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Unit 6,
Lawson Hunt Industrial Park
Guildford Road
Broadbridge Heath
Horsham
West Sussex
RH12 3JR
UNITED KINGDOM


Telephone +44 (0)1403 755800
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QMAC


Product Description:

QMAC

The QMAC is a specific 4-axis Turbo PMAC2 motion controller enclosed in a small, convenient package with built-in general purpose I/O and an internal power supply. It can output either analog ±10V, Digital Direct PWM, or pulse and direction amplifier command signals in any combination. The QMAC can be used either as a stand-alone or commanded by a host computer with optional USB, Ethernet or RS-232 communication ports.

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Hardware Features:

DSP563xx

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 and firmware (5C0)
Latest released firmware version
RS-232 serial interface with DB-9 connector
Four channels axis interface circuitry, each including:
 - One set of differential step-and-direction command outputs (suitable for controlling stepper drives). Must order Option-A for controlling analog amplifiers or Option-B for controlling digital PWM amplifiers.
 - 3-channel differential/single-ended encoder input
 - Four input flags, two output flags
DB-15 encoderstepper connector; 5-pins flag terminal block
Interface circuitry with DB-25 connector for two supplemental channels, each including:
 - 2-channel differential/single-ended encoder input
 - One output command set configurable as either pulse and direction  or single PWM top-and-bottom pair
General-purpose isolated digital I/O: eight outputs and 16 inputs on terminal blocks
Display, control panel, muxed I/O, direct I/O interface ports
PID/notch/feedforward servo algorithms
Extended pole-placement servo algorithms
Internal AC-input power supply
1-year warranty from date of shipment

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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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Related Documents

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Turbo PMAC/PMAC2 SRM Software Reference Manual for Turbo PMAC and PMAC2 3 MB Portable Document Format (Adobe Acrobat) Download this document
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EZ QMAC SRM Software Reference Manual for EZ QMAC 1133 KB Portable Document Format (Adobe Acrobat) Download this document