ABOUT PMAC2 VME
The PMAC2 VME provides state-of-the-art motion control of up to 8 axes for a wide variety of applications, including machine tools, robotics, semiconductor manufacturing, packaging equipment, and general-purpose automation. It utilizes the latest developments in electronics, software, and modern control theory to bring motion control capabilities to a whole new level.
The PMAC2 VME is designed as a bus expansion card, but is capable of standalone operation. It is VME bus-compatible, using two slots, possessing four or eight machine interface channels.
about it products
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partn №
4-2413xx-xx0xx-xx00xx
options
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 and 422 serial interface, VME 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-&-direction, or
- 3 PWM top-and-bottom pairs
- 3-channel (A, B, C) 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 (A, B) 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
- 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
- Altered destination on the fly
- 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
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)
- User-written forward and inverse-kinematic algorithms for non-Cartesian geometries
- Electronic gearing (no programming required)
- Electronic cams with programmable profiles
Motion Program Features
- H1286
- 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
Additional Axes
- OPT-1V - 4 additional channels axis interface circuitry
Communication Options
- OPT-2V - On-board 8Kx16 Dual Ported RAM
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 lookahead firmware
- Opt-5C - 80mHz CPU, zero-wait-state SRAM
Base Board Options
- OPT-0 - Removal of VME interface (for standalone applications)
- OPT-12 - 8-channel on-board 12-bit A/D converter
- OPT-12A - Additional 8-channel on-board 12-bit A/D converter
- OPT-16 - 16K x 24 battery-backed parameter RAM
- OPT-8A - High-accuracy clock crystal (+/-15ppm)
Additional Options
- OPT-7V - Plate mounting for standalone applications