- PMAC HISTORY

    - What is PMAC? (Programmable Multi Axis Controller)
    What is UMAC? (Universal Machine & Automation Controller)

    • 일반 PMAC (Non Turbo PMAC) 8축 동시 제어, Tutbo PMAC 32축 제어

    • 동시 프로그램 실행 : 32 PLC, 32 PLCC Programs // 16 [8 Non-Turbo] motion programs

    • UMAC : 3U “Modular” Format Turbo PMAC2 Controller

    • Standalone 또는 PC-Based Command Application

    • Trajectory Profile Generate (모션 궤적 생성) : 모션 Move 프로파일 생성을 위한 모든 계산 수행

    • Feedback Processing : 엔코더 등 다양한 종류의 피드백 신호 처리

    • Digital Servo Filter : 내장된 고성능 PID filter 에 의한 Servo update

    • Commutation (Optional) : 모터 상간의 전류 지령을 위한 Commutation 

    • Execute Motion, PLC (Sequential) Program 

    • Communication with Host PC

    • House Keeping (Self-managing and saftey check)

     

    - PMAC 분류

    - Important PMAC Features

    • Data Gathering, 48Mem. Location, 24Bits

    • PLC’s & PLCC’s, PMAC Script language 

    • Rapid / Linear / Circle / Spline / PVT & JOG / HOME

    • 좌표계 회선 & 변환  – Coordinate Rotation (2D & 3D) & Translation 

    • 위치 보정 기능 – Multiple/Automatic Axis Lead Screw & Backlash Compensation

    • Hardware 24-Bits Position “Capture” & Position “Compare” 

    • Built-In 1/T quadration interpolator

    • Go, Until Trigger / Alter Destination on Trigger

    • “Open Servo / User Written High Level (Basic-like) Code written & Complied for execution by PMAC.

    • All PMAC’s (type or speed) share a Common Programming LAnguage Only Set-up is different

     

    - Turbo PMAC Features

    • FAST CPU 56301, 2, 3, 9, 11(Flex) – 40 – 240Mhz (x1.5 eq.), Large Memory

    • Flash-Ram and Real-time Clock, with ID chip

    • 32 Axis control in 16 Coordinates

    • PID (8) and Advanced Pole Placement Servo Algorithm (32 parameters)

    • Multi-Block High Speed, Segmented Lookahead with Synchronous I/O Capability

    • Acceleration & Jerk Control

    • Reverse & Retrace capability

    • Inverse Kinematics & 5th Axis NC Applications

    • Cascaded Servo loops (Velocity/Force Loop)

    • Auto ID – Identify and Verify Peripheral Connection on Power Turn-on

    • Multiport Communication with Scheduler

       a) USB2 & Ethernet       b) 2x RS232 ports       c) Parallel Host Port

       d) Internal & External Dual Port RAM        e) PLC        f) MACRO (optic fiber) 

     

    - UMAC / CRUiSER System LAYOUT

    - UMAC (3U Turbo PMAC2 Flexible Controller)

    - CEM-Clipper 경제형 Turbo PMAC2 Ethernet Contoller

    - CRUiSER - Fully Integrated Netword Servo Motion Controller
    (Turbo PMAC2 Controller)

    - Axislink System (Multi-Purposes Industrial Network Interface)

    - eXcom 16/32 (General Purpose Supplemental DSP Board)

    - Software 구성

    - Power PMAC (High Performance RTOS-linux Motion Controller)

    • 1.0~1.2Ghz Dualcore Linux OS Built-in Motion controller

    • Max. 256 서보 모터 제어 가능 (MACRO, Network System 필요)

    • Full 32-64Bit Architecture / Hardware 64-bit Floating points (고속연산 및 대용량 Dynamic Range)

    • 대용량 내부 메모리 (최대 2GB DDRAM, 1G 이상 NAND Flash for User Programs)

    •  Support PC Perpheral Memory devices (USB/SD)

    • Built-in Ethernet 1Gbps, USB 2.0

    • 2 port PCI Express 확장버스 옵션 (Video 및 Vision 보드 장착)

    • 다양한 Power PMAC 모델 출시 (Power UMAC / CK3E, CK3M)

     

    - Power PMAC (DSP Gate3)

    • Next Gen. Function/Logic 설계(기존 DSP Gate2 대비 약 3배의 동작 속도 향상)

    • Servo / IO / MACRO 기능을 통합한 하드웨어 Package (하드웨어 표준화로 경제적인 시스템 제공)

    • 32 Bits Data bus Architecture and Direct Memory Access

    • 향상된 Hardware Position Capture / Multi-Dim. Compare 기능

    • 각 채널별 주파수 설정 가능 (PWM, Servo..dead-time)

    • 펄스출력 Servo(Stepper) 제어 채널의 엔코더 입력 가능

    •  Laser 및 방전기 Power 제어를 위한 향상된 Pulse Modulation 기능)

    • 16-Bits (x65536) Sinusoidal Encoder Interface (Auto Correction)

    • 다양한 Serial Data Encoder interface (SSI, EnDat, Tamakawa, Panasonic, Yaskawa, …)

    - 제품 구성

    - POWER PMAC Motion Specifications

    - The Power PMAC IDE Software

    - Power PMAC vs Turbo PMAC (Hardware)

    - Power PMAC vs Turbo PMAC (Software)