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Delta Tau: Turbo PMAC2 PCI Lite This board can be installed into a PCI bus host computer or used as a standalone motion controller. When combined with the appropriate accessory ACC-8x, it provides four axes of analog ±10V, digital, or pulse and direction amplifier command signals. This board can control up to 32 axes when adding the necessary channels provided by optional ACC-24P2 boards. 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. 80 MHz DSP56303 CPU (120 MHz PMAC equivalent) (fast internal memory for 1st 15 axes servo & commutation) 128K x 24 SRAM compiled/assembled program memory (5C0) (for firmware, compiled PLCs, user-written servo & phase) 128K x 24 SRAM user data memory (5C0) (for motion & uncompiled PLC progs, variables, tables, buffers) 1M x 8 flash memory for user backup & firmware (5C0) Latest released firmware version RS-232 serial interface, PCI 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-and-direction. 3 PWM top-and-bottom pairs 3-channel (AB quad with index) differential/single-ended encoder input 9 input flags, 2 output flags Interface to 2 external serial ADCs, 8 to 18 bits
2-channel (AB quad) 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 PID/notch/feedforward servo algorithms Extended "pole-placement" servo algorithms 1-year warranty from date of shipment One CD-ROM per set of 1 to 4 PMACs in shipment (Cables, mounting plates, mating connectors not included)
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 lookahead 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 Alternate 35-term “pole-placement” servo filter Alternate user-written high-level “Open Servo” algorithms
Sinusoidal commutation of AC servo motors Vector control of AC induction motors Digital current-loop closure with direct PWM output (PMAC2)
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
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
High-level programming language Automatic sequenced execution of movement 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-5C0 - Default CPU-speed/memory config: 80MHz DSP56303 OPT-5C3 - 80MHz DSP56303 CPU OPT-5E0 - 160MHz DSP56311 CPU (128Kx24 internal memory) OPT-5E3 - 160MHz DSP56311 CPU (128Kx24 internal memory)
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-18A - Electronic board identification number module
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