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Turbo PMAC2 PCI Hardware Reference Manual

Introduction 1

INTRODUCTION

The Turbo PMAC2 PCI (part number 400-603367-TRx) is a member of the Turbo PMAC family of

boards optimized for interface to sinewave or direct-PWM servo drives and to pulse-and-direction stepper

drives. Its software is capable of 32 axes of control. It can have up to eight channels of on-board axis

interface circuitry. It can also support up to 32 channels of off-board axis interface circuitry through its

expansion port, connected to Acc-24P or Acc-24P2 ISA-format boards (Acc-24 boards in PCI format are

not yet available).

The Turbo PMAC2 PCI is a full-sized PCI-bus expansion card, with a small piggyback board containing

the CPU board. This piggyback board occupies part of the next slot, but ½-sized boards are permitted in

this next slot. While the Turbo PMAC2 PCI is capable of PCI bus communications, with or without the

optional on-board dual-ported RAM, it does not need to be inserted into a PCI expansion slot.

Communications can be done through the standard RS-232/RS-422 serial port; standalone operation is

possible.

Board Configuration

Base Version

The base version of the Turbo PMAC2 PCI provides a 1-1/2-slot board with:

• 80 MHz DSP56303 CPU (120 MHz PMAC equivalent)

• 128k x 24 SRAM compiled/assembled program memory (5C0)

• 128k x 24 SRAM user data memory (5C0)

• 1M x 8 flash memory for user backup and firmware (5C0)

• Latest released firmware version

• RS-232 serial interface, PCI (PC) bus interface

• One 16-node MACRO interface IC

• Four channels axis interface circuitry, each including:

• Three output command signal sets, configurable as either:

 Two serial data streams to external DACs, one pulse-and-direction

 Three PWM top-and-bottom pairs

• 3-channel differential/single-ended encoder input

• Nine input flags, two output flags

• Interface to two external serial ADCs, 8 to 18 bits

•

Two channels supplemental interface circuitry, each including:

• 2-channel differential/single-ended encoder input

• One output command signal set, configurable as pulse-&-direction or PWM top-and-bottom pair

• Display, MACRO, muxed I/O, direct I/O interface ports

• PID/notch/feedforward servo algorithms

• Extended pole-placement servo algorithms

• 1-year warranty from date of shipment

• One manual per set of one to four PMACs in shipment (Cables, mounting plates, mating connectors

not included)

Option 1: Additional Four Channels Axis Interface Circuitry

Option 1 provides an additional four channels of on-board axis interface circuitry, identical to the standard

first four channels. The key components are the DSPGATE1 IC at U7 and connectors J11 and J12.

Option 2: Dual-Ported RAM

Dual-ported RAM provides a high-speed communications path for bus communications with the host

computer through a bank of shared memory. DPRAM is advised if more than about 100 data items per

second are to be passed between the controller and the host computer in either direction.

Option 2 provides a 32k x 16 bank of dual-ported RAM. The key component on the board is U92.

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