 |
 |
 |
|
The PMAC2 VME provides state-of-the-art motion control of up to 8 axes for a wide variety of applications, including machine tools, robotics, semiconductor manufacturing, packaging equipment, and general-purpose automation. It utilizes the latest developments in electronics, software, and modern control theory to bring motion control capabilities to a whole new level.
The PMAC2 VME is designed as a bus expansion card, but is capable of standalone operation. It is VME bus-compatible, using two slots, possessing four or eight machine interface channels. 40 MHz DSP56002 CPU 128K x 24 zero-wait-state flash-backed SRAM 512K x 8 flash memory for user backup & firmware Latest released firmware version RS-232 and 422 serial interface, VME bus interface 4 channels axis interface circuitry, each including: 3 output command signal sets, configurable as either:
2 serial data streams to external DACs, 1 pulse-&-direction, or 3 PWM top-and-bottom pairs
3-channel (A, B, C)differential/single-ended encoder input 9 input flags, 2 output flags Interface to 2 external serial ADCs, 8 to 18 bits 2 channels supplemental interface circuitry, each including:
2-channel (A, B) differential/single-ended encoder input 1 output command signal set, configurable as pulse-&-direction or PWM top-and-bottom pair
Display, MACRO, 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
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
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 âpole-placementâ servo filter
Sinusoidal commutation of AC servo motors Vector control of AC induction motors Digital current-loop closure with direct PWM output (PMAC2)
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
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 Digital quadrature encoders Sinusoidal encoders, interferometers Resolvers Potentiometers LVDTs, RVDTs Parallel-format encoders, interferometers MLDTs Serial absolute encoders (e.g. SSI)
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
H1286 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
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
Processor and Firmware Options OPT-10 - Firmware version specification OPT-5AF - 40mHz CPU OPT-5CF - 80 MHz CPU OPT-5EF - 160 MHz DSP563xx CPU OPT-6 - Extended servo algorithm firmware OPT-6L - Multi-block look ahead firmware Opt-5C - 80mHz CPU, zero-wait-state SRAM
OPT-0 - Removal of VME interface (for standalone applications) OPT-12 - 8-channel on-board 12-bit A/D converter OPT-12A - Additional 8-channel on-board 12-bit A/D converter OPT-16 - 16K x 24 battery-backed parameter RAM OPT-8A - High-accuracy clock crystal (+/-15ppm)
|
|
|
 |
|
 |
|