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Turbo PMAC2 VME Hardware Reference

Introduction 1

INTRODUCTION

The Turbo PMAC2 VME is a member of the Turbo PMAC family of boards optimized for interface to

sinewave or direct PWM servo drives and to pulse-and-direction stepper drives. Its software is capable of

32 axes of control. It can have up to eight 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 PMAC2 VME is a full-sized ISA-bus expansion card, with a small piggyback board

containing the CPU board. This piggyback board occupies part of the next slot, but ½-sized boards are

permitted in this next slot. While the Turbo PMAC2 VME is capable of ISA bus communications, with

or without the optional on-board dual-ported RAM, it does not need to be inserted into an ISA expansion

slot. Communications can be done through an RS-232 or optional RS-422 serial port; standalone

operation is possible.

Board Configuration

Base Version

The base version of the Turbo PMAC2 VME provides a 2-slot board with:

• 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 & firmware (5C0)

• Latest released firmware version

• RS-232 serial interface, VME bus interface

• 1 16-node MACRO interface IC

• Four channels axis interface circuitry, each including:

• Three output command signal sets, configurable as either:

 Two serial data streams to external DACs, 1 pulse-and-direction

 Three PWM top-and-bottom pairs

• 3-channel differential/single-ended encoder input

• Nine input flags, two output flags

• Interface to two external serial ADCs, 8 to 18 bits

• Two channels supplemental interface circuitry, each including:

• 2-channel differential/single-ended encoder input

• One output command signal set, configurable as pulse-and-direction or

PWM top-and-bottom pair

• Display, MACRO, muxed I/O, direct I/O interface ports

• PID/notch/feedforward servo algorithms

• Extended "pole-placement" servo algorithms

• 1-year warranty from date of shipment

• One manual per set of one to four PMACs in shipment

(Cables, mounting plates, mating connectors not included)

Option 1: Additional Four Channels Axis Interface Circuitry

• Option 1V provides an additional four channels of axis interface circuitry on a small piggyback

board, identical to the standard first four channels on the base board.

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Delta Tau PMAC2 Manual de usuario Pagina 5

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