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Delta Tau: PMAC Mini PCI
Delta Tau: PMAC Mini PCI


 
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Order #: 400-603712-10X
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Description
 

Delta Tau: PMAC Mini PCI

The PMAC Mini PCI is a compact, 2-axis version of the PMAC(1) family (unless accessories are added to expand the number of axes). It can be used in a PC’s PCI slot as a half-sized board (230 mm, 9” long) or it can be used standalone using serial communications for setup and/or application control. Programs for the PMAC Mini PCI (both motion and PLC programs) are 100% compatible with other versions of Non-Turbo PMAC. 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 (Option 5AF)

  • 128k x 24 internal zero-wait-state SRAM

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

  • Latest released firmware version

  • RS-232 serial interface, 33 MHz PCI bus interface

  • 2 channels axis interface circuitry, each including:

  • 16-bit +/-10V analog output

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

  • Encoder inputs 4 input flags, 2 output flags

  • Interface to 4 external 16-bit serial ADCs

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

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

  • Buffered expansion port

  • Clock crystal with +/-100 ppm accuracy

  • PID/notch/feedforward 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

  • 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

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

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

Communication Options

  • OPT-2 - On-board 8Kx16 Dual Ported RAM

Processor and Firmware Options

  • OPT-10 - Firmware version specification

  • OPT-5AF - Default CPU configuration: 40 MHz

  • OPT-5CF - 80 MHz DSP563xx CPU

  • OPT-5EF - 160 MHz DSP563xx CPU (320 MHz 56002 equivalent)

  • OPT-6 - Extended-servo-algorithm firmware

  • OPT-6L - Multi-block look ahead firmware

Baseboard Options

  • OPT-15 - 2 channel V-to-F converters for analog input

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


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