Delta Tau: Turbo PMAC2A PC/104

The Turbo PMAC2A PC/104 provides up to 12 axes of control in the smallest form factor that Delta Tau offers, capable of using True DAC, Direct PWM, Filtered PWM, and PFM output control signals. This product uses the Turbo PMAC2 CPU.

Hardware Features:

• 40 MHz DSP563xx CPU (OPT-5AF 80 MHz 560xx equivalent)

• 128K x 24 internal zero-wait-state SRAM

• 512K x 8 flash memory for user backup and firmware

• Latest released firmware version

• RS-232 serial interface

• 3 PWM top-and-bottom pairs (unbuffered)

• 50-pin IDC header for amplifier/encoder interface

• 34-pin IDC header for flag interface

• PID/notch/feedforward servo algorithms

• 1-year warranty from date of shipment

4 channels axis interface circuitry, each including:

• 12-bit +/-10V analog output

• Pulse-&-direction digital output

• Quadrature encoder inputs A, B, C, channels with differential/single-ended drivers

• 4 input flags, 2 output flags at TTL levels

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

• Interactive jog moves

• Optional multi-move lookahead 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

• Optional 35-term pole-placement servo filter

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 and 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 multitasking operating system

• 48-bit floating-point math for user programs

• Trigonometric and transcendental functions

• Automatic type-matching of different variable types

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)

• Electronic gearing (no programming required)

• Electronic cams with programmable profiles

Motion Program Features:

• 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

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

Processor and Firmware Options:

• OPT-10 - Firmware version specification

• OPT-5AF - 40 MHz DSP56311 CPU

• OPT-5CF - 80 MHz DSP563xx CPU (160 MHz 560xx equivalent)

• OPT-5EF - 160 MHz CPU (320 MHz 560xx equivalent)

• OPT-6 - Extended-servo-algorithm firmware

• OPT-6L - Multi-block look ahead firmware

• OPT-8A - High-accuracy clock crystal (+/-25ppm)

Baseboard Options:

• OPT-12 - 2-channel on-board 12-bit A/D converter

• OPT-2A - PC/104 Bus Stack Interface

Connector Options:

• Terminal Block 10-pin - 10-pin flat cable breakout board

• Terminal Block 34-pin - 34-pin flat cable breakout board

• Terminal Block 50-pin - 50-pin flat cable breakout board