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Delta Tau: PMAC PCI
Delta Tau: PMAC PCI
 
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Order #: 4-3588XX-XX0X-XXX0XX
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Description
 

Delta Tau: PMAC PCI

The PMAC PCI is a member of the PMAC family of boards optimized for interface to traditional servo drives that use single analog inputs representing velocity or torque commands. It is capable of eight axes of control. It can have four to eight channels of on-board axis interface circuitry.

The PMAC-PCI is a full-sized PCI-bus expansion card, with a small piggyback board containing the CPU board. While the PMAC-PCI is capable of PCI bus communications, with or without the optional dual-ported RAM, it does not need to be inserted into a PCI expansion slot. 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 0-wait-state flash-backed SRAM

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

  • 2k x 8 EEPROM memory for setup variable backup

  • Latest released firmware version

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

  • Four channels axis interface circuitry, each including:

  • 16-bit +/-10V analog output

  • 3-channel differential/single-ended encoder input

  • Four input flags, two output flags

  • Interface to external 16-bit serial ADC

  • Display, control panel, 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 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 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

Additional Axes

  • OPT-1 - 4 additional channels on board axis interface circuitry

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 DSP563xx CPU

  • OPT-5CF - 80 MHz DSP563xx CPU

  • OPT-5EF - 160 MHz DSP563xx CPU

  • OPT-6 - Extended-servo-algorithm firmware

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

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 Opt12)

  • OPT-15 - V-to-F converter to use control port analog input

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

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


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