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