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Delta Tau: PMAC2 VME
​DELTA TAU PMAC2-VME P/N:4-2413CF-2101-1100 W


 

Price : $4,871.00

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Description
 

Delta Tau: PMAC2 VME
DELTA TAU PMAC2-VME P/N:4-2413CF-2101-1100 W

The PMAC2 VME provides state-of-the-art motion control of up to 8 axes for a wide variety of applications, including machine tools, robotics, semiconductor manufacturing, packaging equipment, and general-purpose automation. It utilizes the latest developments in electronics, software, and modern control theory to bring motion control capabilities to a whole new level.

The PMAC2 VME is designed as a bus expansion card, but is capable of standalone operation. It is VME bus-compatible, using two slots, possessing four or eight machine interface channels.

Hardware Features

  • 40 MHz DSP56002 CPU

  • 128K x 24 zero-wait-state flash-backed SRAM

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

  • Latest released firmware version

  • RS-232 and 422 serial interface, VME 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-&-direction, or

  • 3 PWM top-and-bottom pairs

  • 3-channel (A, B, C)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 (A, B) 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

  • Buffered expansion port

  • Clock crystal with +/-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

  • H1286

  • 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

Additional Axes

  • OPT-1V - 4 additional channels axis interface circuitry

Communication Options

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

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-5C - 80mHz CPU, zero-wait-state SRAM

Baseboard Options

  • OPT-0 - Removal of VME interface (for standalone applications)

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

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

  • OPT-16 - 16K x 24 battery-backed parameter RAM

  • OPT-8A - High-accuracy clock crystal (+/-15ppm)

Additional Options

  • OPT-7V - Plate mounting for standalone applications


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