Hardware Features

• 20 MHz DSP56002 CPU
• 128k x 24 1 wait-state battery-backed SRAM
• 128k x 8 PROM memory for firmware storage
• 2k x 8 EEPROM memory for setup variable backup
• Latest released firmware version
• RS-422 serial interface, VME bus interface
• 4 channels axis interface circuitry, each including:
• 16-bit +/-10V analog output
• 3-channel (A, B, C) differential/single-ended encoder input
• 4 input flags, 2 output flags
• Interface to external 16-bit serial ADC
• Display, control panel, muxed I/O, direct I/O interface ports
• Buffered expansion port
• Clock crystal with +/-100 ppm accuracy
• PID/notch/feedforward servo algorithms
• 1-year warranty from date of shipment  

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
• 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 & 2D)
  - Torque compensation tables
  - Backlash compensation
  - Tool radius compensation
• 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