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Delta Tau: PMAC2 PCI
Delta Tau: PMAC2 PCI
 


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Description
 

Delta Tau: PMAC2 PC

8 Axis

This board can be installed into a host computer's PCI slot or used as a standalone motion controller. When combined with the appropriate accessory ACC-8x, it provides four or eight axes of stepper, digital PWM or analog ±10 VDC amplifier command signals. This motion controller is composed of a base board and a CPU piggy-back board. The CPU board can be upgraded to a faster processor or to the more advanced Turbo CPU type if desired. 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.


OPT1

Part No.:301-603367-OPT

4 additional channels on board axis interface circuitry


OPT2

Part No.:302-603367-OPT

On-board 8Kx16 Dual Ported RAM for PCI


Hardware Features:

  • 40 MHz DSP563xx CPU (Option 5AF)

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

  • Latest released firmware version.

  • RS-232 serial interface, 33 MHz 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-&-direction

  • 3 PWM top-and-bottom pairs

  • 3-channel (AB quad with index) differential/single-ended

  • 9 input flags, 2 output flags

  • Interface to 2 external serial ADCs, 8 to 18 bits

  • 2 channels supplemental interface circuitry, each including:

  • 2-channel (AB quad)differential/single-ended encoder input

  • 1 output command signal set configurable as pulse-and-direction or PWM top-and-bottom pair

  • Display, muxed I/O, direct I/O interface ports

  • Buffered expansion port

  • Clock crystal with +/-100 ppm accuracy

  • PID/notch/feedforward servo algorithms

  • 1-year warranty from date of shipment


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 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

  • 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 & 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

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)

  • 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

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

Communication Options

  • OPT-2 - On-board 8Kx16 Dual Ported RAM for PCI

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

Processor and Firmware Options

  • OPT-10 - Firmware version specification

  • OPT-5AF - 40 MHz CPU

  • OPT-5CF - 80 MHz CPU

  • OPT-5EF - 160 MHz DSP563xx CPU

  • OPT-6 - Extended servo algorithm firmware

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

Baseboard Options

  • OPT-12 - 8-channel onboard 12-bit A/D converter

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

  • OPT-15 - 2-Channel V-to-F Converters for Analog Input

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

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

Additional Options

  • OPT-18A - Electronic board identification number module


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