Delta Tau: Turbo PMAC PCI Lite

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Order #: 4-3557XX-1XXX-0XX0XX

Description

Delta Tau: Turbo PMAC PCI Lite

The Turbo PMAC PCI Lite is a member of the Turbo PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands. It is capable of 32 axes of control. It can have up to four 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 boards.

The Turbo PMAC PCI Lite is a full-sized PCI bus expansion card. The PC can communicate to PMAC through the PCI slot or through a RS-232 or RS-422 serial port if standalone operation (i.e. without a PC) is desired.

Hardware Features

80 MHz DSP56303 CPU (120 MHz PMAC equivalent)(fast internal memory for 1st 15-Axis servo and commutation)
128Kx24 SRAM compiled/assembled program memory (5C0) (for firmware, compiled PLCs, user-written servo and phase)
128Kx24 SRAM user data memory (5C0) (for motion and uncompiled PLC progs, variables, tables, buffers)
1M x 8 flash memory for user backup and firmware (5C0)
Latest released firmware version
RS-232/422 serial interface, 33 MHz PCI bus interface
4 channels axis interface circuitry, each including:

16-bit +/-10V analog output
3-channel (AB quad with index) 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
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
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 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
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

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