PMAC2-Lite Hardware Reference Manual
INTRODUCTION
Overview
The PMAC2-Lite is a member of the PMAC2 family of boards optimized for interface to three or four
sinewave or direct PWM servo drives and to pulse-and-direction stepper drives. It has two channels of
servo interface circuitry, but its software is capable of eight axes of control. It is completely software
compatible with the PMAC2-PC and the Mini-PMAC2.
The PMAC2-Lite is a full-sized ISA-bus expansion card, with a small piggyback board containing the
CPU board. While the PMAC2-Lite is capable of ISA bus communications, with or without the optional
on-board dual-ported RAM, it does not need to be inserted into an ISA expansion slot. Communications
can be done through the standard on-board RS-232 serial port. Standalone operation is possible.
Board Configuration
Base Version
The base version of the PMAC2-Lite provides a 2/3-slot board with:
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40 MHz DSP56002 CPU
128k x 24 zero-wait-state SRAM active memory
512k x 8 flash memory for user backup and firmware
Latest released firmware version
RS-232 serial interface, ISA (PC) bus interface
One 16-node MACRO interface IC
Four channels axis interface circuitry, each including:
Three output command signal sets, configurable as either:
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Two serial data streams to external DACs, one pulse-and-direction
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Three PWM top-and-bottom pairs
3-channel differential/single-ended encoder input
Nine input flags, 2 output flags
Interface to two external serial ADCs, 8 to 18 bits
Two channels supplemental interface circuitry, each including:
Two-channel differential/single-ended encoder input
One output command signal set, configurable as
pulse-&-direction or PWM top-and-bottom pair
Display, MACRO, muxed I/O, direct I/O interface ports
PID/notch/feedforward servo algorithms
1-year warranty from date of shipment
One manual per set of one to four PMACs shipped
Cables, mounting plates, mating connectors not included
Option 2: Dual Ported RAM
Dual-ported RAM provides a high-speed communications path for bus communications with the host
computer through a bank of shared memory. DPRAM is advised if more than 100 data items per second
are to be passed between the controller and the host computer in either direction.
Introduction
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