PMAC2A PC/104 is a compact, powerful, and cost-effective 4-axis or 8-axis embedded control system, making it a flexible and reliable solution.
The PMAC2A PC/104 controller can be directly used for analog servo or pulse plus directional stepper drive control. Using optional accessory boards inserted onto the substrate,
It can support USB 2.0 or Ethernet high-speed communication, digital I/O (using Opto-22 interface), control additional 5-8 expansion axes, and high-performance direct PWM pure digital control.
In addition, PMAC2A PC/104 can communicate with the upper computer through the 104 bus, and can also use dual port RAM to improve the communication speed of the bus. When working independently offline,
You can also use RS-232 or RS-422 serial ports, USB 2.0, and Ethernet communication, which is very flexible.

Hardware features:
• 40 MHz DSP563xx CPU；
128k x 24 zero wait SRAM;
512k x 8 flash memory for firmware and user backup;
2k x 8 EEPROM memory for parameter backup;
The latest version of firmware;
• RS-232/422 serial port, PCI (PC) bus interface;
4-axis channel interface circuits, each including:
On board analog output ± 10V (12 bits);
• Pulse and directional output on the board;
• 3-channel standard encoder input;
Four indicator signal inputs (limit, zero return, alarm, etc.) and two indicator signal outputs (enable, etc.);
Universal I/O, expandable I/O;
High precision clock+/-100 ppm;
PID/filling wave/feedforward servo algorithm.


Software features:
Motion trajectory planning
• Support straight line interpolation for S-curve acceleration and deceleration;
• Support arc interpolation for S-curve acceleration and deceleration;
• Point to point rapid movement;
Triple spline interpolation mode spline;
Triple hidden spline interpolation Hermite spline (PVT);
• Automatic hardware capture/trigger function;
Interactive manual movement;
• Optional sports advance budget lookahead.


Servo characteristics
Independent digital PID feedback filtering;
Speed feedforward, acceleration feedforward, friction feedforward;
• 2-channel notch filter;
PID parameters can be changed at any time;
Programmable extreme input and output;
• Optional multi-level point servo algorithm.


Swap features
Sinusoidal commutation of AC servo motors
Vector control of AC induction motors
Digital current loop


Compensation features
• Position compensation list (1D&2D);
• Torque compensation list;
Reverse gap compensation;
• Tool radius compensation.

Safety features
• Hardware and software travel limits;
Amplifier enable/alarm exchange signal;
Follow the error warning limit;
• Integrate current limits;
Encoder count loss alarm (some versions);
Watchdog alarm timer;
• Program and communication verification.


Computational Features
Real time multitasking system;
48 bit floating-point programming;
Trigonometric functions and transcendental functions;
Automatically match different variable types.
• Feedback forms that can be used
• Digital Integral Encoder;
Sine encoder;
• Rotary transformer;
• Potentiometer;
• LVDTs， RVDTs；
Parallel digital encoder;
• MLDTs；
• Serial encoder (e.g.: SSI)。

Cartesian coordinate systemcharacteristic
User defined Cartesian coordinate system;
A coordinate system that can be used to run programs separately;
• Support coordinate systems for multiple motors;
• Conversion of axis space (e.g. coordinate system offset, rotation, mirroring);
Electronic gears (not necessary for programming);
Electronic cam (requires programming support).

Sports program features
• Advanced programming languages;
Automatically execute movements in sequence;
• Use user engineering units for programming;
The value of motion can be a formula or a constant;
Automatically match each axis in the coordinate system,
• Supports G-code and code extensions.

PLC program features
• Asynchronous with motion programs;
Control I/O like a hardware PLC;
When running offline, as a support platform;
• Safety and status monitoring;
• Servo proportional stroke arrangement;
• Data reporting function;
All registers of the controller can be used.

The Turbo PMAC Clipper (Turbo PMAC2 Eth Lite) is a product that features all the characteristics of Turbo PMAC,
Design a multi axis motion controller for cost sensitive applications. This powerful feature,
But at the same time, it has the advantages of compact structure and ultra-high cost-effectiveness as a multi axis motion controller,
The standard version comes with Ethernet and RS232 communication interfaces, as well as built-in I/O.
The Clipper controller not only uses a complete Turbo PMAC2 CPU,
And it provides a minimum configuration of four axis servo or stepper control with 32 digital I/O points,
The number of control axes and I/O can also be expanded.

hardware feature
• 80 MHz DSP56303 Turbo PMAC CPU；
256k x 24 user SRAM;
1M x 8 flash memory for firmware and user backup;
• Adopt the latest released firmware version;
RS-232 serial port;
100Mbps EtherNet Ethernet interface;
4-channel axis interface circuit, each including:
On board 12 position ± 10V analog output;
• Pulse and directional digital output on the board;
3-channel standard differential/single ended encoder signal input;
5 flag signal inputs (limit, zero return, alarm, etc.), 2 flag signal outputs (enable, etc.);
UVW TTL level "Hall" input;
50 pin IDC plug for amplifier/encoder interface
34 pin IDC plug used for marking signal interface
4-pin Molex plug for power input (5V,+/-12V, GND) (+/-12V is only used when analog output or input is required)
PID/notch/feedforward servo algorithm.
Provide 32 universal TTL level I/O points on the board:
16 point multiplexer port, compatible with Delta Tau I/O accessories
16 point "opto" port, compatible with OPTO 22 form I/O modules
Two handwheel ports, each:
• Support orthogonal encoder input;

Supports pulse frequency modulation PFM or pulse width modulation PWM pulse pair output.

