PMAC2-LITE 运动控制器-产品快照

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PMAC2-LITE 运动控制器

Delta Tau: PMAC2 PCI Lite

Delta Tau: PMAC2 PCI Lite The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or four sine wave or direct PWM servo drives and to pulse-and-direction stepper drives. It has four channels of servo interface circuitry, but its software is capable of eight axes of control. Programs written for PMAC2 PCI Lite are with the PMAC2 PC and the PMAC2 Mini. The PMAC2 PCI Lite is a full-sized PCI bus expansion card. 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 zero-wait-state SRAM active memory 512K x 8 flash memory for user backup and firmware Latest released firmware version (requires V1.17 or newer firmware) RS-232/422 serial interface, 33 MHz PCI ( PC ) bus interface Four channels axis interface circuitry, each including: Three output command signal sets, configurable as either: Two serial data streams to external DACs, 1 pulse-and-direction Three PWM top-and-bottom pairs 3-channel differential/single-ended encoder input Nine input flags, two output flags Interface to two external serial ADCs, 8 to 18-bits Two channels supplemental interface circuitry, each including: 2-channel differential/single-ended encoder input One output command signal set Pulse-&-direction or PWM top-and-bottom pair 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 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 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 OPT-9T: Auxiliary RS-232 serial port. 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-8A: High-accuracy clock crystal (+/-25ppm) Baseboard Options OPT-12: 8-channel onboard 12-bit A/D converter OPT-12A: Additional 8-channel on-board 12-bit A/D converter requires OPT 12) OPT-16: 16K x 24 Battery-Backed Parameter RAM Delta Tau: PMAC2 PCI Lite The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or four sine wave or direct PWM servo drives and to pulse-and-direction stepper drives. It has four channels of servo interface circuitry, but its software is capable of eight axes of control. Programs written for PMAC2 PCI Lite are with the PMAC2 PC and the PMAC2 Mini. The PMAC2 PCI Lite is a full-sized PCI bus expansion card. 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 Software Features Trajectory Generation Features Servo Features Commutation Features Compensation Features Safety Features Computational Features Feedback sensor types that can be processed Coordination and Master/Slave Features Motion Program Features PLC Program Features Communication Options Processor and Firmware Options Baseboard Options

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