User's Manual

PMAC2 VME Hardware Reference Manual
Introduction 1
INTRODUCTION
The PMAC2 VME provides state-of-the-art motion control for a wide variety of applications, including
machine tools, robotics, semiconductor manufacturing, packaging equipment, and general-purpose
automation. It utilizes the latest developments in electronics, software, and modern control theory to
bring motion control capabilities to a whole new level.
The PMAC2 VME is designed as a bus expansion card, but is capable of standalone operation. It is
VMEbus-compatible, with two slots and four or eight machine interface channels.
Features
PMAC2 VME supports a wide variety of servo and stepper interfaces:
• Analog +/-10V velocity command (requires Acc-8E or equivalent)
• Analog +/-10V torque command (requires Acc-8E or equivalent)
• Sinusoidal analog +/-10V phase current commands (requires Acc-8E or equivalent)
• Direct digital pulse-width modulated (PWM) phase voltage commands (requires Acc-8F, -8K or
equivalent)
• Pulse-and-direction commands (requires Acc-8S or equivalent)
• MACRO
TM
ring network commands (requires Acc-42)
PMAC2 VME also provides unparalleled speeds and resolutions:
• 40 MHz encoder count rate
• 18-bit analog outputs
• 18 microsecond per axis servo update time (60 MHz)
• 120 MHz PWM clock frequency (10-bit resolution at 120 kHz, 12-bit and 30 kHz, 14-bit at 7.5 kHz)
• 120 MHz MLDT (e.g. Temposonics
TM
) timer frequency (0.024mm, 0.9mil resolution)
• 10 MHz maximum pulse-and-direction output frequency
• 10 MHz maximum position-compare output update rate
• 125 Mbit/sec optical ring network data rate
PMAC2 VME Configuration
A PMAC2 VME board can have one or two DSPGATE1 ASICs; the first one is standard, and the second
one comes if Option 1V is ordered. It also has a DSPGATE2 ASIC supporting the non-servo I/O.
PMAC2 VME ASICs
Delta Tau has designed its own custom application-specific integrated circuits (ASICs) for the PMAC2
VME using the latest sub-micron gate-array technology. Each ASIC contains 45,000 active logic gates.
These ASICs contain all of the digital interface circuitry to tie the DSP to the machine; the rest of the
circuitry on the board is buffer circuitry.
DSPGATE1 Servo ASIC
The DSPGATE1 ASIC contains the digital servo interface circuitry for four channels, usually sufficient
for four axes of control. Each channel contains:
• Three command output sets:
• Top-and-bottom PWM or serial DAC data with clock
• Top-and-bottom PWM or serial DAC data with strobe
• Top-and-bottom PWM or PFM pulse-and-direction
• Encoder quadrature or pulse-and-direction decode and count
• Index channel input internally gated to 1 quadrature state wide
• Four flags with capability to perform hardware latching of encoder position
• HOME, PLIM, MLIM, USER
• Double-sided position-compare output with auto-increment capability
• Amplifier enable output