Product Introduction

Hardware Features

• 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 & firmware (5C0)

• Latest released firmware version

• RS-232/422 serial interface, PCI bus interface

• One 16-node MACRO interface IC

• MACRO ring circuitry (without connectors; see Opts. A & C) (No on-board axis interface circuitry)

• Two channels supplemental interface circuitry, each including:

• 2-channel differential/single-ended encoder input

• One output command signal set, configurable as pulse-and 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

Software Features

Trajectory Generation Features

• Linear interpolation mode with S-curve accel/decel

• Circular interpolation mode with S-curve accel/decel

• Rapid point-to-point move mode

• Cubic B-spline interpolation mode

• Cubic Hermite-spline (PVT) interpolation mode

• Automatic move-until-trigger functions with hardware capture

• Altered destination on the fly

• Interactive jog moves

• Multi-move look ahead for velocity and acceleration limiting

Servo Features

• Standard digital PID feedback filter

• Velocity, acceleration, and friction feedforward

• 2nd-order notch/low-pass filter

• Gains changeable at any time

• Programmable input, integrator, and output limits

• Alternate 35-term “pole-placement” servo filter

• Alternate user-written high-level “Open Servo” algorithms

Commutation Features

• Sinusoidal commutation of AC servo motors

• Vector control of AC induction motors

• Digital current-loop closure with direct PWM output (PMAC2)

Compensation Features

• Position compensation tables (1D & 2D)

• Torque compensation tables

• Backlash compensation

• Tool radius compensation

Safety Features

• Hardware and software overtravel limits

• Amplifier enable/fault handshaking

• Following error limits

• Integrated current limit

• Encoder loss detection (some versions)

• Watchdog timer

• Program and communications checksums

Computational Features

• Real-time multi-tasking operating system

• 48-bit floating-point math for user programs

• Trigonometric and transcendental functions

• Automatic type-matching of different variable types

• User-defined pointer variables to any registers

Feedback sensor types that can be processed

• Digital quadrature encoders

• Sinusoidal encoders, interferometers

• Resolvers

• Potentiometers

• LVDTs, RVDTs

• Parallel-format encoders, interferometers

• MLDTs

• Serial absolute encoders (e.g. SSI)

Coordination and Master/Slave Features

• User-defined coordinate systems for automatic coordination of axes

• Separate coordinate systems for independent motion of axes

• Multi-motor axis support (e.g. gantries)

Motion Program Features

• High-level programming language

• Automatic sequenced execution of moves

• Calculations and I/O synchronous to motion

• Axes programmed in user engineering units

• Motion values as constants or expressions

• Automatic coordination of multiple axes

• Ability to execute G-code programs

PLC Program Features

• Execution asynchronous to programmed motion

• I/O control as in hardware PLC

• Executive functions for standalone applications

• Safety and status monitoring

• Servo gain scheduling

• Data reporting functions

• Access to all registers in controller

Communication Options

• OPT-2 - On-board 32Kx16 Dual Ported RAM

• OPT-9T - Auxiliary RS-232 serial port

Processor and Firmware Options

• OPT-10 - Firmware version specification

• OPT-5C0 - Default CPU-speed/memory config: 80MHz DSP56303 CPU

• OPT-5C3 - 80MHz DSP56303 CPU

• OPT-5E0 - 160MHz DSP56311 CPU (128Kx24 internal memory)

• OPT-5E3 - 160MHz DSP56311 CPU (128Kx24 internal memory)

Base Board Options

• OPT-12 - 8-channel on-board 12-bit A/D converter

• OPT-12A - Additional 8-channel on-board 12-bit A/D converter

• OPT-16A - 32Kx24 SRAM battery-backed parameter memory.

• OPT-18A - Electronic Board Identification Number Module

• OPT-8A - High-accuracy clock crystal (+/-15ppm)

Connector Options

• OPT-A - MACRO-ring fiber optic interface connector

• OPT-C - MACRO-ring RJ-45 electrical interface connector

Macro Node Expansion

• OPT-1U1 - Additional 16-Node MACRO Interface

• OPT-1U2 - Second additional MACRO interface IC

• OPT-1U3 - Third additional MACRO interface IC

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