User`s manual

1.0 - Introduction to PMAC

Page - 4

1.3.6 – Mini-PMAC

Recommended for applications with one or two channel requirements in either a PC based or stand alone environment.

The Dual-ported RAM option in a Mini-PMAC is on-board. Two extra full encoder channels (for a total of 4 on-board)

could be used for dual feedback applications or, with the two optional voltage-to-frequency (V/F) converters, for stepper

drivers or hybrid amplifiers control. There is no control panel port or bus interrupt in the Mini-PMAC board. The Mini-

PMAC board is also provided in a stand-alone box, the MiniPack, complete of power supplies and connectors.

1.3.7 – PMAC2

PMAC2 is available in either PC or VME formats. It is suggested for applications that require a digital amplifier control

(direct PWM signals) or applications with a combination of analog and digital axis. PMAC2 is also recommended for the

use of its built-in features that are optional in PMAC (1): pulse and direction outputs, MLDT inputs, optional 12-bits analog

to digital inputs, two extra encoder inputs, improved position compare/capture feature and one channel of parallel feedback.

The PMAC2 is available with 4 or 8 axes, with only 4 axes as the PMAC2 Lite and with only 2 axes as the Mini-PMAC2.

1.3.8 – PMAC2 Ultralite

The term UltraLite stands for no "DSPGATE" Gate-Array ICs on board of this kind of PMAC2. The ASICs are located in a

different set of boards, usually remotely located from PMAC2, referred as MACRO stations. In fact, the PMAC2 UltraLite

in combination with the MACRO station could be seen as a PMAC2 divided in two halves: the central processing portion

that contains the DSP processor and the distributed circuitry that connects to motors, amplifiers and different I/O points:

The PMAC2 and the MACRO (Motion And Control Ring Optical) stations are linked with a fiber optic or twisted pair

connection. This clever distribution of components brings many benefits: drastic reduction of wiring complexity,

elimination of interference by electromagnetic noise and long distance connections (3000 m, ~2 miles with glass fiber).

1.3.9 – Turbo PMAC family

The Turbo PMAC is based in the 56300 Motorola’s DSP processor. Its power and speed allows handling up to 32 axes in

up to 16 different coordinate systems. In compare with other PMACs, the Turbo PMAC has a highly improved lookahead

feature that allows tighter control of acceleration and more accurate cornering profiles.

Motion programs and PLCs developed for other versions of PMAC are compatible with Turbo PMAC. The main difference

in the setup is the increased number of variables, necessary to control up to 32 axes. The main Turbo PMAC board has the

necessary hardware to connect up to eight channels. The number of channels could be expanded from 8 to 40 by means of

either the ACC-24P or ACC-24P2 for PMAC(1) style or PMAC2 respectively. The Turbo PMAC2 is also provided in a 3U

format and it is the main component of the UMAC (Universal Motion and Automation Controller) products.