Trade.Information

Product Name: Turbo PMAC2 PCI - 32 Axis Stepper and/or Direct PWM Controller

Product Description

The Turbo PMAC2 PCI is a member of the Turbo PMAC family of boards optimized for interface to sinewave or direct-PWM servo drives and to pulse-and-direction stepper drives. Its software is capable of 32 axes of control. It can have up to eight channels of on-board axis interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its expansion port, connected to ACC-24P or ACC-24P2 ISA-format boards (ACC-24 boards in PCI format are not yet available). 
The Turbo PMAC2 PCI is a full-sized PCI-bus expansion card, with a small piggyback board containing the CPU board. This piggyback board occupies part of the next slot, but ½-sized boards are permitted in this next slot. While the Turbo PMAC2-PCI is capable of PCI bus communications, with or without the optional on-board dual-ported RAM, it does not need to be inserted into a PCI expansion slot.
Hardware Features
80 MHz DSP56303 CPU (120 MHz PMAC equivalent) 
128k x 24 SRAM compiled/assembled program memory (5C0) 
128k x 24 SRAM user data memory (5C0) 
1M x 8 flash memory for user backup & firmware (5C0) 
Latest released firmware version 
RS-232serial interface, PCI (PC) bus interface 
One 16-node MACRO interface IC 
Four channels axis interface circuitry, each including: 
- Three output command signal sets, configurable as either: 
+ Two serial data streams to external DACs, one 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, 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 

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
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