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The Power PMAC is a Motion Controller and Linux computer rolled into one.

Running an open source public domain operating system with a Xenomai real time kernel The PMAC has come of age.

Now with EPICS and TANGO compatibility running onboard or remotely, the new Power Brick LV-IMS offers the scientific communities around the world a powerful integrated package.

Using fully programmable four-quadrant four-phase technology in the eight axis amplifier stage, the power PMAC-LV-IMS is capable of running any mix of stepper, AC servo or DC servo motors. Having unique software control of the current in each axis allows the user to fully customise each application. Each block of four axes comes in three different current ratings of: 0.25A continuous 0.75A peak; 1.0A continuous 3.0A peak; and 5.0A continuous 15A peak. All current ranges operate between 12 and 48VDC.

As well as standard quadrature encoder inputs, both versions come complete with a range of serial encoder interfaces. These include Endat 2.2, Hiperface, SSI, Yaskawa Sigma II, and Tamagawa. For more recent and future protocols, not included in the DSPgate3, provision has been made to fit a mezzanine board to facilitate the use of these and analogue sin/cos and resolver feedback devices.

The Delta Tau MACRO (Machine And Control Ring Optical) interface now comes as standard, enabling the controller to control 32 axes. It also allows any Delta Tau MACRO product such as I/O, analogue interfaces or amplifiers to be added to the systems.

MATLAB®’s Simulink® with Power PMAC Facilitates user-servo code generation for Power PMAC using Simulink®’s Embedded Coder (previously known as Real-Time Workshop). The objective is to fully automate code generation for Power PMAC’s servo loop closure routines (tasks) utilising Simulink’s® control blocks.

Sophisticated Firmware Features

Five built-in control algorithms:

  • Standard PID only
  • PID enhanced with notch filters, deadband filters, lowpass/highpass filters, velocity loop filters, and/or trajectory prefilters
  • Standard Gantry Control
  • Cross-Coupled Gantry Control
  • Adaptive Control
  • Programmable input, integrator, and output limits
  • Automatic or manual tuning of all motors’ current loops and servo loops
  • Phasing algorithms for maximizing the torque output of commutated motors
  • Commutation algorithms for commutated motors (e.g. DC Brushless, AC Induction, etc.)
  • Field weakening algorithm for AC induction motor (through the Motor[x].DtOverRotorTc structure)
  • The user can also implement his or her own custom servo and phase algorithms in C
  • Look-ahead for dynamic acceleration adjustment for accurate contouring
  • Jerk limiting for smooth motion and reducing mechanical wear
  • Cutter radius (2D) and shape (3D) compensation for machining
  • Position, torque, and backlash compensation
  • Multi-threaded general purpose background programs that run asynchronous to motion: Up to 32 in PMAC’s Script language, 32 in C
  • 0 to 3 multi-threaded general purpose foreground Script programs , 1 general purpose foreground C program, which run asynchronous to motion
  • The above programs can be used for whatever purpose the user desires (e.g. safety and status monitoring, servo gain scheduling, data reporting functions, etc.)
  • User-programmable, PMAC-Scheduled kinematics subroutines
  • Position following (electronic gearing)
  • Time-base control (automatic feedrate adjustment based on an external input signal)
  • Transformation matrices for coordinate system rotation and translation
  • Direct microstepping or pulse and direction (PFM) control for encoderless, open-loop control of stepper motors
  • Position Compare with Digital Output at User
  • Programmed encoder positions at 10 MHz, accompanied by an optional user-written interrupt service routine (ISR) that runs at these positions if desired
  • Coordinate systems make grouping motors for synchronous motion and converting motor units to engineering units simple
  • Multiple-motor axis definitions supported (e.g. for Gantries)
  • Synchronous motion move modes: Linear, Circular, Spline, PVT, and Rapid
  • 1/T extension for digital enhancement of standard Digital A Quad B encoder resolution
  • Automatic move-until-trigger functions with hardware capture
  • User-configurable servo clocks (for closing the servo loop at the appropriate sampling frequency), phase clocks (for commutation), PWM clocks (to get the right pulse frequency depending on motor characteristics) and real- time interrupt clocks (for move planning) 

Safety Features:

  • Hardware and software over-travel limits
  • Amplifier enable/fault handshaking
  • Following error limits
  • Integrated current limit
  • Encoder loss detection
  • Watchdog timer and relay for safely stopping the machine if the controller freezes.