PMAC-技术培训(高级)

NEWIDEASINMOTION1PMAC多轴运动控制卡（高级培训）2PMAC卡主体结构串行通讯接口•RS-232and/or•RS-422I/O接口电路•PMAC(1)-style•PMAC2-styleCPU•Non-Turbo:DSP5600x(16-bitaddressing)•Turbo:DSP5630x(24-bitaddressing)总线通讯接口•ISA/VME/PCI•PC104/STD•USB•ETHERNET(OptionalDPRAM)MACRO光缆接口•PMAC2Ultralite•ACC-42P•ACC-5E(UMAC)伺服接口电路•PMAC(1)-styleICs•PMAC2-styleICs•PMAC(1)-styleconnectors•PMAC2-styleconnectors•Mini/Lite/(full)3机器接口2光隔I/O机器接口1扩展编码器接收光隔16-bitDACs标志信号隔离SRAM128kx24ActiveMemoryCPU24-Bit20/40/60/80MHzDSP56002Watchdog定时器“DSPGATE”4-Channel伺服电路光隔16-bitDACsBusComm.InterfaceADCPortBus总线接口StandardCPUonlyOption16标志信号隔离“DSPGATE”4-Channel伺服电路ADCPort编码器接收Option4A,5A,5B,5COption2StandardCPUonlyOption1FLASH512kx8Firmware&UserBackupDPRAM8kx16InterfaceEPROM128kx8固件扩充SRAM16kx24参数存储EAROM2kx8SetupStorage显示端口面板端口多路复用口I/O控制ICs串行口串行通讯接口比较端口PMAC1结构框图4PMAC上的通道,电机,轴“Channels”－－“通道”为硬件定义由放大器,编码器,信号接口组成“Motors”－－“电机”为软件定义非TurboCPUsPMAC支持8个电机TurboCPUsPMAC支持32个电机“Axes”－－“轴”：为软件定义在运动程序中有效，每个坐标系最多可到9个轴NEWIDEASINMOTIONNEWIDEASINMOTION5Non-TurboPMAC/PMAC2CPU版本PMAC1VersionPMAC2VersionCPUFrequencyInternalMemoryRAMWaitStatesMemoryBackupStandard*20MHz1kx241BatteryOpt4A20MHz1kx240FlashOpt5AStandard40MHz1kx240FlashOpt5B*Opt5B60MHz1kx240FlashOpt5COpt5C*80MHz1kx240FlashOpt5CFOpt5CF80MHz128kx240FlashOpt5EFOpt5EF160MHz128kx240Flash*已经停产6PMAC参数存储器设定NEWIDEASINMOTION固板软件的缺省值1.I–变量设定2.转换表设定3.VME/DPRAM地址设定PMAC主机读写EEPROMorFlash不被激活的寄存器RAM,DSP,ASIC’s上的激活的寄存器工作寄存器PMAC复位方式1.重新上电2.INIT/信号低/高3.$$$指令参数初始化1、E51On:PMAC12、E3On:PMAC23、$$$***指令SAVE指令正常复位复位、初始化7PMAC程序和缓冲区存储NEWIDEASINMOTIONRAM中激活的缓存带后备电池主存储器[PMAC1]•Programs和buffers自动被电池存储PMAC主机读写RAM中激活的缓存Flash主存储器[PMAC1.5,PMAC2]•Programsandbuffers必须用SAVE指令进行存储到FLASH中PMAC主机读写Flash缓存SAVEResetNEWIDEASINMOTION8PMAC(1)系列板卡板卡型号通道数总线串口插槽PMAC-PC*PMAC-LiteMini-PMACPMAC-VME*PMAC-PCI*4/842+4/84/8ISAISAISAVMEPCIRS422RS232/422RS232RS422RS2324221.510.721.5DPRAMOff-BoardOn-BoardOn-BoardOn-BoardOn-Board注释NoJPAN,Interrupts*AvailablewithTurboCPU9PMAC2结构框图FLASH512Kx8FIRMWARE&USERBACKUPSRAM128Kx24ACTIVEMEMORY8/1612-BITADCsDPRAM8Kx16INTERFACECPU24-BIT40/60/80MHzDSP56002EXTRASRAM16Kx24PARAMETERSTORAGEBUSCOMMUNICATIONSINTERFACEWATCHDOGTIMERBUSPORT扩展口模拟量多路复用端口I/O缓存Option12/12AOption16Data&AddressBussesOption2Option1I/OI/O缓存MACRO光缆口串行口显示端口I/O缓存手轮接口I/O缓存比较输出口DRIVERSI/OASICINPUT/OUTPUTBUFFERSINPUT/OUTPUTBUFFERS4-ChannelSERVOASIC4-ChannelSERVOASICSERIALCOMMUNICATIONSINTERFACEMACHINEPORT4MACHINEPORT2MACHINEPORT3MACHINEPORT1DSPGATE2DSPGATE1DSPGATE1DSPGATE1NEWIDEASINMOTION10PMAC2板卡板卡型号通道数*总线串口插槽*所有型号均有2路附加通道**RS422withOption9L***AvailablewithTurboCPUPMAC2-PC***PMAC2-LiteMini-PMAC2PMAC2-PCI***PMAC2-VME***PMAC2-PCUltralite***PMAC2-VMEUltralite4/8424/84/800ISAISAISAPCIVMEISAVMERS232**RS232/422RS232RS232/422RS232/422RS232**RS232/4221.510.71.5211MACROOff-BoardOff-BoardOff-BoardOff-BoardOff-BoardOn-BoardOn-Board11标准PMACRAMROMFLASHCPUPWMDACENCCOUNTERS直接PWM输出DIG.