Trade.Information

Product Name: Turbo PMAC2 VME - 32 Axis Stepper and/or Direct PWM Controller with VME bus interface

Product Description

The Turbo PMAC2-VME offers high performance capabilities to the robust and highly expandable VME bus format. Providing up to 32-axis of control in Digital Direct PWM output.

Hardware Features
80 MHz DSP56303 CPU (120 MHz PMAC equivalent) (fast 
internal memory for 1st 15 axes servo & commutation)
128k x 24 SRAM compiled/assembled program memory (5C0) 
(for firmware, compiled PLCs, user-written servo & phase) 
128k x 24 SRAM user data memory (5C0) (for motion & uncompiled PLC progs, variables, tables, buffers) 
1M x 8 flash memory for user backup & firmware (5C0) 
Latest released firmware version 
RS-232/422 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 
- 3 PWM top-and-bottom pairs 
- 3-channel A, B, C, Quad per Axis 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 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. 
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

Company Details

DELTA TAU Motion Partners offer much, much more than just high performance controllers. OEMs and manufacturers can choose from an extensive menu of products and services ranging from individual components, such as motors, amplifiers and... more