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Product Name: PMAC2 VME - 8 Axis Stepper and/or Direct PWM Controller with VME bus Interface
Product Description
The PMAC2 VME provides state-of-the-art motion control for a wide variety of applications, including machine tools, robotics, semiconductor manufacturing, packaging equipment, and general-purpose auto-mation. 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, with two slots and four or eight machine interface channels.
Hardware Features
40 MHz DSP56002 CPU
128k x 24 zero-wait-state flash-backed SRAM
512k x 8 flash memory for user backup & 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
- 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)
- 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
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