电路+/-10V.DAC模拟量输出A/B正交编码器反馈机器I/0PMAC＋(MACRO)PMAC2UltraliteRAMROMFLASHCPUMACROTAXITAXIENCPWMDACI/OENCODERA/BQUADPWM+/-10V.96I/O基板+2背板NORAMORFLASHTAXITAXIMACROCPUMACROSTATIONSMACROSTATIONPMAC2Ultralite板卡!1)板卡接口只有MACRO&I/O接口2)保留了PMAC2的基板功能，用MACROSTATION控制8轴。3)PC&VME格式4)TURBO版本的PMACULTRALITE能控制32轴RJ45RJ45OpticalOpticalJEXPMACRO12DeltaTau3U矩阵结构MACROTurbo堆栈式箱体式MACROStackTurboStackUMACTurboUMACMACRONEWIDEASINMOTION13PMACvs.TurboPMAC功能PMACTurboPMAC最大控制轴数832最大伺服通道接口数16(8off-board)40(32off-board)最大MACRO光缆通讯接口数1664(TurboUltralite)最大坐标系数816CPU频率(MHz)20,40,60,8080,100,160CPU时钟周期（uS)0.50.75有效CPU频率(MHz)20,40,60,80120,150,240I,P,Q&M-变量数1024each8192each直接数组调用{e.g.P(P1)=2}?NoYes用户PID扩展伺服算法功能?NoYes14PMACvs.TurboPMAC(cont.)功能PMACTurboPMAC固件存储器容量32kx2464kx24编译PLC存储器容量15kx2448kx24,432kx24用户缓冲存储器容量34kx4826kx48,212kx48DPRAM容量8kx168kx16,32kx16追加后备电池存储器容量7kx4816kx48,64kx48Lookahead功能?选项标准配置串行口数量12(2ndoptional)同时多端口通讯?NoYes最大同时数据采集源2448最大转换表行数32192单运动最大同时分配M变量363(1个坐标系.)反向运动学功能?NoYes快速运动中改变目的位置功能?NoYesNEWIDEASINMOTION15TurboPMACCPU版本OptionCPUSpeedCPUInternalMemoryExternal“P”ProgramMemory(Code)External“X/Y”DataMemory5C0*80MHz8kx24128kx24128kx245C380MHz8kx24512kx24512kx245D0100MHz34kx24128kx24128kx245D3100MHz34kx24512kx24512kx245E0160MHz128kx24128kx24128kx245E3160MHz128kx24512kx24512kx2416•要求电压4.75V•要求输入频率20Hz–计数0实时中断–触发器计数定时–后台管理重置计数器最大值(=512)–•在要求电压或输入频率之下时–强制0值输出–放大器禁能–“FEFCO”输出(PMAC1)–“WDO”输出锁存(PMAC2)PMACWatchdog看门狗计时器NEWIDEASINMOTION17PMAC编码器输入电路•无编码器或单端编码器输入：pin1to2差分+2.5V输入•开集电极编码器输入：pin2to3差分+5V输入能支持编码器电路外部XOR丢失•差分编码器输入方式直接接卡NEWIDEASINMOTION+R2R2R123AA+5v18PMAC(1)标志信号输入标志信号输入FAULTn+LIMn-LIMnHMFLn•必须光隔输入•三路电源线回路•Note:可定义共源极或共阴极输入NEWIDEASINMOTIONAGNDFGNDGNDToASICGNDPMAC外部E89E9019PMAC2ACC-8x标志信号输入NEWIDEASINMOTION+V0V0V+VRETURNFLAGnGNDToPMAC2+5V•必须光隔输入•共阴极输出,连接RETURNto+24V•共源极输出,连接RETURNto0V•4路标志信号共用1个RETURN标志信号输入USERnPLIMnMLIMnHOMEn外部ACC-8x20HOME1-4+LIM1-4-LIM1-4FAULT1-4PMAC(1)“DSPGATE”门阵列ICDAC移位寄存器(4)EncoderControl模拟量控制ADC移位寄存器(4)ADC16bitMUX标志信号控制Encoder1Encoder2Encoder3Encoder4DSP-Gate编码器采样频率伺服频率相频率DAC/ADC可选频率时钟输入InputFlagsOutputFlagsSerialDataOutSerialDataInClockMuxControlACC-28Board4模拟量输入12344模拟量输出16bit精度AENA1-4EQU1-44编码器输入ABCABCABCABC24-bitDataB