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


 
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Order #: 4-3658XX-2XXX-0X00XX
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Description
 

Delta Tau: Turbo PMAC2 PCI Lite

32 Axis

This board can be installed into a PCI bus host computer or used as a standalone motion controller. When combined with the appropriate accessory ACC-8x, it provides four axes of analog ±10V, digital, or pulse and direction amplifier command signals. This board can control up to 32 axes when adding the necessary channels provided by optional ACC-24P2 boards. 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

  • 80 MHz DSP56303 CPU (120 MHz PMAC equivalent) (fast internal memory for 1st 15 axes servo & commutation)

  • 128K x 24 SRAM compiled/assembled program memory (5C0) (for firmware, compiled PLCs, user-written servo & phase)

  • 128K x 24 SRAM user data memory (5C0) (for motion & uncompiled PLC progs, variables, tables, buffers)

  • 1M x 8 flash memory for user backup & firmware (5C0)

  • Latest released firmware version

  • RS-232 serial interface, 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-and-direction.

  • 3 PWM top-and-bottom pairs

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

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

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

  • PID/notch/feedforward servo algorithms

  • Extended "pole-placement" servo algorithms

  • 1-year warranty from date of shipment

  • One CD-ROM per set of 1 to 4 PMACs in shipment

  • (Cables, mounting plates, mating connectors not included)

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

  • Altered destination on the fly

  • Interactive jog moves

  • Multi-move lookahead 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

  • Alternate 35-term “pole-placement” servo filter

  • Alternate user-written high-level “Open Servo” algorithms

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

  • User-defined pointer variables to any registers

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)

  • User-written forward and inverse-kinematic algorithms for non-Cartesian geometries

  • 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 or USB

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

Processor and Firmware Options

  • OPT-10 - Firmware version specification

  • OPT-5C0 - Default CPU-speed/memory config: 80MHz DSP56303

  • OPT-5C3 - 80MHz DSP56303 CPU

  • OPT-5E0 - 160MHz DSP56311 CPU (128Kx24 internal memory)

  • OPT-5E3 - 160MHz DSP56311 CPU (128Kx24 internal memory)

Baseboard Options

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

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

  • OPT-16A - 32Kx24 SRAM Battery-Backed Parameter Memory

  • OPT-18A - Electronic board identification number module


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