QMAC

Product Description:

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.

Hardware Features:

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

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