Delta Tau PMAC2 PCI Manual de usuario descargar pdf (Pagina 10)

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PMAC2 User Manual

2 Introduction

ENCODER 1

FLAG 1

ENCODER 2

FLAG 2

ENCODER 3

FLAG 3

ENCODER 4

FLAG 4

ENCODER/FLAG

STATUS & CONTROL

OUTPUT1 A,B,C

ADCIN1 A,B

OUTPUT2 A,B,C

ADCIN2 A,B

OUTPUT3 A,B,C

ADCIN3 A,B

OUTPUT4 A,B,C

ADCIN4 A,B

OUTPUT/ADCIN

CONTROL

24-Bit

DATA BUS

6-Bit

ADDRESS BUS

Figure 2 PMAC2 Gate Array IC

Configuration for a Task

PMAC2 is configured for a particular application by choice of the hardware set (through options and

accessories), configuration of parameters, and the writing of motion and PLC programs. Each PMAC2

possesses firmware capable of controlling eight axes. The eight axes can be all associated together for

completely coordinated motion; each axis can be put in its own coordinate system for eight completely

independent operations; any intermediate arrangement of axes into coordinate systems is also possible.

The PMAC2 CPU communicates with the axes through specially designed custom gate array ICs, referred

to as DSPGATES. Each of these ICs can handle four analog output channels, four encoders as input, and

four analog-derived inputs from accessory boards. One PMAC2 can utilize from one to four of these gate

array ICs, so specifying the hardware configuration amounts to counting the numbers and types of inputs

and outputs. Up to 16 PMAC2 may be ganged together with complete synchronization, for a total of 128

axes.

PMAC2 is a Computer

It is important to realize that PMAC2 is a full computer in its own right, capable of standalone operation

with its own stored programs. Furthermore, it is a real-time, multitasking computer that can prioritize

tasks and have the higher priority tasks pre-empt those of lower priority (most personal computers are not

capable of this). Even when used with a host computer, the communications should be thought of as

those from one computer to another, not as computer to peripheral. In these applications, the ability to

run multiple tasks simultaneously, properly prioritized, can take a tremendous burden off the host

computer (and its programmer!), both in terms of processor time, and of task-switching complexity.

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