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Delta Tau: Turbo PMAC2 PCI
The Turbo PMAC2 PCI is a member of the Turbo PMAC family of boards optimized for interface to sine wave or direct-PWM servo drives and to pulse-and-direction stepper drives. It is capable of 32 axes of control. It can have up to eight channels of on-board axis interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its expansion port, connected to ACC-24P or ACC-24P2 ISA-format boards (ACC-24 boards in PCI format are not yet available). The Turbo PMAC2 PCI is a full-sized PCI-bus expansion card, with a small piggyback board containing the CPU board. This piggyback board occupies part of the next slot, but ½-sized boards are permitted in this next slot. While the Turbo PMAC2-PCI is capable of PCI bus communications, it can also be operated standalone and can be communicated with over a RS232 or RS422 serial port.
Hardware Features
80 MHz DSP56303 CPU (120 MHz PMAC equivalent)
128K x 24 SRAM compiled/assembled program memory (5C0)
128K x 24 SRAM user data memory (5C0)
1M x 8 flash memory for user backup & firmware (5C0)
Latest released firmware version
RS-232 serial interface, PCI (PC) bus interface
One 16-node MACRO interface IC
Four channels axis interface circuitry, each including:
Three output command signal sets, configurable as either:
Two serial data streams to external DACs, one pulse-and-direction
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
Two channels supplemental interface circuitry, each including:
2-channel differential/single-ended encoder input
One output command signal set, configurable as pulse-&-direction or PWM top-and-bottom pair
Display, MACRO, muxed I/O, direct I/O interface ports
PID/notch/feedforward servo algorithms
Extended pole-placement 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
Altered destination on the fly
Interactive jog moves
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
Alternate 35-term “pole-placement” servo filter
Alternate user-written high-level “Open Servo” algorithms
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 overtravel 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
User-defined pointer variables to any registers
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)
User-written forward and inverse-kinematic algorithms for non-Cartesian geometries
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-1 - 4 additional channels on board axis interface circuitry
Communication Options
OPT-2 - On-board 8Kx16 Dual Ported RAM for PCI
Processor and Firmware Options
OPT-10 - Firmware version specification
OPT-5C0 - Default CPU-speed/memory config: 80MHz DSP56303 CPU
OPT-5C3 - 80MHz DSP56303 CPU
OPT-5E0 - 160MHz DSP56311 CPU (128Kx24 internal memory) 128Kx24 SRAM compiled/assembled program memory
OPT-5E3 - 160MHz DSP56311 CPU (128Kx24 internal memory) expanded 512Kx24 SRAM compiled/assembled program memory
OPT-5F0 - 240MHz DSP56321 CPU (192Kx24 internal memory) 128Kx24 SRAM compiled/assembled program memory
OPT-5F3 - 240MHz DSP56321 CPU (192Kx24 internal memory) expanded 512Kx24 SRAM compiled/assembled program memory
Baseboard Options
OPT-12 - 8-channel on-board 12-bit A/D converter
OPT-12A - Additional 8-channel on-board 12-bit A/D converter (requires Opt 12)
OPT-16A - 32Kx24 SRAM Battery-Backed Parameter Memory
OPT-8A - High-accuracy clock crystal (+/-15ppm)