User's Manual

PMAC2 PCI Lite Hardware Reference Manual – Preliminary Documentation
2 Introduction
Option 5: CPU and Memory Configurations
If the 40 MHz CPU (80 MHz DSP 56002 equivalent) that comes standard does not have sufficient
computational power, faster versions are available as options. These options provide a faster CPU IC in
U127, and unlike past CPU upgrades, will not require any additional memory chips.
• Option 5CF provides an 80 MHz CPU (160 MHz DSP 56002 equivalent) with zero-wait-state SRAM
active memory. Requires V1.17 or newer firmware.
• Option 5EF provides a 160 MHz CPU (320 MHz DSP 56002 equivalent) with zero-wait-state SRAM
active memory. Requires V1.17 or newer firmware.
Option 6: Extended Servo Algorithm
The standard PID servo algorithm with feedforward and notch filter is suitable for most applications.
Systems with difficult dynamics, especially with significant flexibility, may require a more powerful
servo algorithm, such as the Extended Servo Algorithm (ESA).
• Option 6 provides an Extended (Pole-Placement) Servo Algorithm firmware instead of the regular
servo algorithm firmware. This is required only in difficult-to-control systems (resonances, backlash,
friction, disturbances, changing dynamics). This option requires a one-time purchase of the Acc-25
program, which is necessary for tuning the Option-6 firmware.
Option 6L: Multi-block Lookahead Firmware
Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles
execution. With the lookahead firmware, PMAC controls the speed along the path automatically (without
changing the path) to ensure that axis limits are not violated.
Option 7: Plate Mounting
If the PMAC2 PCI Lite is used as a PCI bus expansion board, the standard hardware is used for proper
mounting of the board in the bus. However, if it is not installed in a PCI expansion slot, other provisions
must be made for mounting.
Option 7 provides a mounting plate connected to the PMAC2 PCI Lite with standoffs. It is used to install
the PMAC2 PCI Lite in standalone applications.
Option 8A: High-Accuracy Clock Crystal
The PMAC2 PCI Lite has a clock crystal (component Y1) of nominal frequency 19.6608 MHz (~20
MHz). The standard crystal’s accuracy specification is +/-100 ppm. Long-term velocity accuracy is
limited by the accuracy of the crystal, unless an external time base is used.
Option 8A provides a nominal 19.6608 MHz crystal with a +/-15 ppm accuracy specification.
Option 10: Firmware Version Specification
Normally the PMAC2 PCI Lite is provided with the newest released firmware version. A label on the
U61 flash memory IC on the CPU board shows the firmware version loaded at the factory.
Option 10 provides for a user-specified firmware version.
Option 12: Analog-to-Digital Converters
With Option 12, eight or 16 channels of on-board multiplexed analog-to-digital converters can be
installed. One or two of these converters are read every phase interrupt. The analog inputs are not
optically isolated, and each can have a 0 – 5V input range, or a +/-2.5V input range, individually
selectable.
Option 12 provides an 8-channel 12-bit A/D converter. The key components on the board are U28 and
connector J1.
Option 12A provides an additional 8-channel 12-bit A/D converter. The key component on the board is
U29.