Delta Tau GEO BRICK LV 사용자 설명서
Turbo PMAC User Manual
Turbo PMAC Family Overview
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TURBO PMAC FAMILY
The Turbo PMAC family of controllers is the newest generation of motion and machine controllers from
Delta Tau Data Systems. It is available in a wide variety of configurations, permitting the user to
optimize the controller hardware and software to particular application needs. This section provides a
brief overview of the Turbo PMAC structure; all items mentioned here are covered in more detail
elsewhere in the User Manual or in related reference manuals.
Delta Tau Data Systems. It is available in a wide variety of configurations, permitting the user to
optimize the controller hardware and software to particular application needs. This section provides a
brief overview of the Turbo PMAC structure; all items mentioned here are covered in more detail
elsewhere in the User Manual or in related reference manuals.
Turbo PMAC vs. Non-Turbo PMAC
The Turbo PMAC family of controllers is the next generation after the original PMAC family of
controllers, differing only in having a faster and more powerful CPU section, but able to maintain the
same interface circuitry. Indeed, in some configurations it is possible to remove the old non-Turbo
PMAC CPU board from a controller and install the Turbo PMAC CPU as a field upgrade.
controllers, differing only in having a faster and more powerful CPU section, but able to maintain the
same interface circuitry. Indeed, in some configurations it is possible to remove the old non-Turbo
PMAC CPU board from a controller and install the Turbo PMAC CPU as a field upgrade.
The Turbo PMAC family retains the same capabilities and programming styles as the original PMAC
family, but adds important new capabilities as well. These new capabilities are fully listed in a section of
the Software Reference manual, and detailed in the appropriate sections of the User Manual and Software
Reference; highlights are listed here:
family, but adds important new capabilities as well. These new capabilities are fully listed in a section of
the Software Reference manual, and detailed in the appropriate sections of the User Manual and Software
Reference; highlights are listed here:
•
32-motor capability vs. 8-motor
•
16-coordinate-system capability vs. 8-coordinate-system
•
Forward and inverse kinematic algorithms
•
Standard multi-move lookahead algorithms
•
32,768 user variables vs. 4096
•
Simultaneous communication over multiple ports
Turbo PMAC vs. Turbo PMAC2
As with the original PMAC family, Turbo PMACs can come as Turbo PMAC or Turbo PMAC2
controllers. The difference is due to the nature of the “core” servo-interface ICs and in a few aspects of
the firmware used to set them up. Fundamentally, PMAC2-style Servo ICs permit programmable
configuration of the frequency of the key clock signals that drive the hardware and software processes on
the controllers; PMAC-style Servo ICs do not.
controllers. The difference is due to the nature of the “core” servo-interface ICs and in a few aspects of
the firmware used to set them up. Fundamentally, PMAC2-style Servo ICs permit programmable
configuration of the frequency of the key clock signals that drive the hardware and software processes on
the controllers; PMAC-style Servo ICs do not.
Unlike the older non-Turbo PMACs, it is possible to mix PMAC-style and PMAC2-style Servo ICs in a
single Turbo PMAC system. The Turbo PMAC CPU will automatically recognize which types of ICs are
present, and configure the setup I-variables appropriately.
single Turbo PMAC system. The Turbo PMAC CPU will automatically recognize which types of ICs are
present, and configure the setup I-variables appropriately.
In this documentation, Turbo PMAC refers generically to both Turbo PMAC and Turbo PMAC2
controllers. Turbo PMAC and Turbo PMAC2 refer specifically to one type of controller. If a specific
product name (e.g. Turbo PMAC-PC) does not specify 1 or 2, it is a PMAC controller.
controllers. Turbo PMAC and Turbo PMAC2 refer specifically to one type of controller. If a specific
product name (e.g. Turbo PMAC-PC) does not specify 1 or 2, it is a PMAC controller.
Turbo PMAC is a Computer
It is important to realize that Turbo PMAC is a full computer in its own right, capable of standalone
operation with its own stored programs. Furthermore, it is a real-time, multitasking computer that can
prioritize tasks and have the higher priority tasks pre-empt those of lower priority (most personal
computers are not capable of this).
operation with its own stored programs. Furthermore, it is a real-time, multitasking computer that can
prioritize tasks and have the higher priority tasks pre-empt those of lower priority (most personal
computers are not capable of this).
Even when used with a host computer, the communications should be thought of as those from one
computer to another, not as computer to peripheral. In these applications, Turbo PMAC’s ability to run
multiple tasks simultaneously, properly prioritized, can take a tremendous burden off the host computer
(and its programmer), both in terms of processor time, and of task-switching complexity.
computer to another, not as computer to peripheral. In these applications, Turbo PMAC’s ability to run
multiple tasks simultaneously, properly prioritized, can take a tremendous burden off the host computer
(and its programmer), both in terms of processor time, and of task-switching complexity.