Turbo PMAC PCI Lite

Product Description:

The Turbo PMAC PCI Lite is a member of the Turbo PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands. Its software is capable of 32 axes of control. It can have up to four 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 boards.
The Turbo PMAC PCI Lite is a full-sized PCI bus expansion card. While the Turbo PMAC PCI Lite is capable of PCI bus communications, with or without the optional dual-ported RAM, it does not need to be inserted into a PCI expansion slot. Communications can be done through an RS-232 or RS-422 serial port. Standalone operation is possible.

Hardware Features:

80 MHz DSP56303 CPU (120 MHz PMAC equivalent)(fast internal memory for 1st 15-Axis servo and commutation)
128Kx24 SRAM compiled/assembled program memory (5C0) (for firmware, compiled PLCs, user-written servo and phase)
128Kx24 SRAM user data memory (5C0) (for motion and uncompiled PLC progs, variables, tables, buffers)
1M x 8 flash memory for user backup and firmware (5C0)
Latest released firmware version
RS-232/422 serial interface, 33 MHz PCI bus interface
4 channels axis interface circuitry, each including:
 - 16-bit +/-10V analog output
 - 3-channel (AB quad with index) differential/single-ended encoder input
 - 4 input flags, 2 output glags
 - Interface to external 16-bit serial ADC
Display, control panel, muxed I/O, direct I/O interface ports
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 
• 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