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4 Axis
Part Number: 4-3657xx-xx0x-0xx0xx  

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The PMAC PCI Lite is a member of the PMAC family of boards optimized for interface to traditional servo drives with single analog inputs representing velocity or torque commands. It is capable of eight axes of control.

The PMAC 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 Features

  • 80 MHz DSP56303 CPU (120 MHz PMAC equivalent)(fast internal memory for 1st 15-Axis servo and commutation)
  • 128Kx24 SRAM compiled/assembled program memory (5C0) (for firmware, compiled PLCs, user-written servo and phase)
  • 128Kx24 SRAM user data memory (5C0) (for motion and uncompiled PLC progs, variables, tables, buffers)
  • 1M x 8 flash memory for user backup and firmware (5C0)
  • Latest released firmware version
  • RS-232/422 serial interface, 33 MHz PCI bus interface
  • 4 channels axis interface circuitry, each including:
          1) 16-bit +/-10V analog output
          2) 3-channel (AB quad with index) differential/single-ended encoder input
          3) 4 input flags, 2 output glags
          4) Interface to external 16-bit serial ADC
  • Display, control panel, muxed I/O, direct I/O interface ports
  • 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
  • Altered destination on the fly
  • Interactive jog moves
  • 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
  • Alternate 35-term “pole-placement” servo filter
  • Alternate user-written high-level “Open Servo” algorithms

      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
  • User-defined pointer variables to any registers

      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)
  • User-written forward and inverse-kinematic algorithms for non-Cartesian geometries
  • 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

      Communication Options   
  • OPT-2 - On-board 8Kx16 Dual Ported RAM for PCI

      Processor and Firmware Options   
  • OPT-10 - Firmware version specification
  • OPT-5AF - Default CPU configuration: 40 MHz
  • OPT-5CF - 80 MHz DSP563xx CPU
  • OPT-5EF - 160 MHz DSP563xx CPU (320 MHz 56002 equivalent)
  • OPT-6 - Extended-servo-algorithm firmware
  • OPT-6L - Multi-block lookahead firmware

      Base Board Options   
  • OPT-12 - 8-channel onboard 12-bit A/D converter
  • OPT-12A - Additional 8-channel on-board 12-bit A/D converter (requires OPT 12)
  • OPT-15 - 2-Channel V-to-F Converters for Analog Input
  • OPT-16 - 16K x 24 Battery-Backed Parameter RAM
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