User's Manual

PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
Introduction 1
INTRODUCTION
Overview
The PMAC2 PCI 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 four channels
of servo interface circuitry, but its software is capable of eight axes of control. It is software compatible
with the PMAC2-PC and the PMAC2 Mini.
The PMAC2 PCI Lite is a full-sized PCI-bus expansion card. While the PMAC2 PCI Lite is capable of
PCI bus communications, with or without the optional on-board dual-ported RAM, it does not need to be
inserted into a PCI 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 PCI Lite provides a 1-1/2-slot board with:
• 40 MHz DSP563xx CPU
• 128k x 24 zero-wait-state SRAM active memory
• 512k x 8 flash memory for user backup and firmware
• Latest released firmware version (requires V1.17 or newer firmware)
• RS-232/422 serial interface, 33 MHz PCI (PC) bus interface
• Four channels axis interface circuitry, each including:
• Three output command signal sets, configurable as either:
□ Two serial data streams to external DACs, 1 pulse-and-direction
□ Three PWM top-and-bottom pairs
• 3-channel differential/single-ended encoder input
• Nine input flags, two output flags
• Interface to two external serial ADCs, 8 to 18-bits
• Two channels supplemental interface circuitry, each including:
• 2-channel differential/single-ended encoder input
• One output command signal set, configurable as
pulse-&-direction or PWM top-and-bottom pair
• Display, muxed I/O, direct I/O interface ports
• Buffered expansion port.
• Clock crystal with ± 100 ppm accuracy.
• PID/notch/feedforward servo algorithms
• 1-year warranty from date of shipment
• One Manuals CD-ROM per set of one to four PMACs in shipment
(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.
Option 2 provides an on-board 8k x 16 bank of dual-ported RAM for PCI or USB. The key component
on the board is U1.
Option 3: USB1.1 Communications Port
If using the PMAC-PCI Lite in a standalone application, use this port because it faster than the standard
RS232/422 communications. Use of this port disables the PCI port.