Turbo PMAC Users Manual Manual

Delta Tau Turbo PMAC User Manual
which is good for specifying sequences of coordinated motion, and BASIC, which is good for the
associated math and logic.
PLC Programs
PLC programs in Turbo PMAC are intended for actions and calculations that are asynchronous to the
programmed motion. PLC programs repeatedly “scan” in the fashion of regular programmable logic
controllers. They can be used for I/O control as a dedicated PLC would be, but because they have direct
access to all registers in Turbo PMAC, they have many other uses as well.
Turbo PMAC programs can either be written in a BASIC-like text language, or in IEC-1131 ladder logic
or sequential function charts (extended memory option and special PC software required). Text PLC
programs can be run either as interpreted code, or as compiled code for greater efficiency. See the User
Manual section on PLC programs for more details.
User-Written Servo and Phase Algorithms
Virtually all users will be able to utilize Turbo PMAC’s built-in servo-loop-closure and phasecommutation
algorithms. However, it is possible for the user to install custom algorithms for either or
both of these to accomplish tasks not possible with the standard algorithms. Some people will use these
algorithms simply for high-speed, high-priority I/O or calculations by activating them on an otherwise
unused motor.
User-written servo algorithms can be written either in the high-level PMAC language (for ease of use) or
in DSP56300 assembly language (for maximum efficiency). User-written phase algorithms must be
written in assembly language. See the User Manual sections on commutation and servo loops for details.
Turbo PMAC Configurations
Turbo PMAC controllers can come in a variety of different physical configurations. Fundamentally, these
break into three different types: board-level, rack-mounted, and boxed. Each of these types is described
below.
Board-Level Designs
There are multiple board-level implementations of the Turbo PMAC. These designs can be used as
expansion cards in a backplane bus, but they do not have to be installed in the bus, either for initial setup,
or in the actual application. All have serial communications links as well.
Presently, there are Turbo PMAC designs for the ISA, VME and PCI buses. These come with PMAC(1)style
or PMAC2-style interfaces. “Lite” versions of the Turbo PMAC have only one on-board Servo IC,
providing 4 channels of servo interface circuitry. “Ultralite” versions of the Turbo PMAC2 replace onboard
servo interface circuitry with MACRO-ring interfaces; the actual servo interface circuitry is located
in a remote MACRO Station or embedded in a MACRO drive.
The following table summarizes the board-level Turbo PMAC implementations available as of this
writing (mid-2003):
1-14
Product Bus Type Max # On-Board
Servo ICs
(Channels)
On-Board
MACRO?
Turbo PMAC(1)-PC ISA 2 (8) No
Turbo PMAC(1)-VME VME 2 (8) No
Turbo PMAC(1)-PCI PCI 2 (8) No
Turbo PMAC(1)-PCI Lite PCI 1 (4) No
Turbo PMAC2-PC ISA 2 (8) No
Turbo PMAC Family Overview