PC/104

Product Description:

Designed for OEMs or end users, the PMAC2A PC/104 delivers a powerful 4- or 8-axis embedded control system for a cost-effective and compact, yet flexible and reliable solution.

The PMAC2A PC/104 can be applied directly to both analog servos or pulse-and-direction stepper drives. With optional piggyback accessory boards, it can support high speed communications with USB2.0 or Ethernet, Digital I/O with Opto-22 interface, additional axis expansion for 5-8 Axis of control and high-performance direct-PWM, pure digital control.

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

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