Overview
The Acc-24PCI2 Axis Expansion Board provides four or eight channels of PMAC2-style servo interface circuitry for Turbo PMAC controllers. Up to four Acc-24PCI2 boards can be connected to one Turbo PMAC board, providing up to 32 additional channels of servo interface circuitry. The Acc-24PCI2 is a 2/3-sized PC expansion card. It has PCI bus connectors, so it can be mounted in a PCI expansion slot. The Acc-24PCI2 does not communicate over the bus; the bus connectors are just a convenience for mounting the board near the Turbo PMAC when it is in the bus. The Acc-24PCI2 board contains no processor; it has 1 or 2 highly integrated 4-channel PMAC2-style Servo ICs with the buffering circuitry and connectors around them.
Features
The Acc-24PCI2 board can be used with any Turbo PMAC or Turbo PMAC2 board, interfacing through the Expansion port. It is electrically and software compatible with Turbo PMAC VME and Turbo PMAC2 VME, but special mounting would be required. Note that even if the Turbo PMAC itself is a PMAC with the PMAC-style Servo ICs and interface circuitry, the Acc-24PCI2 with its PMAC2-style Servo ICs and interface circuitry can be connected to it.
The Acc-24PCI2 supports a wide variety of servo and stepper interfaces:
• Analog +/-10V velocity commands (requires Acc-8E or equivalent)
• Analog +/-10V torque commands (requires Acc-8E or equivalent)
• Sinusoidal analog +/-10V phase current commands (requires Acc-8E or equivalent)
• Direct digital pulse-width modulated (PWM) phase voltage commands (requires Acc-8F or equivalent)
• Pulse-and-direction commands (requires Acc-8S or equivalent)
A single Acc-24PCI2 can be used with a regular (non-Turbo) PMAC2 board, but there is no I-variable support in the regular PMAC2 for the configuration of the Servo ICs on the Acc-24PCI2. (I-variables I900 – I989 support the setup of the eight channels of the two Servo ICs on board the PMAC2 itself; there is nothing comparable for the eight channels on an Acc-24PCI2). Use of an Acc-24PCI2 with a regular PMAC2 board requires the assignment of M-variables to the registers that would be I-variables, and execution of a power-on PLC to set the proper values in these registers.
Board Configuration
An Acc-24PCI2 comes standard with one Servo IC providing four servo interface channels, which are brought out on two 100-pin high-density connectors to an Acc-8 family breakout board or equivalent.
Each channel of servo interface circuitry includes the following:
• Three output command signal sets, configurable as either: (1) Two serial data streams to external DACs, 1 pulse-and- direction. (2) Three PWM top-and-bottom pairs
• 3-channel differential/single-ended encoder input
• Nine input flags, two output flags
• Interface to two external serial ADCs, 8 to 18 bits
Option 1:
If Option 1 is ordered, a second Servo IC with four additional servo interface channels is provided, for a total of eight interface channels on the board, brought out on four 100-pin high-density connectors.