Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Turbo PMAC Family Overview
5
Task Priorities
These tasks are ordered in a priority scheme that has been optimized to keep applications running
efficiently and safely. While the priority levels are fixed, the frequency at which various tasks are
performed is under user control. See Computational Features for more details.
efficiently and safely. While the priority levels are fixed, the frequency at which various tasks are
performed is under user control. See Computational Features for more details.
Key Hardware Components
A Turbo PMAC controller is a combination of a computer processor section and specialized interface
circuitry for motion, I/O, and communications. Different configurations of Turbo PMAC controllers
provide different combinations of these components. The following block diagram shows the basic
possibilities for combinations of the concepts in PMAC and Turbo PMAC control systems.
circuitry for motion, I/O, and communications. Different configurations of Turbo PMAC controllers
provide different combinations of these components. The following block diagram shows the basic
possibilities for combinations of the concepts in PMAC and Turbo PMAC control systems.
PMAC Family Main Components
Serial Communications
Interface
y
RS-232
and / or
and / or
y
RS-422
Bus Communications
Interface
y
ISA / VME / PCI
y
PC104 / STD
y
USB
y
ETHERNET
(optional DPRAM)
(optional DPRAM)
CPU
y
Non-Turbo: DSP5600x
(16-bit addressing)
(16-bit addressing)
y
Turbo: DSP5630x
(24-bit addressing)
(24-bit addressing)
I/O Interface
Circuitry
y
PMAC(1)-style
y
PMAC2-style
Servo Interface
Circuitry
y
PMAC(1)–style ICs
y
PMAC2–style ICs
y
PMAC(1)–style connectors
y
PMAC2–style connectors
y
Mini / Lite / (full)
MACRO Ring
Interface
y
PMAC2 Ultralite
y
ACC-24P
y
ACC-5E (UMAC)
CPU Section
The computer portion of a Turbo PMAC is often called the CPU (central processing unit). It consists of a
microprocessor, memory, and associated support circuitry. In most Turbo PMAC configurations, the
CPU is on a separate circuit board from the interface circuitry – a piggyback board on top of expansion-
slot controllers, or a dedicated board in the case of the rack-mounted UMAC controllers. However, in the
Lite and Ultralite controllers, this circuitry is integrated into the main circuit board.
microprocessor, memory, and associated support circuitry. In most Turbo PMAC configurations, the
CPU is on a separate circuit board from the interface circuitry – a piggyback board on top of expansion-
slot controllers, or a dedicated board in the case of the rack-mounted UMAC controllers. However, in the
Lite and Ultralite controllers, this circuitry is integrated into the main circuit board.
Processor
Turbo PMAC controllers use a processor from Motorola’s DSP56300 family of digital signal processors
(DSPs). A DSP is a special type of microprocessor optimized for fast and repeated mathematical
operations of the type found commonly in audio, video, and motion control. They provide a more cost-
effective solution to these specific types of computations than do general-purpose microprocessors.
(DSPs). A DSP is a special type of microprocessor optimized for fast and repeated mathematical
operations of the type found commonly in audio, video, and motion control. They provide a more cost-
effective solution to these specific types of computations than do general-purpose microprocessors.
Different members of the DSP56300 family are used depending on the CPU option ordered for the Turbo
PMAC.
PMAC.