Delta Tau: Turbo PMAC2 VME Ultralite

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Order #: 4-3616XX-2XXX-X000XX

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