User's Manual

Turbo PMAC PCI HRM
Introduction 1
INTRODUCTION
The Turbo PMAC PCI is a member of the Turbo PMAC family of boards optimized for interface to
traditional servo drives with single analog inputs representing velocity or torque commands. Its
software is capable of 32 axes of control. It can have up to eight channels of on-board axis interface
circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its
expansion port, connected to Acc-24P or Acc-24P2 boards.
The Turbo PMAC PCI is a full-sized PCI-bus expansion card, with a small piggyback board
containing the CPU. This piggyback board occupies part of the next slot, but ½-sized boards (such as
the Option 2 Dual-Ported RAM board) are also permitted in this next slot. While the Turbo PMAC
PCI is capable of PCI bus communications, with or without the optional dual-ported RAM, it does not
need to be inserted into a PCI expansion slot. Communications can be done through an RS-232 or
RS-422 serial port. Standalone operation is possible.
Board Configuration
Base Version
The base version of the Turbo PMAC PCI provides a 1-1/2-slot board with:
• 80 MHz DSP56303 CPU (120 MHz PMAC equivalent)
• 128k x 24 SRAM compiled/assembled program memory (5C0)
• 128k x 24 SRAM user data memory (5C0)
• 1M x 8 flash memory for user backup & firmware (5C0)
• Latest released firmware version
• RS-232/422 serial interface, PCI (PC) bus interface
• 4 channels axis interface circuitry, each including:
• 16-bit +/-10V analog output
• 3-channel differential/single-ended encoder input
• 4 input flags, 2 output flags
• Interface to external 16-bit serial ADC
• Display, control panel, muxed I/O, direct I/O interface ports
• PID/notch/feedforward servo algorithms
• Extended "pole-placement" servo algorithms
• 1-year warranty from date of shipment
• One manuals CD per set of one to four PMACs in shipment
(Cables, mounting plates, mating connectors not included)
Option 1: Additional 4 Channels Axis Interface Circuitry
• Option 1 provides an additional four channels of on-board axis interface circuitry, identical to the
standard first four channels.
Option 2: Dual-Ported RAM
Dual-ported RAM provides a very 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 8k x 16 bank of dual-ported RAM on a separate half-slot board.
Option 2B: High-Speed USB Communications Interface
Option-2B provides the high-speed USB communications interface, which is a faster method of
communication than the standard RS-232 communications port.