Software features
Motion trajectory planning
• Support straight line interpolation for S-curve acceleration and deceleration;
• Support arc interpolation for S-curve acceleration and deceleration;
• Point to point rapid movement;
Triple spline interpolation mode spline;
Triple hidden spline interpolation Hermite spline (PVT);
• Automatic hardware capture/trigger function;
Interactive manual movement;
• Optional sports advance budget lookahead.

Servo characteristics
Independent digital PID feedback filtering;
Speed feedforward, acceleration feedforward, friction feedforward;
• 2-channel notch filter;
PID parameters can be changed at any time;
Programmable extreme input and output;
• Optional multi-level point servo algorithm.

Commutation characteristic
Sinusoidal commutation of AC servo motors
Vector control of AC induction motors
Digital current loop (when using PWM output) (only applicable to PMAC2)

Compensation characteristics
• Position compensation list (1D&2D);
• Torque compensation list;
Reverse gap compensation;
• Tool radius compensation.

Security features
• Hardware and software travel limits;
Amplifier enable/alarm exchange signal;
Follow the error warning limit;
• Integrate current limits;
Encoder count loss alarm (some versions);
Watchdog alarm timer;
• Program and communication verification.

Computational characteristics
Real time multitasking system;
48 bit floating-point programming;
Trigonometric functions and transcendental functions;
Automatically match different variable types.

Possible forms of feedback that can be used
• Digital Integral Encoder;
Sine encoder;
• Rotary transformer;
• Potentiometer;
• LVDTs，RVDTs；
Parallel digital encoder;
• MLDTs；
• Serial encoder (e.g.: SSI）。

Descartes coordinate system or master/slave feature
User defined Cartesian coordinate system;
A coordinate system that can be used to run programs separately;
• Support coordinate systems for multiple motors;
• Conversion of axis space (e.g. coordinate system offset, rotation, mirroring);
Electronic gears (no programming required);
Electronic cam (requires programming support).

Sports program characteristics
• Advanced programming languages;
Automatically execute movements in sequence;
• Use user engineering units for programming;
The value of motion can be a formula or a constant;
Automatically match each axis in the coordinate system,
• Supports G-code and code extensions.

PLC program characteristics
• Asynchronous with motion programs;
Control I/O like hardware PLC;
When running offline, as a support platform;
• Safety and status monitoring;
• Servo proportional stroke arrangement;
• Data reporting function;
All registers of the controller can be used.

UMAC features
UMAC is a modular Turbo PMAC2 system level controller composed of a set of 3U European standard cards. Various available attachments,

There are shaft boards, I/O boards, fieldbus interface boards that can directly output PWM or typical+/-10V and pulse plus directional signal outputs,

Communication interfaces (USB 2.0, Ethernet, etc.) and any other interface board. UMAC type accessory boards are installed in 3U racks,

The complete system is composed of optional power supplies and optional 3U servo amplifiers.

Software Features

Motion trajectory planning

• Support straight line interpolation for S-curve acceleration and deceleration;
• Support arc interpolation for S-curve acceleration and deceleration;
• Point to point rapid movement;
Triple spline interpolation mode spline;
Triple hidden spline interpolation Hermite spline (PVT);
• Automatic hardware capture/trigger function;
Interactive manual movement;
• Optional sports advance budget lookahead.

Servo characteristics
Independent digital PID feedback filtering;
Speed feedforward, acceleration feedforward, friction feedforward;
• 2-channel notch filter;
PID parameters can be changed at any time;
Programmable extreme input and output;
• Optional multi-level point servo algorithm.

Commutation characteristic
Sinusoidal commutation of AC servo motors
Vector control of AC induction motors
Digital current loop (when using PWM output) (only applicable to PMAC2)
Compensation characteristics
• Position compensation list (1D&2D);
• Torque compensation list;
Reverse gap compensation;
• Tool radius compensation.

Security features
• Hardware and software travel limits;
Amplifier enable/alarm exchange signal;
Follow the error warning limit;
• Integrate current limits;
Encoder count loss alarm (some versions);
Watchdog alarm timer;
• Program and communication verification.

Computational characteristics
Real time multitasking system;
48 bit floating-point programming;
Trigonometric functions and transcendental functions;
Automatically match different variable types.
Possible forms of feedback that can be used
• Digital Integral Encoder;
Sine encoder;
• Rotary transformer;
• Potentiometer;
• LVDTs，RVDTs；
Parallel digital encoder;
• MLDTs；
• Serial encoder (e.g.: SSI）。
Descartes coordinate system or master/slave feature
User defined Cartesian coordinate system;
A coordinate system that can be used to run programs separately;
• Support coordinate systems for multiple motors;
• Conversion of axis space (e.g. coordinate system offset, rotation, mirroring);
Electronic gears (no programming required);
Electronic cam (requires programming support).

Sports program characteristics
• Advanced programming languages;
Automatically execute movements in sequence;
• Use user engineering units for programming;
The value of motion can be a formula or a constant;
Automatically match each axis in the coordinate system,
• Supports G-code and code extensions.

PLC program characteristics
• Asynchronous with motion programs;
Control I/O like hardware PLC;
When running offline, as a support platform;
• Safety and status monitoring;
• Servo proportional stroke arrangement;
• Data reporting function;
All registers of the controller can be used.