Delta Tau Geo Direct PWM Amplifier Uživatelský manuál stáhnout pdf (Strana 4)

I/O Lines

• Up to a total of 2048 multiplexed I/O points

• Up to a total of 288 direct I/O points used for fast I/O or parallel feedback

• Sinking, sourcing or OPTO-22 compatible I/O

• Up to 100 meters remote I/O operation. Up to 3 kilometers I/O operation with

MACRO link.

• Display port for LCD and VFD displays

• 12 or 16-bit analog-to-digital converted inputs

Communication Methods

• PCI, ISA, VME, PC/104, USB, Ethernet or RS-232/422

• Dual-ported RAM for fast data block transfers

• MACRO (fiber optic) for remote applications

Programming Features

• Multi-block lookahead for tight acceleration control and cornering profiles

• Forward and inverse kinematics for robotics applications

• 256 motion programs capacity

• Asynchronous PLC program capability

• Rotating buffer for large programs

• S-curve acceleration and deceleration based on true parabolic trajectories

• Cubic trajectory calculations, splines for accurate multi-axis path control

• Electronic gearing and cams, complete master-slave synchronization

• Leadscrew error and backslash compensation

• Hardware position capture and position compare

• Cascaded servo loops (tight coupling of velocity/force loop)

PMAC Features

CPU

• Motorola DSP 56k digital signal processor. CPU speeds from 20 to 160 MHz

• Simultaneous execution of 16 motion programs and 64 PLC (logic) programs

• Up to 512k x 24 on-board memory for motion and logic programs

• Dual-ported RAM for fast data block transfers

• PID and advanced pole placement (32 parameters) servo algorithms

• Super-high accuracy clock crystal for precise timing

• Hard real-time operating system

• Stand-alone or host commanded operation

• Full synchronization of multiple boards

Axis Interface Signals

• Servo control from 1 to 32 axes in up to 16 independent coordinate systems

• +/-10V analog velocity, torque, sinewave modes

• Digital direct PWM or pulse and direction (stepper) command signals

• MACRO fiber optic ring commands

Feedback Interfaces

• Digital quadrature incremental encoder inputs

• 12/16-bit resolver-to-digital converter inputs

• Sinusoidal encoder feedback inputs with either 256x or 4096x interpolation

• 12/16-bit analog feedback inputs

• MLDT feedback inputs

• Absolute serial feedback: Hiperface, EnDat, SSI

• Parallel binary feedback inputs

• Laser interferometer feedback device inputs

Board Level Solutions

PMAC VME

PMAC2A - PC/104

4 AXIS WITH USB

ETHERNET, RS232 AND USB

MINI PMAC

PMAC2 LITE

PMAC PCI

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