Delta Tau Universal PMAC Lite, Hardware Reference Manual

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Universal PMAC Lite
Introduction 1
INTRODUCTION
Overview
The PMAC Lite is a member of the PMAC1 family of
boards optimized for interface to traditional servo
drives with single analog inputs representing velocity
or torque commands. Its software is capable of eight
axes of control. It has four channels of on-board axis
interface circuitry. It can also support up to eight
channels of off-board axis interface circuitry through
its expansion port, connected to an Acc-24P board.
The PMAC Lite is a full-sized ISA-bus expansion board. While the PMAC Lite is capable of ISA bus
communications, with or without the optional dual-ported RAM, it does not need to be inserted into an ISA
expansion slot. Communications can be done through an RS-232 or RS-422 serial port; standalone
operation is possible.
The new Universal PMAC Lite board replaces the previous PMAC Lite board with battery-backed RAM
and the PMAC 1.5 Lite board with flash-backed RAM. The Universal PMAC Lite can be built to use either
type of memory.
Board Configuration
Base Version
The base version of the PMAC Lite provides a 1-slot board with:
•
20 MHz DSP56002
•
128k x 24 SRAM active memory
•
Battery-backup circuitry for SRAM (PMAC Lite)
•
128k x 8 EPROM for firmware (PMAC Lite)
•
512k x 8 flash memory for SRAM backup and firmware (PMAC1.5-Lite)
•
Latest released firmware version
•
RS-232/422 serial interface, ISA (PC) bus interface
•
Four channels axis interface circuitry, each including:
•
16-bit +/-10V analog output
•
3-channel differential/single-ended encoder input
•
Four input flags, two output flags
•
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
•
One CD manual per set of one to four PMACs in shipment
(Cables, mounting plates, mating connectors not included)
If the PMAC1 Lite version (battery-backed memory) of the board is ordered, the standard configuration will
have SRAM ICs in U6, U9, and U15, filling the full footprint, and a battery in BT1. There will be no
SRAM ICs in U7, U10, and U16. There will be an EPROM IC in the U5 socket.
If the PMAC 1.5 Lite version (flash-backed memory) of the board is ordered, the standard configuration
will have SRAM ICs in U7, U10, and U16. There will be a flash-memory IC in the U5 socket. There will
be no SRAM ICs in U6, U9, and U15, and no battery in BT1, unless Option 16 is ordered.