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Delta Tau: Programmable Multi-Axis Controller (MINI-PMAC2)
The Mini-PMAC2 is a member of the PMAC2 family of boards optimized for interface to 1 or 2 sine waves or direct PWM servo drives and for pulse-and-direction stepper drives. It has two channels of servo interface circuitry, but its software is capable of 8 axes of control. It is completely software compatible with the PMAC2-PC and PMAC2-Lite.
The Mini-PMAC2 is a 2/3-size ISA-bus expansion card with a small piggyback board containing the CPU board. While the Mini-PMAC2 is capable of ISA bus communications, with or without the optional on-board dual-ported RAM, it does not need to be inserted into an ISA expansion slot. Communications can be done through the standard on-board RS-232 serial port; standalone operation is possible.
Board Configuration
Base Version | The base version of the Mini PMAC2 provides a 2/3-slot board with:
40 MHz DSP56002 CPU
128k x 24 zero-wait-state SRAM active memory
512k x 8 flash memory for user backup & firmware
Latest released firmware version
RS-232 serial interface, ISA (PC) bus interface
1 16-node MACRO interface IC
Display, MACRO, muxed I/O, direct I/O interface ports
PID/notch/feedforward servo algorithms
1-year warranty from date of shipment
One manual per set of 1 to 4 PMACs in shipment (Cables, mounting plates, mating connectors not included)
2 channels axis interface circuitry, each including:
I. 3 output command signal sets, configurable as either:
2 serial data streams to external DACs, 1 pulse-and-direction
3 PWM top-and-bottom pairs
II. 3-channel differential/single-ended encoder input
III. 9 input flags, 2 output flags
IV. Interface to 2 external serial ADCs, 8 to 18 bits
2 channels supplemental interface circuitry, each including:
2-channel differential/single-ended encoder input
1 output command signal set, configurable as pulse-&-direction or PWM top-and-bottom pair.