
PMAC2A PC104 Hardware Reference Manual
INTRODUCTION
The PMAC2A PC/104 motion controller is a compact,
The baseboard provides four channels of either DAC ±10V or pulse and direction command outputs. The optional axis expansion board provides a set of four additional servo channels and I/O ports. The optional communications board provides extra I/O ports and either the USB or Ethernet interface for faster communications.
Board Configuration
Base Version
The base version of the PMAC2A PC/104 ordered with no options provides a 90mm x 95mm board with:
•40 MHz DSP563xx CPU (80 MHz 560xx equivalent)
•128k x 24 internal
•512k x 8 flash memory for user backup and firmware
•Latest released firmware version
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•Four channels axis interface circuitry, each including:
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•Four input flags, two output flags
• Three PWM
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• PID/notch/feedforward servo algorithms
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• One
Option 2A: PC/104 Bus Stack Interface
Option 2A provides the PC/104 bus interface allowing bus communications between a PC/104 type computer and the PMAC2A PC/104 motion controller.
Option 5xF: CPU Speed Options
•Option 5CF: 80 MHz DSP563xx CPU (160 MHz 56002 equivalent)
•Option 5EF: 160 MHz DSP563xx CPU (320 MHz 56002 equivalent)
Option 6: Extended Firmware Algorithm
Option 6 provides an Extended
Option 6L: Multi-block Lookahead Firmware
Option 6L provides a special lookahead firmware for sophisticated acceleration and cornering profiles execution. With the lookahead firmware PMAC controls the speed along the path automatically (but without changing the path) to ensure that axis limits are not violated.
Option 10: Firmware Version Specification
Normally the PMAC PCI Lite is provided with the newest released firmware version. A label on the memory IC shows the firmware version loaded at the factory. Option 10 provides for a
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