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Delta Tau: Turbo PMAC2 PCI Ultralite
Delta Tau: Turbo PMAC2 PCI Ultralite
 
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Description
 

Delta Tau: Turbo PMAC2 PCI Ultralite

The Turbo PMAC2 PCI 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 a 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 PCI Ultralite 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)

  • 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 & C) (No on-board axis interface circuitry)

  • Two channels supplemental interface circuitry, each including:

  • 2-channel differential/single-ended encoder input

  • One 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

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)

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-2 - On-board 32Kx16 Dual Ported RAM

  • 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-5C3 - 80MHz DSP56303 CPU

  • OPT-5E0 - 160MHz DSP56311 CPU (128Kx24 internal memory)

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

Base Board Options

  • OPT-12 - 8-channel on-board 12-bit A/D converter

  • OPT-12A - Additional 8-channel on-board 12-bit A/D converter

  • OPT-16A - 32Kx24 SRAM battery-backed parameter memory.

  • OPT-18A - Electronic Board Identification Number Module

  • 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 - Additional 16-Node MACRO Interface

  • OPT-1U2 - Second additional MACRO interface IC

  • OPT-1U3 - Third additional MACRO interface IC


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