chapter 4, Connector Pin Assignments for the pin assignments of
the PMC connectors. For detailed programming information, refer to the
PCI bus descriptions in the MVME2603/2604 Programmer’s Reference
Guide, listed in Appendix D, Related Documentation, and to the user
documentation for the PMC modules you intend to use.VMEbus Interface
The VMEbus interface is implemented with the CA91C042 Universe
ASIC. The Universe chip interfaces the 32/64-bit PCI local bus to the
VMEbus.
The Universe ASIC provides:
❏ The PCI-bus-to-VMEbus interface
❏ The VMEbus-to-PCI-bus interface
❏ The DMA controller functions of the local VMEbus
The Universe chip includes Universe Control and Status Registers
(UCSRs) for interprocessor communications. It can provide the VMEbus
system controller functions as well. For detailed programming
information, refer to the Universe User’s Manual and to the discussions in
the MVME2603/2604 Programmer's Reference Guide, listed in Appendix
D, Related Documentation.
