Heason Technology

PMAC2 PC104 Motion Controller from Delta TauPMAC2 PC104 Motion Controller from Delta Tau

The PMAC2A PC/104 provides up to 8 axes of control in the smallest form factor that Delta Tau offers, capable of Filtered PWM output, using the PMAC2 CPU.


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

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 and 2D)
  • Torque compensation tables
  • Backlash compensation
  • Tool radius compensation

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

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




Manufacturing Partner

PMAC2 PC104 Motion Controller from Delta Tau

Manufacturer: Delta Tau | Category: Business & Industrial | Author: Heason Technology | Product Code: PMAC2 PC104

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Motion Solutions Centre
Spring Copse Business Park
West Sussex

Tel: +44 (0) 1403 792 300
Email: sales@heason.com

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