User's Manual

PMAC2A PC104 Hardware Reference Manual
Introduction 1
INTRODUCTION
The PMAC2A PC/104 motion controller is a compact, cost-effective version of Delta Tau’s PMAC2
family of controllers. The PMAC2A PC/104 can be composed of three boards in a stack configuration.
The CPU provides four channels of either DAC ±10V or pulse and direction command outputs. The
optional axis expansion board provides a set of four additional servo channels and I/O ports. The optional
communications board provides extra I/O ports and either the USB or Ethernet interface for faster
communications.
Board Configuration
Base Version
The base version of the PMAC2A PC/104 ordered with no options provides a 90mm x 95mm board with:
• 40 MHz DSP563xx CPU (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
• Four channels axis interface circuitry, each including:
• 12-bit ±10V analog output
• Pulse-and-direction digital outputs
• 3-channel differential/single-ended encoder input
• Four input flags, two output flags
• Three PWM top-and-bottom pairs (unbuffered)
• 50-pin IDC header for amplifier/encoder interface
• 34-pin IDC header for flag interface
• PID/notch/feed forward servo algorithms
• 1-year warranty from date of shipment
• One CD-ROM per set of one to four PMACs in shipment (Cables, mounting plates, mating
connectors not included)
Board Options
Option 2A: PC/104 Bus Stack Interface
Option 2A provides the PC/104 bus interface allowing bus communications between a PC/104 type
computer and the PMAC2A PC/104 motion controller.
Option 5xF: CPU Speed Options
• Option 5CF: 80 MHz DSP563xx CPU (160 MHz 56002 equivalent)
• Option 5EF: 160 MHz DSP563xx CPU (320 MHz 56002 equivalent)
Option 6: Extended Firmware Algorithm
Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular servo
algorithm firmware. This is required only in difficult-to-control systems (resonances, backlash, friction,
disturbances, changing dynamics).
Option 6L: Multi-block Lookahead Firmware
Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles
execution. With the lookahead firmware PMAC controls the speed along the path automatically (but
without changing the path) to ensure that axis limits are not violated.
PMAC2A-PC/104 Base Board shown