Delta Tau: Turbo PMAC2 PCI Lite

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

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