PMAC MINI PCI

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:
  1. 16-bit +/-10V analog output
  2. 3-channel (AB quad with index) differential/single-ended
• encoder inputs
  1. 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 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
• 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)
• User-written forward and inverse-kinematic algorithms for non-Cartesian geometries
• 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