User`s manual

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1.0 - Introduction to PMAC
1.1 - About this manual
This manual is intended for first time users of the PMAC motion control. It is oriented to the PMAC(1) family of motion
controls and it does not cover other PMAC families: PMAC2, Turbo PMAC(1), Turbo PMAC2, MACRO or UMAC. The
subjects illustrated could be used as a quick informative features description or as a roadmap for a more advanced learning
through the main documentation. It is strongly recommended to use this quick reference manual in conjunction with the
following manuals:
1.2 - Description of PMAC
PMAC, pronounced “Pe’-MAC”, stands for Programmable Multi-Axis Controller. It is a family of high-performance servo
motion controllers capable of commanding up to eight axes of motion simultaneously with a high level of sophistication.
- There are five hardware versions of PMAC: the PMAC-PC, the PMAC-Lite, the PMAC-VME, the PMAC-STD
and the Mini-PMAC. These cards differ from each other in their form factor, the nature of the bus interface, and in
the availability of certain I/O ports.
- Motorola's Digital Signal Processor (DSP) DSP56k is the CPU for PMAC, and it handles all the calculations for
all eight axes.
- The registers in PMAC's "DSPGATE" Gate-Array ICs are mapped into the memory space of PMAC's processor.
Each DSPGATE contains four consecutively numbered channels; there may be up to 4 DSPGATEs in a PMAC
system, for up to 16 channels.
- There are two types of servo "DSPGATE" Gate-Array ICs: The PMAC(1) type that only allows the control of
analog amplifiers with ±10 Volts command signals and the PMAC2 type that is also capable of digital direct
PWM or stepper command signals.
- Each PMAC channel provided by a PMAC(1) DSPGATE has one DAC output, one encoder input and four
dedicated flag inputs: two end-of-travel limits, one home input and one amplifier fault input.
- Any PMAC can control up to eight motors or axis as long as enough channels are provided. Every PMAC
contains one DSPGATE, which has channels 1 through 4 (Mini-PMAC has only two channels). If Option 1 is
ordered (not available on PMAC-Lite or Mini-PMAC), a second DSPGATE is provided, which has channels 5
through 8. If Accessory 24 is ordered (not available on PMAC-STD), a third DSPGATE is provided, which has
channels 9 through 12. If Accessory 24 Option 1 is ordered as well (not available on PMAC-STD), a fourth
DSPGATE is provided, which has channels 13 through 16.
- PMAC has its own memory and microprocessor. Therefore, any version of PMAC may run as a standalone
controller or a host computer may command it either over a serial port or over a bus port.
Software Reference
User’s Manual Hardware References Accessory Manuals
Motorola
56002
Gate Array
Gate Arra
y
(option 1)
Memory
Flags 1
-
4
DACs 1-4
Encoders 1
-
4
Flags 5
-
8
DACs 5-8
Encoders 5
-
8
I/O Ports
Gate Array
Gate Arra
y
(option 1)
Flags 9
-
12
DACs 9-12
Encoders 9
-
12
Flags 13
-
16
DACs 13-16
Encoders 13
-
16
JEXP
J1
A
CC
-
24 (optional) PMAC