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Delta Tau: Turbo PMAC2 VME Ultralite
Delta Tau: Turbo PMAC2 VME Ultralite
 
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Order #: 4-3616XX-2XXX-X000XX
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Description
 

Delta Tau: Turbo PMAC2 VME Ultralite

The Turbo PMAC2 VME Ultralite is a member of the Turbo PMAC family of boards optimized for interface to the system through the MACRO ring, and therefore does not contain on-board axis interface circuitry (which is what makes it Ultralite). It can command up to 32 axes through the MACRO ring. 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 PMAC2 VME Ultralite is a VME-bus card. This card is capable of VME bus communications, with or without the optional dual-ported RAM. Standalone operation is also possible wherein the user can communicate with the card via PC through RS-232 or RS-422.

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-232/422 serial interface, PCI bus interface

  • One 16-node MACRO interface IC MACRO ring circuitry (without connectors; see Opts. A and C) (No on-board axis interface circuitry)

  • Two channels supplemental interface circuitry, each including:

  • 2-channel differential/single-ended encoder input

  • 1 output command signal set, configurable as pulse-and-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

Communication Options

  • OPT-9T - Auxiliary RS-232 serial port

Processor and Firmware Options

  • OPT-10 - Firmware version specification

  • OPT-5C0 - Default CPU-speed/memory config: 80MHz DSP56303 CPU

  • OPT-5E0 - 160 MHZ DSP56311 CPU

  • OPT-5E3 - 160MHz DSP56311 CPU (128Kx24 internal memory)

Baseboard Options

  • OPT-16A - 32Kx8 SRAM battery-backed parameter memory.

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

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

Connector Options

  • OPT-A - MACRO-ring fiber optic interface connector

  • OPT-C - MACRO-ring RJ-45 electrical interface connector

Macro Node Expansion

  • OPT-1U1 - First additional MACRO interface IC

  • OPT-1U2 - Second additional MACRO interface IC

  • OPT-1U3 - Third additional MACRO interface IC


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