PMAC多轴运动控制卡培训概要.ppt

PMAC卡1型和2型卡的主要区别 1型卡 控制信号为模拟量，+-10V 2型卡 控制信号为数字量，直接输出 PWM脉宽调制信号 PMAC卡轴数类型 2轴卡 MINI PMAC MINI PMAC2 4轴卡 Universal PMAC-lite PMAC2-lite PMAC2A-104 8轴卡 PMAC-PC PMAC2-PC PMAC2A-104+ACC1P 32轴卡 Turbo PMAC Turbo PMAC2 PMAC通讯方式类型 ISA PCI PC104 总线 USB 通讯 （PMAC2A-104 UMAC QMAC) 串口 通讯 RS422 或RS232 网卡通讯 （ PMAC2A-104 UMAC QMAC） 注：到2008年之前，希望客户选择PCI总线的 卡，因为ISA总线的卡陆续就不生产了 Clipper Turbo PMAC2-Eth-Lite controller 主要功能介绍 80 MHz DSP56303 Turbo PMAC CPU 256k x 24 user SRAM 1M x 8 flash memory for user backup firmware Latest released firmware version RS-232 serial interface 100 Mbps Ethernet interface 主要功能介绍 4 channels axis-interface circuitry, each including: o 12-bit +10V analog output o Pulse--direction digital outputs o 3-channel（A;B;C） differential/single-ended encoder input o 5 input flags, 2 output flags o UVW TTL-level “hall” inputs 主要功能介绍 4-pin Molex connector for power supply input (5V, +/-12V, GND) (+/-12V only required for analog outputs or inputs) PID/notch/feedforward servo algorithms 32 general-purpose TTL-level I/O points, direction selectable by byte: o 16-point multiplexer port compatible with Delta Tau I/O accessories o 16-point “opto” port compatible with Opto-22-style modules “Handwheel” port with 2 each: o Quadrature encoder inputs o Pulse (PFM or PWM) output pairs 主要功能介绍 On-board options: Optional 2 channels 12-bit A/D converters, 1 12-bit D/A converter Optional Modbus Ethernet I/O protocol 可以添加附件 ACC-1P PC/104-format Channel 5-8 board ACC-8ES 4-channel dual 18-bit true-DAC output board ACC-8FS 4-channel direct-PWM output board ACC-8TS 4-channel ADC-interface board ACC-51S 2/4-channel high-resolution encoder interpolator board 4-axis 3-phase direct-PWM amplifier board (48V, 5A cont./10A peak, in design) 在板选项 Option 5xF: CPU Speed Options ? 80 MHz DSP563xx CPU (160 MHz 56002 equivalent) ? 160 MH