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Item: 145912833034
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Delta Tau:Delta Tau
MPN:602406-103
Unit Quantity:1
California Prop 65 Warning:ROHS
Delta Tau: PMAC2 PCI Lite The PMAC2 PCI Lite is a member of the PMAC2 family of boards optimized for interface to three or four sine wave or direct PWM servo drives and to pulse-and-direction stepper drives. It has four channels of servo interface circuitry, but its software is capable of eight axes of control. Programs written for PMAC2 PCI Lite are with the PMAC2 PC and the PMAC2 Mini.The PMAC2 PCI Lite is a full-sized PCI bus expansion card. The PC can communicate to PMAC through the PCI slot or through a RS-232 or RS-422 serial port if standalone operation (i.e. without a PC) is desired.Hardware Features40 MHz DSP563xx CPU128K x 24 zero-wait-state SRAM active memory512K x 8 flash memory for user backup and firmwareLatest released firmware version (requires V1.17 or newer firmware)RS-232/422 serial interface, 33 MHz PCI (PC) bus interfaceFour channels axis interface circuitry, each including:Three output command signal sets, configurable as either:Two serial data streams to external DACs, 1 pulse-and-directionThree PWM top-and-bottom pairs3-channel differential/single-ended encoder inputNine input flags, two output flagsInterface to two external serial ADCs, 8 to 18-bitsTwo channels supplemental interface circuitry, each including:2-channel differential/single-ended encoder inputOne output command signal setPulse-&-direction or PWM top-and-bottom pairDisplay, muxed I/O, direct I/O interface portsBuffered expansion portClock crystal with ± 100 ppm accuracyPID/notch/feedforward servo algorithms1-year warranty from date of shipmentSoftware FeaturesTrajectory Generation FeaturesLinear interpolation mode with S-curve accel/decelCircular interpolation mode with S-curve accel/decelRapid point-to-point move modeCubic B-spline interpolation modeCubic Hermite-spline (PVT) interpolation modeAutomatic move-until-trigger functions with hardware captureInteractive jog movesOptional multi-move look ahead for velocity and acceleration limitingServo FeaturesStandard digital PID feedback filterVelocity, acceleration, and friction feedforward2nd order notch/low-pass filterGains changeable at any timeProgrammable input, integrator, and output limitsOptional 35 – term “pole – placement” servo filterCommutation FeaturesSinusoidal commutation of AC servo motorsVector control of AC induction motorsDigital current-loop closure with direct PWM output (PMAC2)Compensation FeaturesPosition compensation tables (1D & 2D)Torque compensation tablesBacklash compensationTool radius compensationSafety FeaturesHardware and software over travel limitsAmplifier enable/fault handshakingFollowing error limitsIntegrated current limitEncoder loss detection (some versions)Watchdog timerProgram and communications checksumsComputational FeaturesReal-time multi-tasking operating system48-bit floating-point math for user programsTrigonometric and transcendental functionsAutomatic typematching of different variable typesFeedback sensor types that can be processedDigital quadrature encodersSinusoidal encoders, interferometersResolversPotentiometersLVDTs, RVDTsParallel-format encoders, interferometersMLDTsSerial absolute encoders (e.g. SSI)Coordination and Master/Slave FeaturesUser-defined coordinate systems for automatic coordination of axesSeparate coordinate systems for independent motion of axesMulti-motor axis support (e.g. gantries)Dynamic axis transformations (e.g. offsets, rotations, mirroring)Electronic gearing (no programming required)Electronic cams with programmable profilesMotion Program FeaturesHigh-level programming languageAutomatic sequenced execution of movementCalculations and I/O synchronous to motionAxes programmed in user engineering unitsMotion values as constants or expressionsAutomatic coordination of multiple axesAbility to execute G-code programsPLC Program FeaturesExecution asynchronous to programmed motionI/O control as in hardware PLCExecutive functions for standalone applicationsSafety and status monitoringServo gain schedulingData reporting functionsAccess to all registers in controllerCommunication OptionsOPT-2: On-board 8Kx16 Dual Ported RAM for PCIOPT-9T: Auxiliary RS-232 serial port.Processor and Firmware OptionsOPT-10: Firmware version specificationOPT-5AF: 40mHz CPUOPT-5CF: 80 MHz CPUOPT-5EF: 160 MHz DSP563xx CPUOPT-6: Extended servo algorithm firmwareOPT-6L: Multi-block look ahead firmwareOPT-8A: High-accuracy clock crystal (+/-25ppm)Baseboard OptionsOPT-12: 8-channel onboard 12-bit A/D converterOPT-12A: Additional 8-channel on-board 12-bit A/D converter requires OPT 12)OPT-16: 16K x 24 Battery-Backed Parameter RAM
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