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Delta Tau: PMAC VME
Delta Tau: PMAC VME
 
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Description
 

Delta Tau: PMAC VME

The PMAC VME offers high performance control capabilities to the robust and highly expandable VME bus format, providing up to 8 axes of control in velocity or torque mode. See the Features tab for more details on this controller's hardware and software functionality.

Hardware Features

  • 20 MHz DSP56002 CPU

  • 128K x 24 1 wait-state battery-backed SRAM

  • 128K x 8 PROM memory for firmware storage

  • 2K x 8 EEPROM memory for setup variable backup

  • Latest released firmware version

  • RS-422 serial interface, VME bus interface

  • 4 channels axis interface circuitry, each including:

  • 16-bit +/-10V analog output

  • 3-channel (A, B, C) differential/single-ended encoder input

  • 4 input flags, 2 output flags

  • Interface to external 16-bit serial ADC

  • Display, control panel, muxed I/O, direct I/O interface ports

  • Buffered expansion port

  • Clock crystal with +/-100 ppm accuracy

  • PID/notch/feedforward servo algorithms

  • 1-year warranty from date of shipment

Software Features

Trajectory Generation Features

  • Linear interpolation mode with S-curve accel/decel

  • Circular interpolation mode with S-curve accel/decel

  • Rapid point-to-point move mode

  • Cubic B-spline interpolation mode

  • Cubic Hermite-spline (PVT) interpolation mode

  • Automatic move-until-trigger functions with hardware capture

  • Interactive jog moves

  • Optional multi-move look ahead for velocity and acceleration limiting

Servo Features

  • Standard digital PID feedback filter

  • Velocity, acceleration, and friction feedforward

  • 2nd-order notch/low-pass filter

  • Gains changeable at any time

  • Programmable input, integrator, and output limits

  • Optional 35-term “pole-placement” servo filter

Commutation Features

  • Sinusoidal commutation of AC servo motors

  • Vector control of AC induction motors

  • Digital current-loop closure with direct PWM output (PMAC2)

Compensation Features

  • Position compensation tables (1D & 2D)

  • Torque compensation tables

  • Backlash compensation

  • Tool radius compensation

Safety Features

  • Hardware and software over travel limits

  • Amplifier enable/fault handshaking

  • Following error limits

  • Integrated current limit

  • Encoder loss detection (some versions)

  • Watchdog timer

  • Program and communications checksums

Computational Features

  • Real-time multi-tasking operating system

  • 48-bit floating-point math for user programs

  • Trigonometric and transcendental functions

  • Automatic type-matching of different variable types

Feedback sensor types that can be processed

Coordination and Master/Slave Features

  • User-defined coordinate systems for automatic coordination of axes

  • Separate coordinate systems for independent motion of axes

  • Multi-motor axis support (e.g. gantries)

  • Dynamic axis transformations (e.g. offsets, rotations, mirroring)

  • Electronic gearing (no programming required)

  • Electronic cams with programmable profiles

Motion Program Features

  • High-level programming language

  • Automatic sequenced execution of moves

  • Calculations and I/O synchronous to motion

  • Axes programmed in user engineering units

  • Motion values as constants or expressions

  • Automatic coordination of multiple axes

  • Ability to execute G-code programs

PLC Program Features

  • Execution asynchronous to programmed motion

  • I/O control as in hardware PLC

  • Executive functions for standalone applications

  • Safety and status monitoring

  • Servo gain scheduling

  • Data reporting functions

  • Access to all registers in controller

Additional Axes

  • OPT-1V - 4 additional channels axis interface circuitry

  • OPT-7V - Plate mounting for standalone applications

Communication Options

  • OPT-2V - On-board 8Kx16 Dual Ported RAM

Processor and Firmware Options

  • OPT-10 - Firmware version specification

  • OPT-5AF - 40mHz CPU

  • OPT-5CF - 80 MHz CPU

  • OPT-5CL - 80MHz DSP56303 CPU (8Kx24 internal memory)

  • OPT-5EF - 160 MHz DSP563xx CPU

Connector Options

  • OPT-3V - Extended VME front plate for additional 5 connectors

Additional Options

  • OPT-3VG - Enclosed plastic PLC style front plate

Baseboard Options

  • OPT-0 - Removal of VME interface (for standalone applications)

  • OPT-14 - Replacement of flag opto isolators with socketed shunts

  • OPT-15 - V-to-F Converter to use Control Port Analog Input

  • OPT-16 - 16K x 24 battery-backed parameter RAM

  • OPT-8A - High-accuracy clock crystal (+/-15ppm)


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