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Delta Tau: PMAC2 PCI Lite
Delta Tau: PMAC2 PCI Lite
 


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Description
 

Delta Tau: PMAC2 PCI Lite

The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or four sine wave or direct PWM servo drives and to pulse-and-direction stepper drives. It has four channels of servo interface circuitry, but its software is capable of eight axes of control. Programs written for PMAC2 PCI Lite are with the PMAC2 PC and the PMAC2 Mini.

The PMAC2 PCI Lite 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

  • 40 MHz DSP563xx CPU

  • 128K x 24 zero-wait-state SRAM active memory

  • 512K x 8 flash memory for user backup and firmware

  • Latest released firmware version (requires V1.17 or newer firmware)

  • RS-232/422 serial interface, 33 MHz PCI (PC) bus interface

  • Four channels axis interface circuitry, each including:

  • Three output command signal sets, configurable as either:

  • Two serial data streams to external DACs, 1 pulse-and-direction

  • Three PWM top-and-bottom pairs

  • 3-channel differential/single-ended encoder input

  • Nine input flags, two output flags

  • Interface to two external serial ADCs, 8 to 18-bits

  • Two channels supplemental interface circuitry, each including:

  • 2-channel differential/single-ended encoder input

  • One output command signal set

  • Pulse-&-direction or PWM top-and-bottom pair

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

  • Buffered expansion port

  • Clock crystal with Âą 100 ppm accuracy

  • PID/notch/feedforward servo algorithms

  • 1-year warranty from date of shipment

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

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 over travel 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)

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: 40mHz 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

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

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-16: 16K x 24 Battery-Backed Parameter RAM


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