ABOUT PMAC2A PC/104
The PMAC2A PC/104 provides up to 8 axes of control in the smallest form factor that Delta Tau offers, capable of Filtered PWM output, using the PMAC2 CPU.
about it products
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partn №
4-3670xx-xx0x-0x00xx
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Hardware Features
- 40 MHz DSP563xx CPU (OPT-5AF 80 MHz 560xx equivalent)
- 128K x 24 internal zero-wait-state SRAM
- 512K x 8 flash memory for user backup and firmware
- Latest released firmware version
- RS-232 serial interface
- 4 channels axis interface circuitry, each including:
- 12-bit +/-10V analog output
- Pulse-&-direction digital output
- Quadrature encoder inputs A, B, C, channels with differential/single-ended drivers
- 4 input flags, 2 output flags at TTL levels
- 3 PWM top-and-bottom pairs (unbuffered)
- 50-pin IDC header for amplifier/encoder interface
- 34-pin IDC header for flag interface
- PID/notch/feedforward servo algorithms
- 1-year warranty from date of shipment
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
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
- Optional multi-move lookahead for velocity and acceleration limiting
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
Options
Processor and Firmware Options
- OPT-10 - Firmware version specification
- OPT-5AF - 40 MHz DSP56311 CPU
- OPT-5CF - 80 MHz DSP563xx CPU (160 MHz 560xx equivalent)
- OPT-5EF - 160 MHz CPU (320 MHz 560xx equivalent)
- OPT-6 - Extended-servo-algorithm firmware
- OPT-6L - Multi-block lookahead firmware
- OPT-8A - High-accuracy clock crystal (+/-25ppm)
Base Board Options
- OPT-12 - 2-channel on-board 12-bit A/D converter
- OPT-2A - PC/104 Bus Stack Interface
Connector Options
- Terminal Block 10-pin - 10-pin flat cable breakout board
- Terminal Block 34-pin - 34-pin flat cable breakout board
- Terminal Block 50-pin - 50-pin flat cable breakout board