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Delta Tau: PMAC2A PC/104
Delta Tau: PMAC2A PC/104
 

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Description Specifications and Drawings
 

Delta Tau: PMAC2A PC/104

The PMAC2A PC/104 provides up to 8 axes of control in the smallest form factor that Delta Tau offers, capable of Filtered PWM output, using the 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

  • 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

  • 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

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

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

  • Interactive jog moves

  • Optional multi-move look ahead for velocity and acceleration limiting

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

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)

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 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


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